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Chapter 7 6-axis Cartesian Robot

7.1

Guideline of Coordinate Systems

7-1

ME0392-4C

7.1 Guideline of Coordinate Systems

7.1.1 List of coordinate systems

When the orthogonal coordinate system feature is valid in a

6-axis cartesian robot, the

orthogonal coordinate system positioning feature should be added only for the 6-axis cartesian
robot. Added axes are out of subject.

Summary of Contents for R-unit RSEL

Page 1: ...nection Installation and Wiring Operation Field Network PIO SIO 6 axis Cartesian Robot Home Return Absolute Reset Special Functions Parameter Troubleshooting Maintenance and Inspection Appendix Warranty Chapter 1 Chapter 2 Chapter 3 Chapter 4 Chapter 5 Chapter 6 Chapter 7 Chapter 8 Chapter 9 Chapter 10 Chapter 11 Chapter 12 Chapter 13 Chapter 14 ...

Page 2: ......

Page 3: ...t immediately After reading the instruction manual keep it in a convenient place so that whoever is handling the product can refer to it quickly when necessary Important This instruction manual is an original document dedicated for this product This product cannot be used in ways not shown in this instruction manual IAI shall not be liable for any result whatsoever arising from the use of the prod...

Page 4: ...document ME0394 SCON CB Controller SCON CB CGB LC LCG Instruction Manual ME0340 PC Software XSEL PC Software RSEL Instruction Manual ME0398 Touch Panel Teaching Pendant TB 02 TB 02 02D Program Controller Applicable Instruction Manual ME0356 Touch Panel Teaching Pendant TB 03 TB 03 Wired Program Controller Applicable Instruction Manual ME0377 24V Power Supply Unit PSA 24 Instruction Manual ME0379 S...

Page 5: ...ME0392 4C 2 Quick Start Guide Japanese Only ...

Page 6: ...specifications 1 6 1 3 4 Specifications at control part 1 7 1 3 5 Usage temperature range 1 8 1 3 6 General specifications 1 8 1 4 Installation 1 9 1 4 1 Installation conditions 1 9 1 4 2 Installation and mounting 1 10 1 4 3 Noise countermeasures and mounting method 1 11 Chapter 2 System Configuration and Power Specifications 2 1 System Configuration 2 1 2 1 1 System configuration diagram 2 1 2 1 ...

Page 7: ... 3 1 4 Part names Functions 3 5 3 1 5 External dimensions 3 29 3 2 24V Driver Unit Fun Unit 3 31 3 2 1 Overview 3 31 3 2 2 Model code 3 32 3 2 3 Components 3 34 3 2 4 Part names Functions 3 35 3 2 5 External dimensions 3 46 3 3 200V Power Supply Unit for 200V Terminal Unit 3 48 3 3 1 Overview 3 48 3 3 2 Model code 3 50 3 3 3 Components 3 53 3 3 4 Part names Functions 3 54 3 3 5 External dimensions...

Page 8: ...l dimensions 3 113 3 7 Simple Absolute Unit 3 114 3 7 1 Overview 3 114 3 7 2 Model code 3 116 3 7 3 Components 3 118 3 7 4 General specifications 3 119 3 7 5 Part names Functions 3 121 3 7 6 External dimensions 3 123 3 7 7 Precautions 3 124 3 8 Unit Connection Restrictions 3 125 3 8 1 Motor power control power capacity restrictions 3 125 3 8 2 Unit arrangement restrictions 3 125 Chapter 4 Unit Con...

Page 9: ... 5 PIO Circuit 4 31 4 6 Regenerative Resistor Option 4 33 4 6 1 Regenerative resistor unit specifications 4 33 4 6 2 Wiring for regenerative resistor unit 4 34 4 7 Brake Box Option 4 36 4 7 1 Specification for brake box 4 36 4 7 2 Wiring for brake box 4 40 4 8 Connection the Teaching Connector 4 45 4 9 Connection the USB Connector 4 49 4 10 Connection the Ethernet Connector 4 50 Chapter 5 Operatio...

Page 10: ...ification 5 28 5 10 2 Applicable version 5 28 5 10 3 ELECYLINDER control system 5 29 5 10 4 Input and output signals and features of EC connection unit 5 31 5 10 5 Assignment and operation system of EC signals 5 37 5 10 6 Timing for input and output signals 5 39 5 10 7 Maintenance bit output for predictive maintenance 5 40 5 10 8 Configuration example 5 41 5 10 9 Caution 5 47 5 10 10 List of relat...

Page 11: ... file for network ESI file 6 106 6 5 4 Setup of EtherCAT network configuration 6 109 6 5 5 Changing PDO mapping setting 6 113 6 5 6 Data Rransfer to PLC 6 118 Chapter 7 6 axis Cartesian Robot 7 1 Guideline of Coordinate Systems 7 1 7 1 1 List of coordinate systems 7 1 7 1 2 Applicable robots 7 2 7 1 3 Specific axis coordinate system 7 3 7 1 4 Orthogonal coordinate system 7 5 7 2 Caution When Using...

Page 12: ... axis 8 17 Chapter 9 Special Functions 9 1 Multi Slider Excess Approaching Detection Collision Prevention Feature 9 1 9 1 1 Setting method 9 2 9 1 2 Related parameter 9 3 9 1 3 How to check 9 5 9 2 PSA 24 Communication Monitor 9 6 9 3 Preventive Maintenance Function 9 11 9 3 1 Electrolytic Capacitor Life Prediction 9 11 9 3 2 Capacitor for Calendar Feature Life Prediction 9 11 9 3 3 Maintenance In...

Page 13: ...Other parameters 10 42 10 3 Parameter List Driver Unit 10 46 10 3 1 Driver unit parameter 10 46 10 3 2 Details of driver unit parameter 10 49 10 4 Parameters for Linear Rotation Controls 10 80 10 5 Parameter List ELECYLINDER 10 82 10 5 1 Parameter list for ELECYLINDER 10 82 10 5 2 Parameter details of ELECYLINDER 10 83 10 6 Servo Gain Adjustment 10 90 10 7 Parameter Configuration Advanced Use 10 9...

Page 14: ... Parts 12 9 Chapter 13 Appendix 13 1 Stopping Method and Recovery 13 1 13 1 1 Stopping method 13 1 13 1 2 Recovery 13 3 13 2 Connectable Actuators 13 4 13 2 1 List of actuator specifications 13 4 Chapter 14 Warranty 14 1 Warranty Period 14 1 14 2 Scope of the Warranty 14 1 14 3 Honoring the Warranty 14 1 14 4 Limited Liability 14 2 14 5 Conformance with Applicable Standards Regulations etc and App...

Page 15: ...cility 3 Important safety parts of machinery Safety device etc Do not use the product outside the specifications Failure to do so may considerably shorten the life of the product Do not use it in any of the following environments 1 Location where there is any inflammable gas inflammable object or explosive 2 Place with potential exposure to radiation 3 Location with the ambient temperature or rela...

Page 16: ... load Consider the safety factor of the hook in such factors as shear strength Do not get on the load that is hung on a crane Do not leave a load hung up with a crane Do not stand under the load that is hung up with a crane 3 Storage and Preservation The storage and preservation environment conforms to the installation environment However especially give consideration to the prevention of condensa...

Page 17: ...is no disconnection or looseness Failure to do so may cause a fire electric shock or malfunction of the product Never cut and or reconnect the cables supplied with the product for the purpose of extending or shortening the cable length Failure to do so may cause the product to malfunction or cause fire 3 Grounding The grounding operation should be performed to prevent an electric shock or electros...

Page 18: ...es as necessary to secure safety Do not insert a finger or object in the openings in the product Failure to do so may cause an injury electric shock damage to the product or fire When releasing the brake on a vertically oriented actuator exercise precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity 5 Teaching When the work is carried out with 2 or more pe...

Page 19: ... touch the terminal block or any of the various setting switches in the power ON mode Failure to do so may result in an electric shock or malfunction 7 Automatic Operation Check before starting the automatic operation or rebooting after operation stop that there is nobody in the safety protection fence Before starting automatic operation make sure that all peripheral equipment is in an automatic o...

Page 20: ...e to do so may result in a damage to the product When releasing the brake on a vertically oriented actuator exercise precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity The slider or rod may get misaligned OFF the stop position if the servo is turned OFF Be careful not to get injured or damaged due to an unnecessary operation Pay attention not to lose th...

Page 21: ...ion which if the 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 Caut...

Page 22: ...rned off or the controller is reset In order to certainly store data the data that you would prefer to save should be written in the flash memory Refer to 5 7 6 Memory map Also keep the data updated to the latest so recovery process can be rapidly carried out when it is necessary to replace this controller with a substitute in case such as malfunction How to save 1 To save data to an external memo...

Page 23: ... to twisting Be particularly cautious if the actuator is 360 degree specification as it can infinitely rotate in the same direction 7 There are restrictions on index mode operation of the rotary actuator With use of Driver unit Parameter No 79 Rotary Axis Mode Select rotary actuators with 360 degree specification allow selection of normal mode which provides limited rotation operation or index mod...

Page 24: ...ion make sure the safety factor of the timer setting is 2 to 4 times or more of the scan time As the timer is also processed within the scanning process setting below the scan time is dangerous The example shown in the diagram indicates that even if this controller performs output process once every 1 ms the PLC can only recognize once every 20 ms The PLC only performs the output process once ever...

Page 25: ...ation due to characteristics of the stepper motor during initial servo ON only after the power is turned ON Maximum travel during position adjustment operation is 0 025 x lead length mm Additionally until servo turns ON the present position displayed on the teaching tool will be the coordinates prior to the adjustment operation 3 After the power is turned ON followed by the initial servo ON home r...

Page 26: ...times at the most in one day for reference Also leave it for approximately 30 minutes for cooling time after the drive cutoff Construct a circuit that STOP Signal for the system IO connector gets turned on and off at the same time as the drive power supply turned ON OFF 13 For actuators below with a brake equipped make sure to use a brake box for the encoder cable connection Note No use of a brake...

Page 27: ...pable of operating ELECYLINDER in the single solenoid system ELECYLINDER may not operate as commanded by a host system if Parameter No 9 Select Electromagnetic Valve System Operation System is changed to Single Actuator Encorder cable CB X3 PA Encorder cable CB X3 PA010 Brake box IA 110 DD 4 Motor cable CB X2 MA CB XMC1 MA RSELSystem Brake box Actuator Connection cable CB DDB BK RCON SC 1 ...

Page 28: ...the USB connector mini B of the SEL unit If connected directly short circuiting of the power will occur as shown in the diagram below causing malfunction of the PC USB A type 5 V DATA DATA GND FG SEL unit Communication cable for PC software USB cable A mini B GND and FG shorting within PC USB mini B type 5 V DATA DATA GND 24 V 0 V PC If the positive side of the 24V DC supply on SEL Unit is grounde...

Page 29: ...as standards Refer to the Overseas Standard Compliance Manual ME0287 for more detailed information RoHS3 Directive CE Marking UL Certification Note 1 Note 1 In the driver units RCON SC 1 and RCON PS2 3 only the models with UL cUL mark applied in the model code label are complied 200V Power supply unit 3 3 UL cUL mark 200V Driver unit ...

Page 30: ...ss Also the maximum voltage available to use is as shown below 230V AC The R unit products except for RCON PS2 3 and RCON SC 1 should be connected to the power supply environment with 24V and 100A or less 4 About Wiring Protection The short circuit protection circuit built in the product is for a purpose of the branch circuit protection For the branch circuit protection follow the NEC standards an...

Page 31: ...the outside open side Caution Homing direction cannot be changed with some models If it becomes necessary to reverse the homing direction after assembly to equipment check the model of the applicable actuator to ensure that the homing direction is changeable For models with which change is not possible the actuator must be replaced Contact IAI if anything is unclear The 0 in the figure below shows...

Page 32: ...Actuator Coordinate System Intro 18 ME0392 4C 2 Slider type 3 Table type 0 0 0 0 ...

Page 33: ...e rotation specification Multi rotation specification 4 Gripper type Note The finger attachment is not an accessory for the actuator It is to be prepared by the customer 5 Rotary type In the home reverse specification for the multi rotation specification the directions are the reverse of the figure 330 0 ...

Page 34: ...on unit in the Cartesian Robot combination indicated for Controller P2 in IK2 IK3 IK4 Series and ICSB2 ICSB3 consists of four axes at the maximum of the coordinate axes X axis Y axis Z axis and R axis 2nd Axis Axis Y AXIS2 1st Axis Axis X AXIS1 3rd Axis Axis Z AXIS3 4th Axis Axis R AXIS4 1st Axis Axis X AXIS1 3rd Axis Axis Z AXIS3 2nd Axis Axis Y AXIS2 0 Home 4th Axis Axis R AXIS4 ...

Page 35: ...xes constructed in the robot CRS XB XY Base Fixed The direction shown with an arrow is the positive direction CRS XG XY Base Fixed Gantry The direction shown with an arrow is the positive direction C1 C2 C3 C1 C2 C3 C2 Y Axis Direction Direction Direction R Axis Direction Direction Direction Direction T Axis B Axis Home Mechanical Interface ...

Page 36: ... Base Fixed Vertical Approach The direction shown with an arrow is the positive direction C1 C2 C3 C2 C3 C1 Direction Direction R Axis Direction Direction Direction Direction T Axis B Axis Home Mechanical Interface C3 Y Axis Direction Mechanical Interface Direction Direction Direction Direction Direction Direction R Axis T Axis B Axis Home C2 Z Axis Direction ...

Page 37: ...ronmental conditions 1 6 1 3 3 Supper source specifications 1 6 1 3 4 Specifications at control part 1 7 1 3 5 Usage temperature range 1 8 1 3 6 General specifications 1 8 1 4 Installation 1 9 1 4 1 Installation conditions 1 9 1 4 2 Installation and mounting 1 10 1 4 3 Noise countermeasures and mounting method 1 11 RSEL Chapter 1 ...

Page 38: ... Series and RCS ISB DDA Series 1 SEL unit set serves as the field network connection interface to which multiple driver units can be freely configured for control of up to 8 axes Also by combining with an EC connection unit it can be connected to an ELECYLINDER unit There are several ways to control way to control with the SEL language without using a host programable controller hereinafter descri...

Page 39: ...IO unit RCON NP PN PIO SIO Extension Unit RCON EXT NP PN EC Connection Unit RCON EC 4 The maximum number of axes connectable to the driver unit is eight With an EC connection unit included there should be 16 axes at the maximum connectable Also the eight axes connected to a driver unit can be divided into two groups to control individually The number of axes available for the motion control such a...

Page 40: ... axis cartesian robot 5 Ultra compact size Driver units have an ultra compact size of width 30 mm 22 6 mm x height 115 mm x depth 95 mm The smallest combination with 8 axes connected has width 159 6 mm x height 115 mm x depth 95 mm This contributes to control panel miniaturization 6 High performance A high heat dissipation structure is adopted to support ambient temperatures up to 55 C Duty cycle ...

Page 41: ...eaching pendant TB 02 03 The display is considered to see easily by grouping similar errors 9 Enhanced preventive and predictive maintenance functions The present position and motor current value can be monitored as well as the travel count travel distance and motor overload status Also it is available to acquire data of the output voltage from the IAI 24V power supply unit PSA 24 the status of th...

Page 42: ...EtherNet IP PROFIBUS DP PROFINET IO slave station Configuration units RCON A driver unit RCON D driver unit RCON P driver unit RCON P high thrust driver unit RCON SC power supply unit driver unit SCON extension unit PIO SIO SCON extension unit PIO unit EC connection unit simple absolute unit and terminal unit Refer to 2 1 2 Configuration unit for details Emergency stop Enable operation STOP Signal...

Page 43: ...litude 0 075mm Frequency 57 to 150 Hz Acceleration 9 8m s2 XYZ directions Sweep time 10 minutes Number of sweeps 10 times Overvoltage category I Pollution degree 2 Degree of protection IP20 Insulation withstanding voltage 500V DC 10MΩ Generated heat 16 8W SEL unit individually Refer to 2 4 Generated heat for details Cooling method Natural air cooling and forced air cooling by fan unit 1 3 3 Supper...

Page 44: ...ber of symbols to use 20 000 Number of symbol characters 40 1 byte characters 20 2 byte characters Number of letters for step comment 32 1 byte characters 16 2 byte characters Data memory cell Flash ROM Non volatile RAM FRAM Battery not necessary Data input teaching pendant or PC software Applicable Teaching Pendant TB 02 TB 03 Applicable PC Software XSEL PC software Standard Input and Output When...

Page 45: ...g up to 55 C SEL unit requires a fan unit installed when it is to be used in an ambient with the temperature at 40 C or higher The 200V driver unit and the 200V power supply unit are equipped with a fan unit with no exception Caution Under conditions where the temperature is higher than 55 C the unit cannot be used regardless of the operating duty When used under unsuitable conditions Alarm code 4...

Page 46: ...to significant amounts of dust salt or iron powder Where the unit is subject to direct vibration or impact Where the unit receives direct sunlight Where the unit may come in contact with water oil or chemical spray Where vents are blocked see the section for installation and noise countermeasures Where the altitude exceeds 1 000m If the unit is used in any of the following locations provide suffic...

Page 47: ... fall in the ambient temperature from 0 to 40 C In particular the performance may deteriorate when the temperature around the simple absolute unit battery is too low or too high Make sure that the temperature is as close to room temperature as possible The recommended temperature is about 20 C Item Specifications Installation Installation direction Vertical mounting exhaust side on top Installatio...

Page 48: ...ase Type Annealed copper wire 1 6 mm diameter Connect with a ground wire of 2 mm 2 AWG14 Ground terminal Grounding resistance 100 Ω or less Class D grounding construction Connect the ground wire to the FG terminal block of the main body Push in the square hole with a screwdriver or the like to connect Controller Controller Grounding wires should not be connected in common with other devices and se...

Page 49: ...e prevention For the same power supply path and power supply device in the same device take measures against noise Countermeasure examples for noise sources are shown below 1 AC solenoid valve magnetic switch relay Measure Install an anti noise device in parallel with the coil 2 DC solenoid valve magnetic switch relay Measure Install a diode in parallel with the coil or use the diode built in type...

Page 50: ...Chapter 1 RSEL System 1 4 Installation 1 13 ME0392 4C ...

Page 51: ... 2 2 2 1 3 Model code 2 5 2 1 4 Unit list 2 9 2 1 5 Set Model Code for 6 axis Cartesian Robot CRS Series 2 10 2 1 6 Teaching tool Option 2 11 2 2 Power Supply Capacity 2 12 2 2 1 Power supply capacity 2 14 2 2 2 Unit connection restrictions 2 17 2 3 In Rush Current 2 22 2 4 Generated Heat 2 24 2 5 Rush Current Sequence 2 25 RSEL Chapter 2 ...

Page 52: ...2 6 Drive Ssource Cutoff 2 26 2 6 1 Drive source cutoff circuit specifications 2 26 2 6 2 Drive source cutoff circuit wiring example 2 27 2 6 3 Category 3 or category 4 configuration example 2 29 ...

Page 53: ...lowing shows the system configuration Enable switch Emergency stop switch Field bus cable Cable prepared by user PIO cable Attached Cable prepared by user USB cable Cable prepared by user Cable prepared by user PSA 24 communication cable Cable prepared by user Cable prepared by user Cable prepared by user Motor power Control power supply cable Function grounding ...

Page 54: ...rminal unit When Using Only 24V Unit For 200V Terminal unit Model code RSEL G RCON GW TR Enclosed in SEL unit RCON GW TRS Enclosed in 200V Power supply unit External Maximum number of connected units 1 unit 1 unit 1 unit RCON GW TR RCON GW TRS Either one Type Fan unit Power Supply Driver for 24V for SEL unit Fan unit for 200V driver Model code RCON FU RCON FUH External ...

Page 55: ...or later for RCON SC Type Stepper motor Compatible to stepper motor 56SP 60P 86P 24V AC servo motor DC brushless motor Model code RCON PC 1 RCON PC 2 RCON PCF 1 RCON AC 1 RCON AC 2 RCON DC 1 RCON DC 2 External Maximum number of connected units Driver unit 8 axes in total Driver unit 8 axes in total Driver unit 8 axes in total Driver unit 8 axes in total Type 200V AC servo motor 200V power supply u...

Page 56: ...on SCON connection 485 SIO port PIO extension 16in 16out NPN or PNP PIO extension 16in 16out NPN or PNP External Maximum number of connected units 1 unit PIO SIO SCON extension units cannot be connected together 1 unit SCON extension units cannot be connected together 8 units 8 units at max including PIO SIO SCON extension units Type EC connection unit Model code RCON EC 4 Applications ELECYLINDER...

Page 57: ...connection specification DV DeviceNet connection specification DV2 DeviceNet connection specification 2 way Connector Enclosed EC EtherCAT connection specification EP EtherNet IP connection specification PR PROFIBUS DP connection specification PRT PROFINET IO connection specification FU Fan unit mounting Specify the number of units 1 5 TRN Without terminal unit 0 Cable Without 2 2m Standard 3 3m 5...

Page 58: ...PC Stepper motor type PCF Compatible to stepper motor 56SP 60P 86P AC AC servo motor type DC DC brushless motor type SC 200V AC servo motor type 1 1 axis specification 2 2 axis specification Only single axis type for RCON PCF and RCON SC The maximum number of connectable units is one unit Fan unit Model code RCON FU Fan unit for 200V driver unit Model code RCON FUH 200V driver unit Model code RCON...

Page 59: ...it RCON EXT 5 PIO SIO SCON extension unit RCON EXT I O specification I O cable length 6 PIO unit RCON I O specification I O cable length 0 Cable Without 2 2m Standard 3 3m 5 5m NP I O NPN specification PN I O PNP specification 0 Cable Without 2 2m Standard 3 3m 5 5m NP I O NPN specification PN I O PNP specification ...

Page 60: ...er 2 System Configuration and Power Specifications 2 1 System Configuration 2 8 ME0392 4C 7 EC connection unit RCON EC 4 8 Simple absolute unit RCON ABU Motor types P Stepper motor type A AC servo motor type ...

Page 61: ...s specification RCON AC 2 DC brushless motor 1 axis specification RCON DC 1 DC brushless motor 2 axis specification RCON DC 2 200V AC servo motor 1 axis specification RCON SC 1 200V power supply unit Power supply for 200V AC RCON PS2 3 Terminal unit For 24V enclosed in SEL Unit RCON GW TR For 200V enclosed in 200V power supply unit RCON GW TRS SCON expansion unit For SCON CB connection RCON EXT PI...

Page 62: ...ditional Axes It is available to have two more axes of driver unit connected in addition to six axes on the 6 axis cartesian robot CRS Series It is necessary to prepare the driver units separately for additional connection FN Fan unit For RCON PC SXBA For CRS XBA SXGA For CRS XGA SXBB For CRS XBB SXGB For CRS XGB SXZCY For CRS XZCY SXZCZ For CRS XZCZ SXZDY For CRS XZDY SXZDZ For CRS XZDZ SXZEY For...

Page 63: ...etup operations such as creating programs position settings by eg teaching and parameter settings Please prepare either of the following teaching tools No Part Name Model 1 PC software with RS 232C Cable Connector Conversion Cable with Emergency Stop Box IA 101 X MW JS 2 PC software DVD only There is no cable enclosed IA 101 N 3 Teaching Pendant standard with a dead man s switch TB 02 TB 02D 4 Tea...

Page 64: ...nit RCON PS2 3 The necessary power capacity is calculated from adding the total control power capacity of the unit in use and the total motor power capacity of the connected actuator However the 200V driver unit is to be calculated from the sum up of the control current amperage of used units and separated from the motor power supply The current rating for 24V DC power must exceed the total curren...

Page 65: ...ves shown in a catalog provided by the manufacturer Select a breaker that would not trip with the in rush current Check with the operation characteristic curves shown in a catalog provided by the manufacturer Select the rated cutoff current that surely cuts off the current even when short circuit current flows Rated Cutoff Current Short Circuit Current Primary Current Amperage Power Voltage Have e...

Page 66: ...uded approx 50mA unit to the control current amperage of each unit to be connected 24V Driver unit motor power supply Item Actuator Driver Unit Rated Current Max current Series Motor type When Energy saving is set Motor power capacity 1 axis per actuator Stepper motor RCON PC RCP2 RCP3 20P 20SP 28P Without High output setting 0 8A 28P Note 1 35P 42P 56P 1 9A 28P 35P 42P 42SP 56P High output settin...

Page 67: ...t RCON PS2 3 Wattage of actuator motor Motor power capacity VA Transient max motor current amperage VA 30R RS 30 138 414 60 138 414 60 RCS3 CTZ5 197 591 100 234 702 100S LSA 283 851 150 328 984 200 421 1263 200S DD A 503 1509 200S Other LSA S N15H 486 1458 200S LSA S N15H 773 2319 300S LSA 662 1986 400 920 2760 400 RCS3 CT8 1230 3690 600 1164 2328 600 DD A 1462 4386 750 1521 3042 750S 1521 4563 ...

Page 68: ... 9A When power saving setting disabled 1 9A 28P S3 RR3 type 1 9A Slim and small type 1 7A Motor Power Supply of the 200V ELECYLINDER Item Actuator model code Motor wattage Motor power capacity VA Transient max motor current amperage VA Motor power capacity per axis EC S10 EC S10X 100 238 714 EC S13 EC S13X 200 402 1206 EC S15 EC S15X 400 772 2316 In order to drive the 200V ELECYLINDER it is necess...

Page 69: ...ped with Brake 0 6A 4 Simple Absolute 0 2A 8 4 0A OK Ex 2 24V System Actuator x 8 Axis All Axes Equipped with Brake 1 axes unit All Axes Simple Absolute 24V Driver Unit Equipped with Brake 0 4A 8 Simple Absolute 0 2A 8 4 8A OK Ex 3 24V System Actuator 8 Axis All Axes Equipped with Brake 1 axes unit All Axes Simple Absolute PIO SIO SCON Extension Unit 1 unit PIO unit 7 units 24V Driver Unit Equippe...

Page 70: ...ated current 5 7 A 6 axes 34 2A OK Ex 8 RCON PC without PowerCON RCON AC RCON DC The rated voltage of all units is low and even 8 axes do not exceed the current limit value OK Ex 9 RCON PCF 6 axes PC with PowerCON 2 axes or RCON PCF 6 axes RCON AC 2 axes 5 7 6 2 3 2 38 8A NG 5 7 6 1 3 2 36 8A OK Caution Supposing that the operation pattern is that all axes only perform acceleration deceleration si...

Page 71: ... total motor wattage on the connected actuators would not exceed the limit of the calculation for selection For the actuators listed below have the motor wattages for calculation when you calculate the supplies Actuator model number Motor wattage for calculation Remarks 3 Phase power supply Single Phase power supply LSA S6S S8S S8H LSA S N10S 100 300 Per slider LSA S10S H8S H8H L15S N19SS LSA S N1...

Page 72: ... Axis Cannot Connect If you would like to have more axes than the maximum number of axes to be connected enlarge the capacity by connecting the connection type SCON CB RCON to the extension unit Calculation examples are shown below 200V System Motor Power Supply Ex 10 1 axis of actuator each of 200W 300W and 600W motors 200W 1 axis 300W 1 axis 600W 1 axis 1 100W Single Phase OK 3 Phase OK Ex 11 RC...

Page 73: ...ted ELECYLINDER would not exceed the restricted values in the table above can be connected However Max number of connectable axes is 6 axes The motor wattage of ELECYLINDER should be as described below Model Motor wattage EC S10 EC S10X 100W EC S13 EC S13X 200W EC S15 EC S15X 400W Caution The maximum length of the motor power supply cable CB EC PW RB between the main unit of ELECYLINDER and the mo...

Page 74: ...e adjusted with the following two parameters to reduce the risk of voltage drop due to inrush current Inrush current lasts for about 5 ms per axis Adjust the timing as warranted within a range such that the offset does not affect operation Driver shutdown release delay time The MC parameter is equipped with a function that offsets the release timing of the drive source cutoff circuit of each drive...

Page 75: ...ng of each actuator instantaneous power can be suppressed when the servo ON command is applied at the same time DC Power Supply for Motor Drive PSA 200 The inrush current the DC power supply PSA 200 for drive a motor are as shown below Item Specifications Motor power inrush current Note 1 40 C 50 0A 55 C 70 0A Control power Inrush current Note 1 40 C 40 0A 55 C 60 0A Note 1 Inrush current at the p...

Page 76: ...92 4C 2 4 Generated Heat Item Generated heat Generated heat per unit SEL unit RSEL G 16 8W RCON PC PowerCON No 5 0W PowerCON Yes 8 0W RCON PCF PowerCON No 19 2W RCON AC Standard High Acceleration Deceleration Power Saving 4 5W RCON DC Standard 3 0W RCON SC Standard 54 0W RCON PS2 42 0W ...

Page 77: ... such as a PLC The control power and motor power should basically be turned on at the same time In case of turning the control power supply on in the condition of STOPIN and ENBIN inputs status of operation prohibited turn the motor power supply on at the same time as releasing STOPIN and ENBIN inputs status of operation permitted Time to Turn Power on after off 24V DC Cutoff 1s or more Startup Ti...

Page 78: ...e such as the case that an emergency stop of the device is needed thus it is not assumed to activate frequently Therefore in case of high frequency of use of the drive cutoff relay such as switching on and off of the drive source repeatedly every time of setup change the semiconductor may come to the end of life in early timing The number of on off operation cycles should be approximately 5 times ...

Page 79: ...e cutoff circuit wiring example When the stop switch and enable deadman s switch on the teaching pendant is to be affected at equipment emergency stop 1 24V Driver Unit Note Construct the circuit to turn STOP Signal off at the same time as turning off the drive power supply provided to the drive cutoff connector ...

Page 80: ...off 2 28 ME0392 4C 2 24V Driver Unit and 200V Driver Unit Used in Parallel Note 1 Construct the circuit to turn STOP Signal off at the same time as turning off the drive power supply provided to the drive cutoff connector or the drive power supply connector Note 1 Note 1 Note 1 ...

Page 81: ...An example of construction category 3 is shown below When Category 4 is to be secured use only one of either the emergency stop switch on the teaching pendant or the external emergency stop switch so the safety feature would not be lost even with accumulation of malfunctions e g Connect the dummy plug DP 4S on the teaching pendant to avoid using it ...

Page 82: ...Chapter 2 System Configuration and Power Specifications 2 6 Drive Source Cutoff 2 30 ME0392 4C ...

Page 83: ...ensions 3 29 3 2 24V Driver Unit Fun Unit 3 31 3 2 1 Overview 3 31 3 2 2 Model code 3 32 3 2 3 Components 3 34 3 2 4 Part names Functions 3 35 3 2 5 External dimensions 3 46 3 3 200V Power Supply Unit for 200V Terminal Unit 3 48 3 3 1 Overview 3 48 3 3 2 Model code 3 50 3 3 3 Components 3 53 3 3 4 Part names Functions 3 54 3 3 5 External dimensions 3 61 RSEL Chapter 3 ...

Page 84: ...ns 3 95 3 5 6 SIO specifications 3 100 3 5 7 External dimensions 3 101 3 6 EC connection Unit 3 102 3 6 1 Overview 3 102 3 6 2 Model code 3 103 3 6 3 Components 3 105 3 6 4 Part names Functions 3 106 3 6 5 External dimensions 3 113 3 7 Simple Absolute Unit 3 114 3 7 1 Overview 3 114 3 7 2 Model code 3 116 3 7 3 Components 3 118 3 7 4 General specifications 3 119 3 7 5 Part names Functions 3 121 3 ...

Page 85: ...t 3 1 1 Overview SEL unit is a master unit that enables to control ROBO Cylinder and other industrial robots with SEL programs created with SEL language of IAI It is equipped with the gateway feature applicable for the field networks of the host PLC and is applicable for seven types of field networks CC Link CC Link IE Field DeviceNet EtherCAT EtherCAT IP PROFIBUS DP and PROFINET IO It is capable ...

Page 86: ...Not for use NP PIO specification NPN 16 16 PN PIO specification NPN 16 16 CC CC Link connection specification CC2 CC Link connection specification 2 way Connector Enclosed CIE CC Link IE Field connection specification DV DeviceNet connection specification DV2 DeviceNet connection specification 2 way Connector Enclosed EC EtherCAT connection specification EP EtherNet IP connection specification PR ...

Page 87: ...E0392 4C 3 3 2 How to read the model nameplate SEL unit This design is after being certified with UL CE Mark Explanation of Mark Use IAI specified cables only Terminal Unit Serial number Nameplate Location Model number Serial number Nameplate Location GW TR X000000 X0 ...

Page 88: ...y model number errors or missing parts come to light contact your local IAI distributor Part name Shape Quantity Remarks Body SEL unit 1 Model example RSEL G Accessory Terminal unit 1 Single product model number RCON GW TR Not supplied with TRN specification System I O connector 1 Model DFMC1 5 8 ST 3 5 RSEL Supplied with SEL unit Field network connector 1 Depends on I O type Dummy plug 1 Single p...

Page 89: ...iew 正面 Front 1 Control power connector 2 Motor power connector 7 Ethernet connector 5 USB connector 8 Mode switch 3 System status LED 9 I O slot I O slot status LED 10 System I O PSA 24 communication connector 6 Teaching connector 11 SD memory card slot 4 System operation setting switch STATUS 0 STATUS 1 12 Fan connector ...

Page 90: ...Chapter 3 Specifications for each unit 3 1 SEL Unit Terminal Unit 3 6 ME0392 4C Left side Right side Rear Connector upper part Connector Connector bottom part DIN tab ...

Page 91: ...nit for 24V that is to be used when the 200V driver unit is not to be connected When the 200V driver units are to be connected make sure to use the terminal unit for 200V RCON GW TRS enclosed in the 200V power supply unit This terminal unit for 24V has a structure that does not allow itself connected to the 200V driver unit however it could be forcefully inserted which could cause fire on the conn...

Page 92: ...on cable specification Item Specification Compatible wire AWG24 12 0 2 3 5 mm2 Strip length 10 mm Rated Temperature on Isolation Coatin 60 C or more Select a diameter allowable for the current figured out in the control power supply calculation When supplying power by turning ON OFF 24V DC leave 0 V connected and supply cut off 24 V Cutting off on the 0V first when cutting off the both ends should...

Page 93: ...er 24 V input 1 0V 0V input Rated voltage 1 000V II 2 Rated current 41A Connection cable specification Item Specification Compatible wire AWG20 8 0 5 8 mm2 Strip length 15 mm Rated Temperature on Isolation Coating 60 C or more Select a diameter allowable for the current figured out in the motor power supply calculation When supplying power by turning ON OFF 24V DC leave 0 V connected and supply cu...

Page 94: ...or generated SYS Green Light OFF Not Ready Blinking 2Hz Updating Blinking 0 5Hz Update Complete Light ON Ready Orange Light OFF Not Alarm Light ON Alarm Blinking Control power voltage drop detection MODE Green Light OFF MANU manual operation mode ON Light ON AUTO automatic operation mode ON Blinking System shutdown level error is present PWR Green Light OFF Power not Supplied Startup Error Light O...

Page 95: ... 5 USB connector It is a connector to be connected to the PC software For how to install the driver refer to PC software RSEL Instruction manual ME0398 Connector type Mini B Model 51387 0530 Manufacturer Molex Pin No Signal name Description 5 GND Power supply ground 4 ID USB ID dentification terminal 3 D USB Differential transmitted received data side 2 D USB Differential transmitted received data...

Page 96: ...nected to DSR inside 17 DSR Equipment ready Connected to DTR inside 5 STOPS2 Stop contact output 2 18 NC Unconnected 6 STOPS2 Stop contact output 2 19 NC Unconnected 7 NC Unconnected 20 NC Unconnected RSVTBX1 8 RSVVCC 24V power input connector 21 NC Unconnected RSVTBX2 9 STOPS1 Stop contact output 1 22 ENBS2 Enable contact output 2 10 NC Unconnected 23 ENBS1 Enable contact output 1 11 NC Unconnect...

Page 97: ... Pin No Signal name Description 1 TX Transmit 2 TX Transmit 3 RX Receive 4 5 6 RX Receive 7 8 LED display specifications LED name Color Status Content SPEED Orange Light ON 100Mbps connection LINK Green Blinking Link not Established Light ON Link Detected Cable specifications Item Specification Specifications Category 5 or more Connector General Specifications Durability Repeated Insertion Life 20...

Page 98: ...ME0392 4C 8 Mode switch Switches between automatic and manual operation Model CF LD 1DC6 AG2W Manufacturer FUJISOKU Setting Signal name MANU Left side Operation mode AUTO Right side Automatic mode Switch General Specifications Electrical Life 10 000 50 000 times MANU AUTO ...

Page 99: ...or specifications Model HIF6 40PA 1 27DS 71 Manufacturer Hirose Electric Connector General Specifications Rated current 0 5A Rated voltage 125V AC Repeated Insertion Life 500 times LED specifications LED name Color Status Content RUN Green Light ON Flashes when initialization completes in the normal operation ERR Orange Light ON PIO power 24V DC voltage drop error I O NPN ERR 1A 1B RUN 20A 20B ...

Page 100: ...92 4C External input specifications Item Specification Output point 16 points Input voltage 24V DC 10 Input current 4mA 1 circuit ON OFF voltage ON voltage Min 18V DC 3 5 mA OFF voltage Max 6V DC 1 mA Insulation type Photocoupler insulation NPN specification PNP specification ...

Page 101: ...EL Unit Terminal Unit ME0392 4C 3 17 External output specifications Item Specification Output point 16 points Rated load voltage 24V DC 10 Maximum current 50mA 1 circuit Insulation type Photocoupler insulation NPN specification PNP specification ...

Page 102: ...gnment 1A 24 P24 1B Output OUT0 2A 24 P24 2B OUT1 3A 3B OUT2 4A 4B OUT3 5A Input IN0 5B OUT4 6A IN1 6B OUT5 7A IN2 7B OUT6 8A IN3 8B OUT7 9A IN4 9B OUT8 10A IN5 10B OUT9 11A IN6 11B OUT10 12A IN7 12B OUT11 13A IN8 13B OUT12 14A IN9 14B OUT13 15A IN10 15B OUT14 16A IN11 16B OUT15 17A IN12 17B 18A IN13 18B 19A IN14 19B 0 N 20A IN15 20B 0 N ...

Page 103: ...heathed Length 7 mm Mating Connector Signal Name Label Attached Model MSTB2 5 5 STF 5 08 AU Model TMSTBP2 5 5 STF 5 08 AU 2 way Connector product The model code of the mating connector is the one before signal name label attached LED name Color Status Content RUN Green Light ON After joining the network refresh poll normal reception or refresh normal reception ERR Orange Light ON Error occurrence ...

Page 104: ...wer not supplied LED name Color Status Content MS Green Light ON Normal operation Light OFF Hardware error generated Power not supplied Orange Light ON Error generated Node Error Station Number Setting Error Light OFF Normal operation Power not supplied NS Green Light ON Cyclic transmission ON Blinking Cyclic transmission OFF Light OFF Cyclic transmission not yet implemented Fragmented Power not s...

Page 105: ...Pin No Signal name Description 1 Black Power supply cable side 2 Blue Signal data Low side 3 Shield 4 White Signal data High side 5 Red Power supply cable side Connection cable specification Item Specification Recommended Unsheathed Length 7 mm Mating Connector Model MSTB2 5 5 STF 5 08 AU M Model TMSTBP2 5 5 STF 5 08 AU M 2 way product 5 1 MS NS ...

Page 106: ...uration information incomplete information Orange Light ON Fault Non recoverable Blinking Fault Recoverable Green orange Alternate blinking Self diagnosis NS Green Light ON Online status Blinking Online status Connection not established Orange Light ON Error occurrence Blinking Timeout in connection on one or more Green orange Alternate blinking In Self Diagnosis ...

Page 107: ... master cannot be configured Blinking ON 200ms 2 times OFF 1000ms Watchdog timer timeout Light OFF No error or the power is turned off RUN Green Light ON Operation OPERATION status of EtherCAT communication Blinking ON 200ms OFF 200ms PRE OPERATION status of EtherCAT communication Blinking ON 200ms 2 times OFF 1000ms SAFE OPERATION status of EtherCAT communication Orange Light ON Module error Gree...

Page 108: ...uction information incomplete or scanner master in idling condition Orange Light ON Fatal malfunction exception condition or critical error Blinking Light malfunction possible to recover Green orange Light OFF Turned off NS Green Light ON Online status Connection established on one or more Blinking Online status connection not being established Orange Light ON Critical error such as IP address dup...

Page 109: ... V output isolated 7 NC Not connected 8 A Line Signal line A RS 485 9 NC Not connected Housing Shield Cable shield Connected with FG inside controller LED name Color Status Content MS Green Light ON Initialization complete Blinking Initialization complete diagnosis event found Orange Light ON Error occurrence Exception error NS Green Light ON Online status Blinking Online status clear status Orang...

Page 110: ...Chapter 3 Specifications for each unit 3 1 SEL Unit Terminal Unit 3 26 ME0392 4C PROFINET IO Connector type 8P8C modular connector Cable recommended Enhanced Category 5 or above NS MS ...

Page 111: ...al malfunction EXCEPTION Blinking 1 Configuration error Blinking 2 IP address error IP address not set Blinking 3 Station name error Station name not set Blinking 4 Internal critical malfunction error Green Orange Light ON Power off status Module in setup in initializing NS Green Light ON Communication established RUN status Blinking Communication established STOP status Green Orange Light OFF Pow...

Page 112: ...Stop input 13 STOPOUT 24V Output for stop 12 STOPS1 Stop contact output 1 11 STOPS1 Stop contact output 1 10 STOPS2 Stop contact output 2 9 STOPS2 Stop contact output 2 8 PS24 SD Differential signal minus side on RS 485 for PSA 24 7 GND Signal Grounding 6 ENBIN Enable input 5 ENBOUT 24V output for enable 4 ENBS1 Enable contact output 1 3 ENBS1 Enable contact output 1 2 ENBS2 Enable contact output ...

Page 113: ... unit 3 1 SEL Unit Terminal Unit ME0392 4C 3 29 3 1 5 External dimensions SEL unit RSEL G Item Specification External dimensions W56 6 mm H115 mm D95 ｍｍ Mass Approx 265g External view See figure below 56 6 7 95 98 8 4 115 3 5 39 6 35 2 ...

Page 114: ...fications for each unit 3 1 SEL Unit Terminal Unit 3 30 ME0392 4C Terminal unit RCON GW TR Item Specification External dimensions W12 6 mm H115 mm D95 ｍｍ Mass Approx 48g External view See figure below 12 6 98 8 95 115 ...

Page 115: ... with battery less absolute specification and incremental specification Additionally connection of a simple absolute unit allows support for simple absolute specification Compatible with stepper motor PowerCON specification and high thrust specification Driver units are directly connected so that the hassles of wiring can be significantly reduced DIN rail mounting makes it easy to mount onto contr...

Page 116: ...C DC There is only one type 1 How to Read the Model Number 24V Driver unit Fun unit RCON FU 1 1 axis specification 2 2 axis specification PC Stepper motor Type PCF Stepper motor 56SP 60P 86P Compatible type AC AC servo motor type DC DC brush less motor type RCON Type Number of Axes Driver unit Model RCON PC 2 Driver unit Model RCON AC 2 Driver unit Model RCON DC 2 Driver unit Model RCON PCF 1 Fun ...

Page 117: ...nameplate 24V Driver unit Mark Explanation of Mark Use IAI specified cables only Do not touch product when power is ON Risk of burn Nameplate Location Connecting actuator model number AXI 1st axis AXII 2nd axis Model number Serial number Caution Mark High Temperature Cation Mark Type Serial number Model Code ...

Page 118: ...acking list for the details of the enclosed components In the unlikely case that any model number errors or missing parts come to light contact your local IAI distributor Part name Shape Quantity Remarks Body Driver unit 1 Model example RCON PC PCF AC DC Accessory Drive source shutoff connector 1 Model DFMC1 5 2 STF 3 5 Supplied with driver unit First Step Guide 1 ME0383 Safety Guide 1 M0194 ...

Page 119: ...ions 1 Part names RCON PC green RCON DC brown RCON AC blue Drive source shutoff connector T RUN LED Front Top Fan connector SYS LED 1st axis SYS LED 2nd axis Jog switch 1st axis Jog switch 2nd axis Brake switch 1st axis Brake switch 2nd axis Motor encoder connector 2nd axis Motor encoder connector 1st axis ...

Page 120: ...on signal initialization communication failed Orange Light ON Bus communication error generated Light OFF Communication stop SYS I 1st axis II 2nd axis Green Light ON Servo ON Blinking Not to use Red Light ON Alarm triggered STOP signal input OFF Drive source cutoff triggered Blinking Not to use Light OFF Servo OFF axis disable setting Left side Right side Rear Connector bottom part Connector uppe...

Page 121: ...h servo OFF perform jog operation after servo ON and the servo will be OFF after completion The jog switch operations should be valid only in Manual Mode It is disabled in AUTO mode The jog switch is also disabled when opening the screen in which the actuator can be operated with the teaching tool When opening the screen in which operation can be done with the jog switch the actuator will decelera...

Page 122: ...g Be careful when releasing the brake Releasing carelessly may cause injury or damage to the actuator body workpiece or surrounding devices due to the slider or rod falling After releasing the brake be sure to return the brake to the enabled status It is very dangerous to operate with the brake released It may cause injury or damage to the actuator body workpiece or surrounding devices due to the ...

Page 123: ... Limit switch side 9 VMM Motor power line 10 ɸB Motor drive line phase B 11 B Encoder phase B input 12 ENC_SD Battery less absolute signal line 13 LS_GND Ground for limit switch 14 LS Limit switch side 15 ɸB Motor drive line phase B 16 B Encoder phase B input 17 ENC_SD Battery less absolute signal line 18 VPS Encoder line driver enable output 19 NC Not connected 20 BK Brake release side 21 VCC Enc...

Page 124: ... 0V 8 BK Brake release side 9 NC Not connected 10 NC Not connected 11 Z ENC_SD Encoder phase Z input Battery less absolute signal line 12 A Encoder phase A input 13 LSGND Ground for limit switch 14 BK Brake release side 15 NC Not connected 16 Z ENC_SD Encoder phase Z input Battery less absolute signal line 17 A Encoder phase A input 18 VPS Encoder line driver enable output 19 NC Not connected 20 L...

Page 125: ...ine phase V 6 B Encoder phase B input 7 GND 0V 8 BK Brake release side 9 NC Not connected 10 NC Not connected 11 HS_U Hall sensor phase U 12 A Encoder phase A input 13 HS_W Hall sensor phase W 14 BK Brake release side 15 NC Not connected 16 HS_V Hall sensor phase V 17 A Encoder phase A input 18 VPS Encoder line driver enable output 19 NC Not connected 20 LS Limit switch side 21 VCC Encoder power 5...

Page 126: ... connector name DFMC1 5 2 STF 3 5 Phoenix Contact Pin No Signal name Description 1 MPO_II Motor power output 2nd axis 2 MPO_I Motor power output 1st axis 3 MPI_II Motor power input 2nd axis 4 MPI_I Motor power input 1st axis Cable side connector compatible wire Item Specifications Compatible wire AWG24 16 0 2 1 25 mm2 Strip length 10 0 mm 2 1 4 3 ...

Page 127: ...t connects to the fan board connector on the fan unit side 8 Connectors A connector for use between units Two identical connectors are used The connectors have a floating structure that absorbs connector misalignment due to housing mating or mounting misalignment between connectors Fan connector Plug side connector Receptacle connector ...

Page 128: ...internal temperature rises and stops when the temperature falls Operation without derating is possible without a fan unit at 0 40 C however at 40 55 C actuator operating duty must be reduced by 20 every 5 C Alarm code 479 Slave Driver Alarm Detection Info 1 CAh should be generated if operation is performed without decreasing the operation duty With fan unit operation is possible up to 55 C without...

Page 129: ... unit Hook the claw of the fan unit to the driver unit as shown in the figure on the right 2 Pull down the fan unit to the front of the RSEL system 3 Press the fan unit from the top and snap in Regarding the how to replace fan unit refer to 12 3 2 How to Exchange Fan Unit Fan Unit 1 Hook the claw of the fan unit to the driver unit 2 Pull down the fan unit to the front 3 Press down and snap in ...

Page 130: ... ME0392 4C 3 2 5 External dimensions 24V Driver unit RCON PC PCF AC DC Item Specifications External dimensions W22 6 mm H115 mm D95 ｍｍ Mass Approx 180g 2 axis specification Approx 175g 1 axis specification External view See figure below 1 22 6 95 98 8 4 39 6 35 2 115 3 5 7 ...

Page 131: ...ifications for each unit 3 2 24V Driver Unit Fun Unit ME0392 4C 3 47 Fan unit RCON FU Item Specifications External dimensions W34 2 mm H49 mm D12 5 ｍｍ Mass Approx 16g External view See figure below 34 2 49 12 5 18 35 ...

Page 132: ...ht side of the very right end of the SCON extension unit and PIO SIO SCON extension unit or a PIO units if any used Also there is a fan unit and terminal unit for 200V enclosed to the power supply unit Characteristics It is applicable for single phase 200V and 3 phase 200V The wattage connectable is as shown below For single phase 200Vꞏꞏ ꞏꞏꞏꞏ Total wattage of actuators connected to RCON SC should ...

Page 133: ...in case of shortage in regenerative resistor Refer to 4 6 Regenerative Resistor Option Teaching tool Power supply unit Model PSA 24 RCS ISB DDA etc SCON CB Model RCON EXT RCON EXT NP PN Field network PIO Fan unit Model RCON FU RCON FUH Simple absolute unit RCP RCA Model for stepper motor Model for AC servo motor PLC 200V power supply unit Model TB 02 TB 03 Model IA 101 X IA 101 N Connectable actua...

Page 134: ...3 Type Power supply voltage Option Terminal Unit for 200V RCON GW TRS TRN Without terminal unit PS2 200 V Power supply unit 3 3 Phase Single Phase 200V Fan unit Model RCON FU Fan Unit for 200V driver unit Model RCON FUH 200V Driver unit Model RCON SC 1 Terminal Unit for 200V Model RCON GW TRS 200V Power supply unit Model RCON PS2 3 The maximum number of connectable units is one unit ...

Page 135: ...design is after being certified with UL CE Mark Explanation of Mark Use IAI specified cables only Where residual current operated protective device RCD is used for protection in case of direct or indirect contact only RCD of Type B is allowed on the supply side of this Electrotonic Equipment EE Do not touch terminals within 10 minutes after disconnect the power Risk of electric shock Do not touch ...

Page 136: ...Chapter 3 Specifications for each unit 3 3 200V Power Supply Unit for 200V Terminal Unit 3 52 ME0392 4C Terminal Unit for 200V GW TRS X000000 X0 ...

Page 137: ...ase that any model number errors or missing parts come to light contact your local IAI distributor Part name Shape Quantity Remarks Body 200V Driver unit 1 Model RCON PS2 3 The maximum number of connectable units is one unit Accessory Terminal Unit for 200V 1 Single product model RCON GW TRS Not supplied with TRN specification Fun Unit 1 Single product model RCON FU Power Connector 1 Single produc...

Page 138: ...pply Unit for 200V Terminal Unit 3 54 ME0392 4C 3 3 4 Part names Functions 1 Part names 200V Power Supply Unit 200V Power supply unit RCON PS2 3 Terminal unit for 200V RCON GW TRS AC200V input connector Front Top Fan connector External regenerative connector ...

Page 139: ... 3 Specifications for each unit 3 3 200V Power Supply Unit for 200V Terminal Unit ME0392 4C 3 55 Left side Right side Rear Connector bottom part DIN tab Connector upper part Connector Plug Connector Receptacle ...

Page 140: ...use the terminal unit for 200V RCON GW TRS enclosed in the 200V power supply unit The terminal unit for 24V has a structure that does not allow itself connected to the 200V driver unit however it could be forcefully inserted which could cause fire on the connector as well as damage on it Left side Right side Rear Bottom Parts for Terminal Unit Upper Parts for Terminal Unit Connector ...

Page 141: ...y unit and driver unit for 200V are equipped with a built in 60W regenerative resistor This connector is to be used to expand the existing regenerative resistor units model code RESU 2 RESUD 2 in case the resistance is not enough Pin No Signal name Description 1 RB RB Resistor 2 RB RB Resistor 3 PE Protection grounding Refer to 4 6 Regenerative Resistor Optional ...

Page 142: ...tal wattage is up to 1 600W Cable connector name SPC5 4 GF 7 62 Phoenix Contact 3 Phase 200V Pin No Signal name Description Remarks 1 L1 1st Phase 2 L2 2nd Phase 3 L3 3th Phase 4 Protection Grounding Single Phase 200V Pin No Signal name Description Remarks 1 L1 Live 2 L2 Neutral 3 L3 No Connect Not to be connected 4 Protection Grounding Cable side connector compatible wire Item Specifications Comp...

Page 143: ...fan unit attached on the 24V driver unit It connects to the fan board connector on the fan unit side 5 Connectors A connector for use between units Two identical connectors are used The connectors have a floating structure that absorbs connector misalignment due to housing mating or mounting misalignment between connectors Fan connector Plug side connector Receptacle connector ...

Page 144: ... as the fan unit attached on the 24V driver unit Use the unit by connecting to the fan connector on the power supply unit side One unit of the Power Supply Unit uses one unit of the fan unit The fan starts turning if the temperature inside of the power supply unit gets high and stops when the temperature drops Refer to 3 2 4 9 Fan unit for more detailed information Fan unit Fan unit Model RCON FU ...

Page 145: ...ly Unit for 200V Terminal Unit ME0392 4C 3 61 3 3 5 External dimensions 200V Power Supply Unit RCON PS2 3 Item Specifications External dimensions W45 2 mm H115 mm D95 ｍｍ Mass Approx 395g External view See figure below 1 45 2 95 98 8 104 5 4 39 6 35 2 115 3 5 7 ...

Page 146: ...h unit 3 3 200V Power Supply Unit for 200V Terminal Unit 3 62 ME0392 4C Terminal Unit for 200V RCON GW TRS Item Specifications External dimensions W12 6 mm H115 mm D95 ｍｍ Mass Approx 40g External view See figure below 95 98 8 115 12 6 ...

Page 147: ...o there is a 200V fan unit enclosed to the driver unit Note There is a limit to the wattage connectable Refer to Characteristics for details Characteristics The unit is applicable for the battery less absolute type incremental type index absolute type and spurious absolute type One unit of the driver unit can be applied to wattages from 60 to 750W As it is equipped with a built in regenerative res...

Page 148: ... incremental spurious absolute or index absolute type 3 For 3 Phase 200V ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏCombination that exceeds 2400W for total wattage of actuators connected to 200V driver unit 4 For Single Phase 200V ꞏꞏꞏꞏCombination that exceeds 1600W for total wattage of actuators connected to 200V driver unit 5 Servo Press types 6 SCARA Robot 7 CT4 Series 8 ZR Series When connecting the actuators described in 1 ...

Page 149: ...750W motor 1 1 axis Type 200 AC 60 750W motor 1 axis 60 100 100S 150 200 200S 300S 400 600 750 60W servo motor 100W servo motor 100W servo motor For LSA 150W servo motor 200W servo motor 200W servo motor For LSA DD 300W servo motor For LSA 400W servo motor 600W servo motor 750W servo motor Fan unit for 200V driver RCON FUH 200V Power supply unit Model RCON PS2 3 200V Driver unit Model RCON SC 1 Te...

Page 150: ...ting actuator model number This design is after being certified with UL CE Mark Explanation of Mark Use IAI specified cables only Where residual current operated protective device RCD is used for protection in case of direct or indirect contact only RCD of Type B is allowed on the supply side of this Electrotonic Equipment EE Do not touch terminals within 10 minutes after disconnect the power Risk...

Page 151: ...Chapter 3 Specifications for each unit 3 4 200V Driver Unit Fan Unit for 200V Driver ME0392 4C 3 67 Terminal Unit for 200V G GW W T TR RS S X X0 00 00 00 00 00 0 X X0 0 ...

Page 152: ...the packing list for the details of the enclosed components In the unlikely case that any model number errors or missing parts come to light contact your local IAI distributor Part name Shape Quantity Remarks Body 200V Driver unit 1 Model RCON SC 1 Accessory Fan Unit for 200V Driver Unit 1 Single product model RCON FUH Dummy plug 1 Single product model DP 6 First Step Guide 1 ME0397 Safety Guide 1...

Page 153: ...each unit 3 4 200V Driver Unit Fan Unit for 200V Driver ME0392 4C 3 69 3 4 4 Part names Functions 1 Part names RCON SC Motor connector T RUN LED Fan connector SYSⅠ LED Brake switch Jog switch Driver Stop Connector Encoder connector ...

Page 154: ...ht ON Normal internal bus communication Blinking Waiting for initialization signal initialization communication failed Orange Light ON Bus communication error generated SYS Green Light ON Servo ON Light OFF Servo OFF Red Light ON Alarm triggered Stop Signal Input On Left side Right side Rear Connector bottom part DIN tab Connector upper part Connector Plug Connector Receptacle ...

Page 155: ... operation after servo ON and the servo will be OFF after completion The jog switch operations should be valid only in Manual Mode It is disabled in AUTO mode The jog switch is also disabled when opening the screen in which the actuator can be operated with the teaching tool When opening the screen in which operation can be done with the jog switch the actuator will decelerate and stop Symbol Desc...

Page 156: ...arning Be careful when releasing the brake Releasing carelessly may cause injury or damage to the actuator body workpiece or surrounding devices due to the slider or rod falling After releasing the brake be sure to return the brake to the enabled status It is very dangerous to operate with the brake released It may cause injury or damage to the actuator body workpiece or surrounding devices due to...

Page 157: ... 4 B Encoder phase B input 5 Z Encoder phase Z input 6 Z Encoder phase Z input 7 SRD Send Receive Data 8 SRD Send Receive Data 9 10 11 NC Not to be connected 12 24VOUT Sensor Power Supply Output 13 0V 24V Power Supply GND 14 15 16 VCC Encoder Power Supply 17 GND GND 18 19 20 BK Brake Release Output Signal 21 BK Brake Release Output Signal 22 NC Not to be connected 23 RSV Sensor input Reserve 24 OT...

Page 158: ...ug model code DP 6 on when this feature is not to be used 8 Fan connector A connector to connect the Fan Unit It connects to the fan board connector on the fan unit side 9 Connectors A connector for use between units Two identical connectors are used The connectors have a floating structure that absorbs connector misalignment due to housing mating or mounting misalignment between connectors Fan co...

Page 159: ...g to the fan connector on the driver unit side One unit of the 200V driver unit requires one unit of the Fan Unit for 200V Driver Unit The fan rotates when the driver unit internal temperature rises and stops when the temperature falls Regarding the how to replace fan unit refer to 12 3 3 How to Replace Fan Unit for 200V Driver Unit Fan Unit for 200V Driver Unit Fan Unit for 200V Driver Unit Model...

Page 160: ...er Unit Fan Unit for 200V Driver 3 76 ME0392 4C 3 4 5 External dimensions 200V Driver Unit RCON SC Item Specifications External dimensions W45 2 mm H115 mm D95 ｍｍ Mass Approx 440g External view See figure below 1 45 2 95 98 8 104 5 4 39 6 35 2 115 3 5 7 ...

Page 161: ... unit 3 4 200V Driver Unit Fan Unit for 200V Driver ME0392 4C 3 77 Fan Unit for 200V Driver Unit ROCN FUH Item Specifications External dimensions W34 2 mm H49 mm D12 5 ｍｍ Mass Approx 20g External view See figure below 18 4 64 34 2 12 5 ...

Page 162: ... the internal semiconductor instead of an external drive cutoff connector The driver stop circuit DRV STOP is a feature that cuts off the energy supply to the motor by the cutoff circuit in the controller after a reaction time 8ms or less in response to the input signal and makes a safe stop Shown below is an example for wiring for the driver stop feature Connector Position Driver Stop Connector F...

Page 163: ...ector Name on Driver unit Side 2294417 1 Tyco Electronics Pin No Signal name Name Explanation 1 NC Do not apply 2 NC Do not apply 3 SRI1 Stop Input Signal 1 Stop input signal should be input On DRV STOP released Off In DRV STOP Motor current cutoff 4 SRI1 5 SRI2 Stop Input Signal 2 Stop input signal should be input On DRV STOP released Off In DRV STOP Motor current cutoff 6 SRI2 7 EDM External Dev...

Page 164: ...itor Output Signal EDM Voltage Range 24V 10 Output Current 100mA Max Test Pulse of Stop Input Signal Set the test pulse off time input externally at 1ms or less Operating Sequence Normal Operation Stop Input Signal 1 SRI1 Stop Input Signal 2 SRI2 Energy Supply to Motor External Monitor Output Signal EDM ON OFF ON OFF ON OFF ON OFF Number of Motor Revolution DRV STOP Released In DRV STOP DRV STOP R...

Page 165: ...in the example of wiring When having one switch the driver stop feature at malfunction should get invalid ON OFF ON OFF ON OFF ON OFF DRV STOP Released In DRV STOP DRV STOP Released DRV STOP Released Internal Circuit Latency Time ms Monitor Signal kept off Stop Input Signal 1 SRI1 Stop Input Signal 2 SRI2 Energy Supply to Motor External Monitor Output Signal EDM Number of Motor Revolution Dynamic ...

Page 166: ...river Stop Connector Cable Side To be prepared by user There is the following model code available for a connector unit on the cable side when a cable for driver stop feature is to be built up Manufacturer Tyco Electronics Model Code 2013595 1 Soldering Type There is cold welding type also available It is necessary to have a cramping tool 2229737 1 for both soldering and cold welding types Model D...

Page 167: ...N EXT RCON EXT NP PN PIO unit Model IA 101 X IA 101 N Model TB 02 TB 03 SCON extension unit and PIO SIO SCON extension unit 3 5 SCON Extension Unit PIO SIO SCON Extension Unit PIO Unit 3 5 1 Overview SCON extension unit SCON extension unit is a unit to connect SCON CB Controller to RSEL system Using the SCON extension unit and SCON CB Controller should enable to connect actuators that are not capa...

Page 168: ...ntroller as well as SCON extension unit does It is also equipped with the parallel I O connector with 16 points of input and 16 points of output and RS 485 serial communication connector PIO SIO SCON extension units are also available to use by allocating on the right of the SEL unit PIO unit PIO unit is equipped with the parallel I O connector with 16 points of input and 16 points of output Expan...

Page 169: ...f Connected Option Units is 0 at the delivery from our production plant in RSEL System When PIO input and output are to be used with PIO SIO SCON extension units or PIO units connected set the total number of PIO SIO SCON extension units and PIO units connected in the parameter Number of Connected Option Units I O Parameter No 186 No Name Unit Input range Default initial value setting 186 Number o...

Page 170: ... the Model Number SCON extension unit RCON EXT PIO SIO SCON extension unit RCON EXT I O specification I O cable length PIO unit RCON I O specification I O cable length 0 without cable 2 2ｍ standard 3 3m 5 5m NP I O NPN specification PN I O PNP specification 0 without cable 2 2ｍ standard 3 3m 5 5m NP I O NPN specification PN I O PNP specification ...

Page 171: ...IO SCON Extension Unit PIO Unit ME0392 4C 3 87 2 How to read the model nameplate This design is after being certified with UL CE Mark Explanation of Mark Use IAI specified cables only Model number Serial number Serial number Model number Caution Mark Nameplate Location ...

Page 172: ... specification See the packing list for the details of the enclosed components In the unlikely case that any model number errors or missing parts come to light contact your local IAI distributor SCON extension unit Part name Shape Quantity Remarks Body SCON extension unit 1 RCON EXT Accessory Terminal connector 1 Single product model number RCON EXT TR First Step Guide 1 ME0393 Safety Guide 1 M019...

Page 173: ...tension unit Part name Shape Quantity Remarks Body PIO SIO SCON extension unit 1 RCON EXT PN PNP specifications RCON EXT NP NPN specifications Accessory Terminal connector 1 Single product model number RCON EXT TR PIO cable 1 CB PAC PIO Extension SIO port connector 1 FMC1 5 3 STF 3 5 First Step Guide 1 ME0393 Safety Guide 1 M0194 ...

Page 174: ...nsion Unit PIO SIO SCON Extension Unit PIO Unit 3 90 ME0392 4C PIO unit Part name Shape Quantity Remarks Body PIO unit 1 RCON PN PNP specifications RCON NP NPN specifications Accessory PIO cable 1 CB PAC PIO First Step Guide 1 ME0393 Safety Guide 1 M0194 ...

Page 175: ...n Unit PIO SIO SCON Extension Unit PIO Unit ME0392 4C 3 91 3 5 4 Part names Functions SCON extension unit PIO SIO SCON extension unit Front SCON connection connector Status LED SCON connection connector SIO connection connector PIO connection connector Front ...

Page 176: ...for each unit 3 5 SCON Extension Unit PIO SIO SCON Extension Unit PIO Unit 3 92 ME0392 4C PIO unit Left side Rear Right side PIO connection connector Front Connector bottom part DIN tab Connector Connector upper part Status LED ...

Page 177: ...r dedicated internal bus signal differential transmit line 6 DRV_RB Driver dedicated internal bus signal differential receive line 7 AM_SD MODBUS differential line 8 AM_SD MODBUS differential line 9 ACT_PULSE Driver signal timing notification signal differential line 10 ACT_PULSE Driver signal timing notification signal differential line 11 SYNC_PULSE Driver synchronizing signal differential line ...

Page 178: ...current 0 5A Rated voltage 125V AC Repeated Insertion Life 500 times Refer to 3 5 5 PIO Specifications for pin assignment 3 SIO connection connector Item Model Manufacturer PCB side connector MC1 5 3 GF 3 5P26THR Phoenix contact Mating Connector FMC1 5 3 STF 3 5 Phoenix contact Pin No Signal name Description 1 ISO_GND Grounding for extension communication 2 ISO_SD Extended communication line 3 ISO...

Page 179: ... in the list LED name Color Status Green Red Total frame communication status LED Blinking Light OFF Configuration communication Light ON Light OFF Normal communication Light OFF Light ON Total frame communication error Light OFF Light OFF Updating PIO unit status LED Light ON Light OFF Normal communication Light OFF Light ON Control power supply voltage drop Light OFF Light ON I O power supply vo...

Page 180: ...B OUT7 307 9A IN4 004 9B OUT8 308 10A IN5 005 10B OUT9 309 11A IN6 006 11B OUT10 310 12A IN7 007 12B OUT11 311 13A IN8 008 13B OUT12 312 14A IN9 009 14B OUT13 313 15A IN10 010 15B OUT14 314 16A IN11 011 16B OUT15 315 17A IN12 012 17B 18A IN13 013 18B 19A IN14 014 19B 0 N 20A IN15 015 20B 0 N 2 1A 24 P24 1B Output OUT0 316 2A 24 P24 2B OUT1 317 3A 3B OUT2 318 4A 4B OUT3 319 5A Input IN0 016 5B OUT4...

Page 181: ...344 14A IN9 041 14B OUT13 345 15A IN10 042 15B OUT14 346 16A IN11 043 16B OUT15 347 17A IN12 044 17B 18A IN13 045 18B 19A IN14 046 19B 0 N 20A IN15 047 20B 0 N 4 1A 24 P24 1B Output OUT0 348 2A 24 P24 2B OUT1 349 3A 3B OUT2 350 4A 4B OUT3 351 5A Input IN0 048 5B OUT4 352 6A IN1 049 6B OUT5 353 7A IN2 050 7B OUT6 354 8A IN3 051 8B OUT7 355 9A IN4 052 9B OUT8 356 10A IN5 053 10B OUT9 357 11A IN6 054...

Page 182: ...376 14A IN9 073 14B OUT13 377 15A IN10 074 15B OUT14 378 16A IN11 075 16B OUT15 379 17A IN12 076 17B 18A IN13 077 18B 19A IN14 078 19B 0 N 20A IN15 079 20B 0 N 6 1A 24 P24 1B Output OUT0 380 2A 24 P24 2B OUT1 381 3A 3B OUT2 382 4A 4B OUT3 383 5A Input IN0 080 5B OUT4 384 6A IN1 081 6B OUT5 385 7A IN2 082 7B OUT6 386 8A IN3 083 8B OUT7 387 9A IN4 084 9B OUT8 388 10A IN5 085 10B OUT9 389 11A IN6 086...

Page 183: ...408 14A IN9 105 14B OUT13 409 15A IN10 106 15B OUT14 410 16A IN11 107 16B OUT15 411 17A IN12 108 17B 18A IN13 109 18B 19A IN14 110 19B 0 N 20A IN15 111 20B 0 N 8 1A 24 P24 1B Output OUT0 412 2A 24 P24 2B OUT1 413 3A 3B OUT2 414 4A 4B OUT3 415 5A Input IN0 112 5B OUT4 416 6A IN1 113 6B OUT5 417 7A IN2 114 7B OUT6 418 8A IN3 115 8B OUT7 419 9A IN4 116 9B OUT8 420 10A IN5 117 10B OUT9 421 11A IN6 118...

Page 184: ...ry Conditions Command Operation 1 Operation 2 Output Function Timer Freely TIMC Program No Prohibited CP Standby canceled Communication Freely OPEN Channel No Prohibited CP Channel open Freely CLOS Channel No Prohibited CC Channel closed Freely READ Channel No Column number CC Input to channel Freely TMRW Lead time Light Timer Duration CC Setting READ WRIT timeout value Freely WRIT Channel No Colu...

Page 185: ...ension unit RCON EXT NP PN PIO unit RCON NP PN Item Specifications External dimensions W22 6 mm H115 mm D95 ｍｍ Mass Approx 96g SCON extension unit Approx 110g PIO SIO SCON extension unit Approx 105g PIO unit External view See figure below The appearance dimensions for SCON extension units PIO SIO SCON extension units and PIO units should be the same 1 22 6 3 5 7 115 98 8 95 4 35 2 39 6 ...

Page 186: ...connection unit should be four axes Caution ELECYLINDER is not available for operation in the single solenoid system ELECYLINDER may not operate as commanded by a host system if the setting is changed to the single solenoid system Teaching tool Model TB 02 TB 03 Model IA 101 X IA 101 N Power supply unit Model PSA 24 RCS ISB etc SCON CB RCON Connection type Model RCON EXT Field network Fan unit Mod...

Page 187: ...ction unit models are as follows ELECYLINDER capable to be connected to the EC connection unit is the option ACR only EC ACR Series Type Lead Motor Joint Type Stroke Cable Length Option ACR RCON EC connection type tentative EC connection unit model RCON Type Number of Axis EC ELECYLINDER 4 Four axis type EC connection unit Model RCON EC 4 ...

Page 188: ...ons for each unit 3 6 EC Connection Unit 3 104 ME0392 4C 2 How to read the model nameplate Mark Explanation of Mark Use IAI specified cables only Nameplate Location Serial number Model number Serial number Caution Mark Type ...

Page 189: ...ng list for the details of the enclosed components In the unlikely case that any model number errors or missing parts come to light contact your local IAI distributor Part name Shape Quantity Remarks Body EC Connection Unit 1 Model example RCON EC Accessory Drive ource shutoff connector 1 Model DFMC1 5 4 ST 3 5 Supplied with EC Connection Unit First Step Guide 1 ME0395 Safety Guide 1 M0194 ...

Page 190: ...ns 1 Part names RCON EC Front T RUN LED Backward end LED 1st to 4th Axes Forward end LED 1st to 4th Axes SYS LED Brake Release Switch 1st to 4th Axes Jog switch 1st to 4th Axes Drive source shutoff connector Connector DIN tab Connector Connector upper part Connector bottom part Left side Right side Rear ...

Page 191: ... OFF Control power supply voltage drop Motor power supply voltage drop Emergency stop Error occurred in regular communication with EC Red Light ON Control power supply voltage drop Motor power supply voltage drop Emergency stop Error occurred in regular communication with EC Light OFF Normal operation LS1 ALM I 1st axes II 2nd axes III 3rd axes IV 4th axes Green Light ON Movement to Forward End Co...

Page 192: ...rn operation The operation on on the jog switch is valid only in MANU Mode It should be invalid in AUTO Mode Also when a window to operate actuators is open on a teaching tool the jog switch should be inactivated If a window capable to operate actuators gets opened during operation with the jog switch an actuator should decelerate and stop Setting EC Connection Unit JOG Switch I O Parameter No 191...

Page 193: ...lease regardless of servo ON OFF except when control power is OFF Symbol Description RLS Brake release Brake Release NOM Brake lock Normal Warning Be careful when releasing the brake Releasing carelessly may cause injury or damage to the actuator body workpiece or surrounding devices due to the slider or rod falling After releasing the brake be sure to return the brake to the enabled status It is ...

Page 194: ... extension unit Also axis numbers for four axes should be assigned to the EC connection unit even if ELECYLINDER is not connected to all of four An axis number that an axis is not connected should not be pulled one number forward RCON EC Pin No Signal name Description 1 24V MP Motor power 24V 2 GND 0V 3 IN0 Input 0 4 IN1 Input 1 5 IN2 Input 2 6 SD Communication Line 7 OUT0 Output 0 8 OUT1 Output 1...

Page 195: ... 1 MPO_4 Motor power output 4th axes 2 MPO_3 Motor power output 3rd axes 3 MPO_2 Motor power output 2nd axes 4 MPO_1 Motor power output 1st axes 5 MPI_4 Motor power input 4th axes 6 MPI_3 Motor power input 3rd axes 7 MPI_2 Motor power input 2nd axes 8 MPI_1 Motor power input 1st axes Cable side connector compatible wire Item Specifications Compatible wire AWG20 to 16 Copper Wire Strip length 10 0 ...

Page 196: ...0392 4C 7 Connectors A connector for use between units Two identical connectors are used The connectors have a floating structure that absorbs connector misalignment due to housing mating or mounting misalignment between connectors Plug side connector Receptacle connector ...

Page 197: ...or each unit 3 6 EC Connection Unit ME0392 4C 3 113 3 6 5 External dimensions Item Specifications External dimensions W 22 6 mm H 115 mm D 95 mm Mass About 114g External view See figure below 1 22 6 7 98 8 95 4 3 5 115 39 6 35 2 ...

Page 198: ...bsolute reset home return motion is not required even if turning the control power supply OFF and then ON again RCS ISB DDA etc Teaching tool Model TB 02 TB 03 Power supply unit Model PSA 24 SCON CB Fan unit Model RCON FU RCP RCD RCA RCL RCP RCA Model for stepper motor Model for AC servo motor PLC Connectable actuators Simple Absolute Unit SCON Extension unit and PIO SIO SCON Extension unit Model ...

Page 199: ...ns for each unit 3 7 Simple Absolute Unit ME0392 4C 3 115 However simple absolute units do not have a unit connectable structure Connect to the 24V driver unit with a cable after securing to a DIN rail Connecting to actuator ...

Page 200: ...r type RCON AC only A cable model CB ADPC MPA005 length 50 cm is included for connection to the driver unit Cables of lengths other than 50 cm must be prepared separately as needed The cable length should be selected based on the driver unit and simple absolute unit installation positions Simple absolute unit model RCON A B U Motor type Ｐ Stepper motor type Ａ AC servo motor type Simple Absolute Un...

Page 201: ...or each unit 3 7 Simple Absolute Unit ME0392 4C 3 117 2 How to read the model nameplate Mark Explanation of Mark Use IAI specified cables only Nameplate Location Serial number Model number Model number Serial number Caution Mark ...

Page 202: ...cking list for the details of the enclosed components In the unlikely case that any model number errors or missing parts come to light contact your local IAI distributor Part name Shape Quantity Remarks Body Simple Absolute Unit 1 Accessory Absolute battery 1 Model Name AB 7 Motor encoder cable 1 Model Name CB ADPC MPA005 Supplied with Simple Absolute Unit First Step Guide 1 Safety Guide 1 ...

Page 203: ...y and when power has been turned off for extended periods The battery is charged while 24V DC is supplied to SEL If SEL power is turned OFF beyond the data retention time the data will be lost so charge regularly The battery has a limited lifetime that gradually decreases data retention time Replace the battery when the retention time decreases significantly even if properly charged Data retention...

Page 204: ...o 2 Total charge 8 h operation per day x 3 3 h retention time per 1 hour charge x 5 days weekdays 132 h Total discharge Nightly down time 16 h x weekdays 5 days weekend down time 48 h 128 h If starting on Monday the total charge amount exceeds the total discharge amount so there is no need to maintain continuous full charge Charge increases by 4 h each week Absolute Battery Voltage Drop Detection ...

Page 205: ...h unit 3 7 Simple Absolute Unit ME0392 4C 3 121 3 7 5 Part names Functions 1 Part names Actuator connection connector Front Driver unit connection connector STATUS0 LED STATUS1 LED SYS LED Rear DIN tab RCON ABU P green RCON ABU A blue ...

Page 206: ...ry fully charged Red Light ON Battery not connected Orange Green Red Light ON Battery charging 3 Actuator connection connector driver unit connection connector Connect the simple absolute unit to an actuator using an actuator connection connector MPG and to a driver unit with the driver unit connection connector CONT There are two types one for stepper motors and one for AC servo motors as the pin...

Page 207: ...ns Simple absolute unit RCON ABU A P Item Specifications External dimensions W25 mm H115 mm D95 ｍｍ Mass Approx 270g of which 183 g is the battery External view See figure below The appearance dimensions for the pulse motor type and the AC servomotor type should be the same 25 98 8 95 4 115 3 5 39 6 35 2 ...

Page 208: ... It is harmful to skin and clothing 2 Never short the electrodes out never directly connect and electrodes Devices may be damaged or the generated heat may cause burns 3 Never place into fire as it may burst Also do not submerge underwater as the battery will cease to function 4 Do not solder directly The safety mechanism may explode due to damage to the safety valve in the battery cap 5 If the po...

Page 209: ...system from the front 1 SEL unit Allocate the SEL unit on the left end 2 SCON extension unit SCON extension unit is to be connected on the right next to the SEL unit It is not available to use it together with the PIO SIO SCON extension unit 3 PIO SIO SCON extension unit PIO SIO SCON extension unit is to be connected on the right next to the SEL unit It is not available to use it together with the...

Page 210: ... right next to the 200V power supply unit 9 Terminal unit Allocate the terminal unit on the right end Caution when Connecting Terminal Unit The terminal unit to be connected on the right end should differ depending on the cases when the system consists of only the 24V driver units and when it consists of the 200V driver units For the construction only with the 24V driver unit use the 24V terminal ...

Page 211: ...evices 4 5 4 3 Circuit Diagram Example 4 6 4 3 1 Single phase type power supply circuit 4 6 4 3 2 3 Phase type power supply circuit 4 7 4 4 Wiring Method 4 8 4 4 1 Power supply wiring to RSEL system 4 8 4 4 2 200V power supply wiring to RSEL system 4 10 4 4 3 Checking actuator model numbers 4 12 4 4 4 RSEL connection cable list 4 13 4 4 5 Actuator wiring Connecting motor encoder cable 4 16 RSEL Ch...

Page 212: ... Regenerative Resistor Option 4 33 4 6 1 Regenerative resistor unit specifications 4 33 4 6 2 Wiring for Regenerative Resistor Unit 4 34 4 7 Brake Box Option 4 36 4 7 1 Specification for brake box 4 36 4 7 2 Wiring for brake box 4 40 4 8 Connection the Teaching Connector 4 45 4 9 Connection the USB Connector 4 49 4 10 Connection the Ethernet Connector 4 50 ...

Page 213: ...n Installation and Wiring ME0392 4C 4 1 There is Quick Start Guide available in order to introduce the startup of the RSEL system from controller wiring work to execution of basic operations in the shortest time Japanese Only ...

Page 214: ...tom part towards the panel and position on the panel end 2 The 2 sections circled with a dashed line and the 4 positioning bosses within the square dotted lines are used as a total of 6 mating sections for positioning 2 units 3 When positioning is completed insert the connection connectors 2 so that they are firmly connected 4 Turn the operating parts of the connector upper bottom part towards the...

Page 215: ... the RCON system and fan unit 2 Hook the claw of the fan unit to the power supply unit as shown in the figure on the right 3 Pull down the fan unit to the front of the RSEL system 4 Press the fan unit from the top and snap in New Fan unit 3 Tilt the fan unit towards front 4 Push it from top to put it in 2 Hook the claw of the fan unit to the power supply unit ...

Page 216: ...stem is available only with DIN rail installation Pull down the DIN operation part that is visually accessible at the bottom of the back of the unit body where shown with red dotted line in the figure below and then attach the DIN rail Push the DIN operation part back up after attaching the rail to lock it Front Rear DIN tab ...

Page 217: ...Communication Monitor 4 Driver Unit Connector 4 4 5 Actuator wiring 5 Driver Unit Connector Simple Absolute Connection 4 4 7 Simple Absolute Unit Wiring 6 Connector for each network 4 4 8 Field network wiring 7 Teaching connector 4 8 Connection the teaching connector 8 USB connector 4 9 Connection the USB connector Enable switch Emergency stop switch Field bus cable Cable prepared by user PIO cabl...

Page 218: ...4 3 Circuit Diagram Example 4 3 1 Single phase type power supply circuit RSEL system Motor power connector Control power connector Circuit breaker Motor power connector for 200V driver SEL unit RSEL G 24V Driver unit RCON PC PCF AC DC 200V Power supply unit RCON PS2 3 200V Driver unit RCON SC ...

Page 219: ...le ME0392 4C 4 7 4 3 2 3 Phase type power supply circuit RSEL system Circuit breaker SEL unit RSEL G 24V Driver unit RCON PC PCF AC DC 200V Power supply unit RCON PS2 3 200V Driver unit RCON SC Motor power connector Control power connector Motor power connector for 200V driver ...

Page 220: ...connector 1 Refer to the next page for each wiring diameter 2 The strip length of the wiring is MP 15 mm CP 10 mm 3 Insert the wire all the way into the terminal port while pushing the flathead screwdriver into the hole next to the wire insertion port 4 Remove the screwdriver Connect the 24V of MP motor power connector to the 24V terminal of the 24V DC power supply Connect the 0V of MP motor power...

Page 221: ... of the actuator to be connected Refer to 2 2 1 Power supply capacity Caution Using a cable with diameter less than the applicable cable diameter or wiring distance too long may cause an error due to the voltage drop or may drop the actuator performance In such a case have the output voltage of the power supply adjusted to 24V for the controller supply voltage Reference Shown below is a list of th...

Page 222: ...m Wire Join the power supply connector and connect wires to each terminal in order to supply motor power to the 200V driver unit See the figure below and the following wiring diagram and have the processes in 1 to 2 Insert the power supply connector to the 200V power supply unit RCON PS2 Connect wires to each terminal See the example of connection below to have the wiring process 1 Tighten up with...

Page 223: ...ible wire 3 Phase 200V Signal name Content Compatible wire diameter L1 Phase 1 Motor drive power supply AWG14 8 Copper wire L2 Phase 2 L3 Phase 3 Protection Grounding Compatible wire Single Phase 200V Signal name Content Compatible wire diameter L1 L Live Motor drive power supply AWG14 8 Copper wire L2 N Neutral L3 NC No Connect Protection Grounding Use cables with their rated temperature on the i...

Page 224: ...make sure that the combination with the controller is correct Connectable actuator models are listed on the model number sticker on the left side of the controller Items to prepare RSEL unit actuator motor encoder cable Model number shown in Actuator on the driver unit model number sticker Driver unit front Match Model number shown in MODEL on the actuator model number sticker Actuator side surfac...

Page 225: ...ADPC MPA RB CB RPSEP MPA Required D 8 RCP2CR clean room type RCP2W dust proof splash proof type Rotary RT of above types GRS GRM GR3SS GR3SM of above types P5 CB ADPC MPA RB A 9 All standard clean room dust proof splash proof types of GRSS GRLS GRST GRHM GRHB Short type RCP2 only RCP2 SRA4R SRGS4R SRGD4R P5 CB RCAPC MPA RB C 10 High thrust type Note 1 HS8 RA8 RA10 P6 CB ADPC MPA RB CB CFA MPA RB R...

Page 226: ...ator CB ADPC MPA RB Order Separately A 1 RCP6 RCP6CR RCP6W RCP5 RCP5CR RCP5W 3 RCP4 Gripper GR ST4525E SA3 RA3 8 RCP2CR RCP2W rotary RT and GRS GRM GR3SS GR3SM 13 RCA2 RCA2CR RCA2W CNS option 16 RCD RA1DA RCD GRSNA 17 WU S M Actuator CB ADPC MPA RB D Each actuator connection cable Actuator Refer to the list in the previous page CB ADPC MPA RB 7 RCP2 RTBS RTBSL RTCS RTCSL 10 RCP2 RCP2CR RCP2W high ...

Page 227: ... PLA RA13R Equipped with Brake with no brake box From Actuator to Brake Box CB RCS2 PLA From Actuator to Brake Box CB X2 PLA 5 IS P B IS P DB IS P DBCR T4 30 CB X2 MA CB X1 PA Cable length at 21m or more and 30m or less in battery less absolute type should be CB X1 PA AWG24 Option Limit Switch Equipped Type Note 1 CB X1 PLA Cable length at 21m or more and 30m or less in battery less absolute type ...

Page 228: ...CM CV APCS may be required to connect the driver unit and the simple absolute unit 2 Connecting RCP6 high thrust RCP5 high thrust RCP4 series to RSEL 4 4 4 RSEL connection cable list Wiring diagram B Insert until it clicks and put cover on Connection cable CB ADPC MPA RB Actuator Driver unit connector Controller side Actuator side Actuator RCP6 Motor encoder cable supplied with actuator RSEL Syste...

Page 229: ...MA RSEL System Mounting recommended ZCAT3035 1330 3 Connecting RSEL and RCP RCA Series other than the above 4 4 4 RSEL connection cable list Wiring diagram D 4 Connection between 200V Servo motor Actuator and RCON SC 1 Actuator RCA Motor encoder cable supplied with actuator CB ASEP2 MPA Connector conversion unit RCM CV APCS Connection cable CB ADPC MPA RB Insert until it clicks Insert until it cli...

Page 230: ...le CB REC PWBIO RB 4 4 6 Wiring between EC connection unit and ELECYLINDER Refer to the example of connection below to insert the connectors to ELECYLINDER and the EC connection unit Push the connectors inward till it makes click sound The axis number should be determined by the position of the connector on the EC connection unit 1 Connecting between ELECYLINDER and EC connection unit ...

Page 231: ...ecting The actuator model code is described on the production label on the left side of the main unit For the detailed specifications for the DC power supply for motor drive refer to 3 2 Electrical Specifications in ELECYLINDER Instruction Manual ME3801 Confirm Option ACR is set EC Connection Unit Model RCON EC 4 DC Power Supply for Motor Drive Model PSA 200 Large Slider Type ELECYLINDER Power sup...

Page 232: ...h on a cable should be 7 mm 3 Insert wires to the inlet on the power supply connector Inset the wires till they hit the end 4 Tighten up the terminal screw with using a slotted screwdriver Inlet Wire Motor power connector Model MSTB2 5 6 STF 5 08 Terminal Screw 7 mm Screwdriver Motor power supply L1 and L2 Control power supply L1C and L2C Ground PE Perform wiring at 5 points in total Screwdriver B...

Page 233: ...iameter PE AWG 14 Copper wire NC N A L2C AWG 18 Copper wire L1C AWG 18 Copper wire L2 AWG 14 Copper wire L1 AWG 14 Copper wire Use cables with their rated temperature on the isolation sheath at 60 C or higher 5 Join the power supply connector to the DC power supply for motor drive and tighten up the fixing screws on the flanges of the connector by using a slotted screwdriver DC Power Supply for Mo...

Page 234: ...aker installed when leakage protection is to be conducted A clear purpose is necessary when selecting a leakage breaker such as to protect from fire or protection of personnel For leakage breaker use a high frequency applicable type for inverter Ground Class D grounding Formerly Class III grounding Grounding resistance at 100 Ω or less Surge Protector R A V 781BWZ 2A manufactured by Okaya Electric...

Page 235: ...Pin No Signal name Description Remarks 1 ALM Alarm Contact Output Photocoupler Insulation Open Collector Output 2 ALM 3 MP Motor Power Supply Contact Output 4 MP 5 PWR Control Power Supply Contact Output 6 PWR Compatible wire diameter Item Specifications Compatible wire AWG24 to 16 Max Cable length 10 m Strip length 10 0 mm Use cables with their rated temperature on the isolation sheath at 60 C or...

Page 236: ... supply for motor drive RSEL System EC Connection Unit Model RCON EC 4 Push in until it makes click sound Power supply communication cable CB REC PWBIO RB Large Slider Type ELECYLINDER Motor power supply cable DC Power Supply for Motor Drive Model PSA 200 CB EC PW RB Power supply communication cable Motor power supply cable Push in until it makes click sound Push in until it makes click sound Push...

Page 237: ...rd and the connectors with a cable band concern of contact error at the connectors caused by vibration on the cables can be reduced When pulling out the connector insert a thin tool in a gap between the connector guard and the connector to hold the locking feature hold the other side at the same time and then pull it out Connector Guard Tighten with cable bands Push in a thin tool to a gap between...

Page 238: ...olute unit perform wiring as shown below 1 simple absolute unit is required for each actuator Driver connection connector CONT Actuator connection connector MPG RSEL System Simple Absolute Unit Actuator Driver unit For the wiring of this section refer to the 4 4 4 RSEL connection cable list CB ADPC MPA005 Supplied with Simple Absolute Unit ...

Page 239: ...e unit Driver unit parameter No 83 No Name Unit Input range Default initial value setting 83 Absolute Unit 0 Not in use 1 In use 0 For stepper motor specification Set 1 for simple absolute specification For the battery less absolute specification the factory default value is 1 Change the setting to 0 when using in incremental specification For servo motor specification Set 1 for simple absolute sp...

Page 240: ...master unit with a Mitsubishi Electric PLC as the host PLC Connecting the host PLC and two RSEL systems Actuator Actuator RSEL System CC Link dedicated cable prepared by the customer RSEL System The terminal resistor of the CC Link master unit is to be prepared by the customer Host PLC CC Link master unit to be prepared by customer Terminal resistor supplied with SEL system ...

Page 241: ... attached terminal resistor between the connectors DA and DB at the network terminal end only in Connection image above Point The terminal resistor to be used may differ depending on the CC Link dedicated cable type Cable FANC SBH CC Link dedicated high performance cable Terminal resistor 130 Ω Cable FANC SB CC Link dedicated cable Terminal resistor 110 Ω CUT DA signal line DB signal line DG signa...

Page 242: ... the connector allocated on the CC Link module on the main unit of RSEL push the connector till the end and then tighten it with a slotted screwdriver Caution Conduct the CC Link wiring on the PLC side following the instruction for the PLC and master unit to be used Tighten it with slotted screwdriver Flathead screwdriver ...

Page 243: ...d to the host controller PLC etc is just cut and no treatment is conducted so the wiring layout can be performed freely Model CB PAC PIO indicates the cable length L Example 020 2m No Cable Color Wiring No Cable Color Wiring 1A BR 1 Flat Cable A Press Welding AWG28 1B BR 3 Flat Cable B Press Welding AWG28 2A RD 1 2B RD 3 3A OR 1 3B OR 3 4A YW 1 4B YW 3 5A GN 1 5B GN 3 6A BL 1 6B BL 3 7A PL 1 7B PL...

Page 244: ...Chapter 4 Unit connection Installation and Wiring 4 5 PIO Circuit 4 32 ME0392 4C ...

Page 245: ...enerative resistor unit externally Model Accessories Item Enclosed Items Model First Unit Screw attachment small type RESU 2 200V Driver Unit Connection Cable Model code CB SC REU010 1 m enclosed DIN rail attachment small type RESUD 2 2nd unit or later Screw attachment small type RESU 1 Regenerative resistor unit connection cable Model code CB ST REU010 1 m enclosed DIN rail attachment small type ...

Page 246: ...t RESU D 1 with enclosed cable CB ST REU Wiring Image External Regenerative Resistor Connector Specifications Item Items and Model Connector Name External Regenerative Resistor Connector RB Model Controller side 1 178138 5 Cable side 1 178128 3 Pin Assignment Pin No Signal Name Items Applicable cable diameter 1 RB Regeneration Resistor Motor drive DC voltage Dedicated Cable Enclosed to Regenerativ...

Page 247: ...Resistor Unit Connection Cable CB ST REU indicates the cable length Example 010 1 m Controller Side Display of Cable Mode Code Regenerative Resistor Unit Side Controller Side Display of Cable Mode Code Regenerative Resistor Unit Side NO Signal Color Wiring 1 RB Light Blue KIV 1 0mm2 AWG17 2 RB Brown 3 PE Green Yellow Wiring Color Signal NO KIV 1 0mm2 AWG17 Light Blue RB 1 Brown RB 2 Green Yellow P...

Page 248: ...nit of brake box is capable of brake control for two axes Specification Item Specifications Input power supply voltage DC24V 10 Input power supply current 1 A Generated heat 1 2 W Connection cable 1 Encoder cable Model CB RCS2 PLA010 1 m Environment Ambient operating temperature 0 to 40 C Ambient operating humidity 85 RH or less non condensing Ambient operating atmosphere Refer to 1 4 1 Installati...

Page 249: ...Chapter 4 Unit connection Installation and Wiring 4 7 Brake Box Option ME0392 4C 4 37 Appearance ...

Page 250: ...0V 0 25 A AC200 V 0 15 A Overexcitation AC100V 0 6 A AC200 V 0 3 A Generated heat 6 0W Rated excitation 10 0 W Overexcitation Overexcitation time 1 2s 0 2s Connection cable Encoder cable Model code CB RCS2 PLA010 1 m Environment Ambient operating temperature 0 to 40 C Ambient operating humidity 85 RH or less non condensing Ambient operating atmosphere Refer to 1 4 1 Installation conditions Ambient...

Page 251: ...Chapter 4 Unit connection Installation and Wiring 4 7 Brake Box Option ME0392 4C 4 39 Appearance ...

Page 252: ...l Remarks Cable side MC1 5 2 ST 3 5 Phoenix Contact Brake box side MC1 5 2 GF 3 5 Phoenix Contact Pin No Signal Name Contents Applicable Wire Diameter 1 0V Power supply ground 0 08 to 1 25 mm2 AWG28 to 16 2 24VIN 24V Power supply 1 Brake power supply input connector Actuator Encoder cable CB X3 PA Encoder cable CB RCS2 PLA010 Brake box RCB 110 RA13 0 Motor cable CB X2 MA RSEL system RCON SC 1 3 Br...

Page 253: ... Cable side XAP 02V 1 Contact BXA 001T P0 6 J S T Mfg Connector used S02B XASS 1 J S T Mfg Pin No Signal Name Contents Applicable Wire Diameter 1 BKMRL Brake release switch input 0 08 to 0 3 mm2 AWG28 to 22 2 COM Common for brake release switch input 2 and 3 Brake release connector 1 and 2 Use one with the switch rating 30V DC and 1 5 mA or more 1 2 ...

Page 254: ...erminal block Actuator Encoder cable CB X3 PA Encoder cable CB X3 PA010 Brake box IA 110 DD 4 Motor cable CB X2 MA CB XMC1 MA RSEL system Brake Box Actuator Connection Cable CB DDB BK RCON SC 1 2 IA 110 DD 4 Establish connectivity among the actuator brake box and controller as shown in the figure It is an example of connecting to the first axis ...

Page 255: ...r Supply Input Terminal Block Names and Pin Assignments Terminal block name ML 50 S2FXS 3P Sato Parts Pin No Signal name Description 1 L AC power supply phase L 2 N AC power supply phase N 3 PE Protective earthing Recommended Power Supply Size and Solderless Terminals Item Description Recommended Power Supply Size L N AWG18 or less PE AWG14 or less Solderless Terminals I D φ4 0 mm or more O D φ8 5...

Page 256: ...ectors to output the release signal As inside Pin 3 and Pin 4 is an open collector connection using a photocoupler Pin 3 and Pin 4 should be conducted once the brake voltage is output Pin 3 and Pin 4 are isolated from inside of the brake box with the photocoupler Outside release release signal output connector Connector name ML 700 NH 4P Sato Parts Pin No Signal name Description 1 BKRMT Brake rele...

Page 257: ...HDR EC26LFDT1 SLD Pin Assignment Pin No Signal Name Items Applicable cable diameter 1 GND Signal Grounding Cable dedicated for IAI products 2 EMGS Stop status output 3 VCC 6 5V power input connector 4 DTR Terminal ready Connected to DSR inside 5 STOPS2 Stop contact output 2 6 STOPS2 Stop contact output 2 7 NC Not connected 8 RSVVCC 24V power input connector 9 STOPS1 Stop contact output 1 10 NC Not...

Page 258: ... Not connected 20 NC Not connected 21 NC Not connected 22 ENBS2 Enable contact output 2 23 ENBS1 Enable contact output 1 24 ENBS1 Enable contact output 1 25 ENBS2 Enable contact output 2 26 GND Signal Grounding Caution Set Operation Mode Setting Switch to MANU side when a teaching tool is connected Turn the power OFF before disconnecting a teaching tool USB connector and teaching connector cannot ...

Page 259: ...Gray Red dot DTR Short circuit 4 DSR 6 RTS Short circuit 7 CTS 8 Connector hood FG D Sub9 pin socket No Cable colors Signal name 2 Orange Black dot TXD 3 Orange Red dot RXD 7 Gray Black dot SG Gray Red dot 4 Short circuit RTS 5 CTS 6 Short circuit DSR 20 DTR 17 Short circuit ENB1 19 ENB1 21 Short circuit ENB2 22 ENB2 12 White Black dots EMG1 13 White Red dot EMG1 16 Yellow Black dot EMG2 24 Yellow...

Page 260: ... SEL SJ002 Cable length 0 2 m It is attached to IA 101 X USBMW 4 USB conversion adapter Model IA CV USB It is attached to IA 101 X USBMW 5 USB cable 3 m Model CB SEL USB030 It is attached to IA 101 X USBMW PC connection cable side Controller side 200 USB cable side PC connection cable side 65 25 25 PC side USB conversion adapter side 3 000 ...

Page 261: ...0530 Molex Connector name USB Communication Specification Conformed to USB 2 0 12Mbps Full Speed Maximum connection distance 5 m Connected unit PC USB port Connection cable USB cable Controller side mini B Pin Assignment Pin No Signal Name Signal content 1 Vbus USB Power supply input 5V 2 D USB Differential transmitted received data side 3 D USB Differential transmitted received data side 4 ID USB...

Page 262: ...tor Refer to Ethernet Instruction Manual ME0140 provided separately Ethernet connection connector specification Connector to be Used RJ 45 connector 8 pin HR911130C HANRUN Connector name 10 100BASE T Communication speed 10 100Mbps Auto negotiation Connected unit PC etc Ethernet Connection cable Ethernet LAN cable Recommended Cable STP cable manufactured by 3M Category 5 or more Pin assignment Pin ...

Page 263: ... setting 5 5 5 3 2 Starting method 5 5 5 3 3 Simple setting method 5 6 5 3 4 Description of each area 5 9 5 3 5 Special mechanism axis 5 11 5 3 6 Axis group setting 5 12 5 4 Receiving and Forwarding of I O Signals Necessary for Operation 5 13 5 5 I O port 5 14 5 6 Position Data Position Table 5 17 5 7 Programming 5 18 5 7 1 SEL command word list 5 18 RSEL Chapter 5 ...

Page 264: ...ber 5 25 5 10 ELECYLINDER Operation 5 27 5 10 1 Specification 5 28 5 10 2 Applicable version 5 28 5 10 3 ELECYLINDER control system 5 29 5 10 4 Input and output signals and features of EC connection unit 5 31 5 10 5 Assignment and operation system of EC signals 5 37 5 10 6 Timing for input and output signals 5 39 5 10 7 Maintenance bit output for predictive maintenance 5 40 5 10 8 Configuration ex...

Page 265: ...teaching tool Set the parameters for SEL unit driver unit Checking the package Are all deliverables present No Contact IAI or the local IAI distributor Communication setting of PLC master unit When using the upper PLC Refer to the PLC instruction manual Priority check items re the continuous mode and control sequence that supports the system incorporated Power ON 1 Turn on the power of the PLC mas...

Page 266: ...object which will generate an alarm If mounted vertically repeating servo ON OFF at the same position may cause the unit to slightly descend due to its own weight Be careful not to snag hands or damage workpieces Checking the safety circuit Does the emergency stop circuit drive source cutoff circuit operate normally and does the servo turn OFF Check the emergency stop circuit No Yes Yes Test run a...

Page 267: ...ency stop mode Also the number allocation for the I O ports is shown as the same as the delivery in this description 1 After confirming that the wirings are performed properly supply power to the peripheral devices If PIO is in use supply 24V DC for PIO In the case that it is not used the power supply is not required but set I O Parameter No 18 and No 189 to 0 Unmonitored 2 Supply the main power 3...

Page 268: ...392 4C 5 2 2 Power cutoff Power cut off to the RSEL system Power Cutoff on Procedure Shut the power on the peripheral devices at the same time as or after the shutoff of the main power Caution Leave it for 1 second or more after shutting the power off when you turn it back on ...

Page 269: ...o the following 16 17 Axis Number Assignment in TB 02 Programming Controller Applicable Instruction Manual ME0356 15 17 Axis Number Assignment in TB 03 Programming Controller Wired Connection Instruction Manual ME0377 When an EC connection unit is to be connected assignment should be done in the I O parameter settings Therefore this feature should not be used For details 5 3 2 Starting method If t...

Page 270: ...tting method At the first startup logical axes are assigned in the order of physical axes in the installed driver unit If you do not need to make any changes press the Yes button To assign logical axes individually click the No button Figure 5 3 1 First startup screen ...

Page 271: ...be performed by dragging the actuator image hereinafter referred to as axis image arranged in the physical axis area at the top of the screen and dropping it in the logical axis area To release the axis image assigned in the logical axis area Drag the axis image and drop it in the physical axis area Select the axis image and right click Unassign or Delete key input If you want to release them all ...

Page 272: ... 5 8 ME0392 4C Figure 5 3 3 Axis reset screen When the assignment is completed press the OK button and the screen shown in Figure 5 3 2 will be displayed Press the Close button to exit without setting Physical axis area Logical axis area ...

Page 273: ...splayed as the last driver unit 2 Implemented axis image The following information is displayed on the implemented axis image A Driver unit number Unit0 Unit7 B Physical axis number in driver unit Drv0 Drv1 C Actuator image If there is no image No Image image is displayed D Actuator name If the name cannot be obtained Unknown is displayed E Axis number assigned to the axis setting status Axis1 Axi...

Page 274: ...splayed for slots with no axis assigned Figure 5 3 6 Axis setting status Axis images can be moved within the logical axis area Note however that there are restrictions on the logical axis order for special mechanism axes so movement of the axes may be restricted Example The message in the red dotted frame in Figure 5 3 6 is an error message that appears when trying to assign the axis image of Axis...

Page 275: ...is area and logical axis area The actuator names should be C1 C2 C3 R B and T The figures of actuators are those of the 6 axis cartesian robot 2 Multi slider axis When dragging and dropping the multi slider axis from the physical axis area to the logical axis area the axes to be paired in the above case MS1 1 to MS1 4 also move 3 Wrist unit When dragging and dropping the wrist unit from the physic...

Page 276: ...held separately management becomes easier to understand If there are two 3 axis combinations the previous position data was input using Axis1 to Axis6 but by grouping you can now have two 3 axis position data In the SEL program declare the group to be used and specify the position data to be used If you click the Axis group setting button in Fig 5 3 7 two groups are displayed in the logical axis a...

Page 277: ...O or field network Whether to use PIO or field network is set by a parameter Refer to Section 3 5 5 Section 4 5 for the PIO interface For each field network refer to Chapter 6 Host controller RSEL system PIO interface Standard I O Extension I O Field network Interface CC Link CC Link IE Field DeviceNet EtherCAT EtherNet IP PROFIBUS DP PROFINET IO I O Ports Input Port Output Port 000 300 001 301 00...

Page 278: ...No 33 Input function select 003 0 General purpose input 1 Start the program auto start upon power ON reset software reset in the AUTO mode 2 Auto start program signal 9A White 1 004 General purpose input No 34 Input function select 004 0 General purpose input 1 All servo axis soft interlock OFF level 10A Black 1 005 General purpose input No 35 Input function select 005 0 General purpose input 1 Op...

Page 279: ...put OFF if the work part is missed during push motion operation 2 Output when axis 1 servo is ON 3 System reservation 7B Purple 3 306 General purpose output No 52 No 337 Output function select 306 Output function select 306 Area 2 0 General purpose output 1 Axis 2 in position output OFF if the work part is missed during push motion operation 2 Output when axis 2 servo is ON 3 System reservation 8B...

Page 280: ... At the default settings the controller recognizes the ON OFF durations of input signals if they are approx 4 ms or longer The ON OFF duration settings can also be changed using I O parameter No 20 input filtering frequency ON duration OFF duration ...

Page 281: ...system eight controllable axes can be divided into two groups for control Position data is set for each axis group The number of positions is equally divided by the number of groups Number of axis groups Number of position data 1 36 000 2 18 000 About the axis group to be operated 1 Set the initial value for each SEL program If not set it is axis group 1 2 Select the axis group using the dedicated...

Page 282: ...ME0224 5 7 2 Symbol extension Supports the number of symbol definitions uses the number of symbol characters and full width RSEL system Number of definitions 2 000 Number of uses 20 000 Character count 40 1 byte characters 20 2 byte characters 5 7 3 Step comment number of characters The following comment character count are available RSEL system Comment character count 32 1 byte characters 16 2 by...

Page 283: ...ce check zone No 1 10 10 ー Zone No 1 4 4 ー Palletize No ーー Axis No 1 8 8 ー Axis pattern 0 11111111 ー Axis group No 1 2 ー Position data count Axis group count 1 36 000 Axis group count 2 18 000 ー Position comment 32 1 byte characters Max 10 000 position ー Program No 1 512 512 ー Steps No 1 20 000 20 000 ー Task level NORMAL HIGH 2 ー SIO channel No 1 1 ー WAIT timer ー 1 1 shot pulse timer Simultaneous...

Page 284: ...The controller always operates in accordance with the data in the main CPU memory excluding the parameters Note The first 10 of the position data is stored in non volatile RAM and the rest in flash memory Comments for each position data can be used for up to 10 000 positions regardless of the position number and are saved in flash memory Data edited on the PC or teaching pendant Data will be retai...

Page 285: ... parameter file was saved About saving position data The storage area for position data is 10 non volatile RAM from the beginning and flash memory for the rest Position data comments are stored in flash memory Therefore if the power is turned off or software reset is performed without writing to the flash ROM 90 of the position data and the position data comment are erased and the data from the pr...

Page 286: ...ion via I O interface Operation with PIO 24V I O Operation with field network communication CC Link CC Link IE Field DeviceNet EtherCAT EtherNet IP PROFIBUS DP PROFINET IO are supported Refer to The separate operation manual for Chapter 6 Field Network PIO SIO Operation via serial Operation with Serial communication RS 232C communication commands Refer to The separate SEL language programming manu...

Page 287: ...r the software reset is performed the program No set in parameter No 1 for others is executed The input port 003 can be used as a universal input port 2 When input port 003 is turned ON the program whose number is set in other parameter No 1 is executed When this port is turned OFF all currently running programs stop I O parameter No 286 1 factory default Indicate the port number to assign the fea...

Page 288: ...urned OFF 2 Set the operation mode setting switch on the RSEL controller to the AUTO position 3 Turn off the power and then turn it back on 4 Make sure input port 003 is turned ON after a wait time of 0 01s following the start of the RSEL controller the RDY signal turns ON to indicate a successful start 5 The specified program starts 6 Turn Input Port 003 OFF and READY Output turns OFF and then th...

Page 289: ...e input port 008 LSB to 014 MSB with BCD turning ON the input port 000 starts up the program Turning ON the input port 000 for 0 1s or more 4 After the program number to be started up is set in the input port 008 LSB to 014 MSB with BCD turning ON the input port 000 starts up the binary Turning ON the input port 000 for 0 1s or more No 30 1 or 2 I O parameters No 37 to 43 0 Input ports 007 to 013 ...

Page 290: ...program you want to start 4 Set the program No and 0 05s or more later turn ON the input port 000 program start 5 Turn ON input port 000 program start and keep it ON for 0 1s 6 The specified program starts READY output RSEL output Output from Output Port No 301 when I O Parameter No 47 is other than 0 Program execution 2 Min0 01s Program Number 3 5 4 Min0 05s Min0 1s 6 Program No output from the h...

Page 291: ...nit control of ELECYLINDER unit gets available Operation in combination of ELECYLINDER with Cartesian Robot or ROBO Cylinder becomes available RSEL System is capable of connecting 16 axes of ELECYLINDER units at the maximum 4 units at the maximum are capable to connect for the EC connection unit RCON EC PLC EC Connection Unit RCON EC 4 ...

Page 292: ...r driver unit Assigns 4 axes fixed for 1 unit of EC connection unit Even if EC connects only 1 axis assignment should be 4 axes Number of input output points 16 points of input and output for 1 unit 4 points axis for 4 axes For details on the specifications of the EC connection unit refer to 3 6 EC Connection Unit 5 10 2 Applicable version Shown below is the applicable versions for this feature Ta...

Page 293: ... ELECYLINDER units start moving 4 A position detection signal gets output from ELECYLINDER Forward end or backward end 5 The position detection signal gets output from RSEL to PLC ELECYLINDER continues its operation while a movement command signal ST0 ST1 is on and a position detection signal LS0 LS1 turns on after the operation is complete If the movement command signal gets turned off before the...

Page 294: ...ommand signal ST0 ST1 is on and a position detection signal LS0 LS1 turns on after the operation is complete If the movement command signal gets turned off before the operation completes the operation gets cancelled and an actuator decelerates and stops The same even applies to the home return operation EC Connection Unit Cable or or or or ELECYLINDER BTOF 397 Forward command OFF BTON 396 Backward...

Page 295: ...ion unit PIO unit EC Connection unit Caution An EC connection unit should occupy 4 points of input and 4 points of output for 1 axis of ELECYLINDER unit and occupies 16 points of input and 16 points of output for 4 axes It occupies for 4 axes 16 points even if not all of the 4 axes are connected 1 Commands to EC 2 Response from EC b15 b14 b13 b12 b11 b10 b9 b8 7b 6b 5b 4b 3b 2b 1b 0b RES ST1 ST0 R...

Page 296: ...mplete decelerate and stop on the way with off b8 ST0 Drive Backward Drives backward with on drives backward after home return operation when home return not complete decelerate and stop on the way with off Control signal 2nd Axis b7 Not available b6 RES Alarm Cancel Alarm cancelled with on b5 ST1 Drive Forward Drives forward with on drives forward after home return operation when home return not ...

Page 297: ...ressing operation completes b8 LS0 PE0 Driving Backward Complete Pressing Complete It turns on when an actuator gets in the detection range of the backward end It turns on when pressing operation completes Status signal 2nd Axis b7 E1RD Operation Ready On Operation ready servo on b6 ALM Alarm break contact ON No alarm OFF Alarm generated b5 LS1 PE1 Driving Forward Complete Pressing Complete It tur...

Page 298: ...cause a gradual stop Home return status complete When the ST signal is turned ON the ELECYLINDER moves Backward or Forward While the ST signal is ON operation will continue until the Backward end or Forward end is reached Turning the ST signal OFF midway through operation will cause a gradual stop Caution If stopped when the LS or PE signals are not ON the ELECYLINDER may be stopped on the way to ...

Page 299: ... Once the current position of ELECYLINDER gets into the detection range set in the LS detection range adjustment in EC Parameter No 2 LS Signal should turn on They turn ON when within the detection range regardless of whether the servo is ON or OFF The backward end and forward end set values relationship to LS0 and LS1 signals ON is as follows In this example the LS signal detection range is 0 10 ...

Page 300: ...ELECYLINDER is in normal status Turns OFF when an alarm occurs Always monitor the ALM signal using the master device If it turns OFF immediately take safety countermeasures with the equipment as a whole 6 Operation ready E RD PLC input signal It turns on when the operation is ready servo on 0 1st axis on EC connection unit ready for operation 1 2nd axis on EC connection unit ready for operation 2 ...

Page 301: ...186 Number of Option Unit Connected Units 0 0 to 8 unit Number of input and output ports should be number of connected units x 16 for each Option board parameters No Parameter Name Setting on Delivery Input range Unit Remarks 1 Unit type 0 0 to 15 unit 0 PIO unit 1 EC connection unit 2 Control method 0 0 to 1 0 SEL program 1 Host device PLC etc 3 Top Input Port Number from Host Device 0 0 to 3 999...

Page 302: ... to an EC connection unit the setting should be as shown below Option board parameters No 2 1 I O control Option board parameters No 3 240 Option board parameters No 4 540 2 Control of SEL program The input and output ports assigned to the EC connection unit should be operated directly in the SEL program In order to stop ELECYLINDER on the way turn ST0 ST1 Signals off ELECYLINDER would not stop wi...

Page 303: ...Station Transmission Latency Tt Process Time inside SEL Unit Transmission Time 5 ms Ft ELECYLINDER Input Filter 6 to 26 ms Gt RCON EC 4 Input Filter 6 to 26 ms Ft or Gt may differ depending on the model of ELECYLINDER to be connected Refer to an instruction manual of a PLC installed to each field network master unit about the transmission latencies from the master station to the remote I O station...

Page 304: ...n with Maintenance Alarm generated For this feature details refer to Maintenance Alarm 1 and 2 Total Travel Count Total Travel Distance 9 3 3 Maintenance Information Maintenance Alarm 3 Overload Alarm 9 4 2 Overload Alarm Output setting of Maintenance Bit Open I O Output Setting Monitor from Parameter P I O Output Setting I in the XSEL PC software From the items in Monitor Data Output Setting in t...

Page 305: ...to be used for 2nd EC connection unit 24V driver unit 4 2 axes connected for each unit PIO unit 2 EC connection unit 2 2 axes connected for each unit EC not connected for remaining 2 axes EC connection unit 1 EC connected to 1st and 4th axes Control in SEL program EC connection unit 2 EC connected to 1st and 2nd axes Control from host device PLC Field network CC Link and EtherNet IP etc Terminal u...

Page 306: ...o 412 to 427 EC Operating Output Port No 412 to 427 in such as the SEL program should cause Error Code 489 System Output Operation Error Status Output port No 348 to 363 EC Input port No 112 to 127 Output port No 348 to 363 Host device PLC Do not attempt to set other input and output features in input Program Start Input Software Reset Input Remote Mode Control Input etc and for output Error Outpu...

Page 307: ...example shown in the figure above Target Version 9 RCON EC 1st unit 1st axis 10 RCON EC 1st unit 2nd axis 11 RCON EC 1st unit 3rd axis 12 RCON EC 1st unit 4th axis 13 RCON EC 2nd unit 1st axis 14 RCON EC 2nd unit 2nd axis 15 RCON EC 2nd unit 3rd axis 16 RCON EC 2nd unit 4th axis Note The position to connect an EC connection unit is fixed Any position other than the layout in the figure above shoul...

Page 308: ...1 Fieldbus Remote Output 64 2 Option Unit Activation Setting Set the number of the option units PIO SIO SCON extension unit PIO unit and EC connection unit to be connected to the SEL unit Set the number of units in I O Parameter No 186 Number of Connected Option Units using the PC teaching software or a teaching pendant TB 02 03 SCON extension unit RCON EXT should not be included in the number of ...

Page 309: ... Set to 1 Host Device Option Board Parameter No 3 Set the input port of the control signals sent from the host device to the EC connection unit Option Board Parameter No 4 Set the output port of the control signals sent from the EC connection unit to the host device This setting is necessary for establishing the input and output port relations for the input and output ports used in the fieldbus an...

Page 310: ...NDER would not accept any command on the input and output ports If you would like to have a trial run on the input and output ports in MANU Mode establish the setting in the PC teaching software or a teaching pendant TB 02 03 When Operating in PC Teaching Software Select Permit EC I O Command from the dropdown list in the toolbar By doing so a trial run on the input and output ports should become ...

Page 311: ...ected should not be pulled one number forward 6 When in MANU Mode and a teaching tool is set to Permit EC I O Command any teaching operation of ELECYLINDER in the PC software is not available There should be Alarm 124 or 125 generated in the PC teaching software Refer to 16 3 EC Teaching Tool Error List in XSEL PC Software RSEL Edition for details Set it to Prohibit EC I O Command wen having a tea...

Page 312: ...le to 8 4 000 to 6 999 Negative number invalid 189 PIO Unit PIO SIO Unit Error Monitoring 1 0 to 5 0 No Monitoring 1 Monitor 2 Monitor 24V I O power supply related errors not monitored 3 Monitor Monitors only 24V I O power supply related errors 4 Monitor Make 24V I O power supply related errors generated in message level Some exceptions should be applied 190 Option Unit Attribute 1 C800200H 0H to ...

Page 313: ...portive coil voltage 2 Output current 3 Peak hold current 4 Load ratio 5 Fan revolution speed 6 Inside temperature PCB temperature Output data type Bit 00 03 2 Axis status 0 Current position 1 Current speed 2 Alarm code 3 Axis motion status 4 Motor indication current rating ratio 5 Motor indication current mA 6 Position deviation 7 Over load level 8 Motor feedback current rating ratio 9 Motor feed...

Page 314: ...nnection unit 2 Model Middle Order Manufacturing Information 0 0 to 1 0 SEL Program 1 Host device PLC etc Dedicated for EC connection unit 3 Model Low Order Manufacturing Information 0 0 to 3 999 0 Multiple to 8 0 to 299 1 000 Multiple to 8 1 000 to 3 999 Setting necessary when Control System 1 Host Device Number of ports depends on types of units Dedicated for EC connection unit 4 Manufacturing D...

Page 315: ...line is broken 3 Communication error caused by noise impact 4 There is no terminal unit mounted 5 There are 9 units or more of option units connected 6 There is an error in a parameter related to the option units 7 The connected option unit is different from what is set in the parameter 8 The total number of the driver axes and the EC axes exceeds 16 9 A communication error has been occurred betwe...

Page 316: ...Chapter 5 Operation 5 10 ELECYLINDER Operation 5 52 ME0392 4C ...

Page 317: ...able devices 6 14 6 2 2 Parallel I O and remote I O 6 15 6 2 3 I O ports and reading and writing of data 6 17 6 2 4 Example of Use of each network PIO SIO 6 20 6 3 Parameter Configuration 6 53 6 3 1 Basic setting 6 53 6 3 2 Other settings 6 57 6 3 3 Examples of parameter settings at delivery 6 58 6 3 4 Example of use of each network and parameter 6 60 RSEL 6 6 章 RSEL Chapter 6 ...

Page 318: ... Connectivity Setting 6 104 6 5 1 Downloading setting file for network ESI file 6 104 6 5 2 Sysmac studio startup and PLC communication connectivity 6 105 6 5 3 Installing setting file for network ESI file 6 106 6 5 4 Setup of EtherCAT network configuration 6 109 6 5 5 Changing PDO mapping setting 6 113 6 5 6 Data transfer to PLC 6 118 ...

Page 319: ... Two way connector enclosed RSEL G CIE CC Link IE Field connection type RSEL G DV DeviceNet connection type RSEL G DV2 DeviceNet connection type Two way connector enclosed RSEL G EC EtherCAT connection type RSEL G EP EtherNet IP connection type RSEL G PR PROFIBUS DP connection type RSEL G PRT PROFINET IO connection type Also by linking the PIO SIO SCON extension unit or PIO unit to SEL unit it com...

Page 320: ...apter 6 Field Network PIO SIO 6 1 Interface Specifications 6 2 ME0392 4C Standard Ethernet I O Slot I O Slot Status LED Status LED PIO Connector SIO Connector SEL unit PIO SIO SCON extension unit PIO unit ...

Page 321: ...ed cyclic setting 1 2 4 times Determined by number of I O points used in CC Link station number 1 to 64 Software setting by I O parameters Communication speed 10M 5M 2 5M 625k 156kbps Software setting by I O parameters I O Slot Status LED LED name Color Status Description RUN Green Light ON After joining the network refresh poll normal reception or refresh normal reception ERR Orange Light ON Erro...

Page 322: ... LED name Color Status Description NS Green Light ON Normal operation Light OFF Hardware error occurred Power not supplied Orange Light ON Error occurred Node Error Station Number Setting Error Light OFF Operation in Normal Condition Power not supplied NS Green Light ON Cyclic transmission ON Blinking Cyclic transmission OFF Light OFF Cyclic Transmission not Conducted In parallel off Power not sup...

Page 323: ...s Communication speed 500k 250k 125kbps Software setting by I O parameters I O Slot Status LED LED name Color Status Description MS Green Light ON Normal operation Blinking There is no configuration information or incomplete Orange Light ON Malfunction Recovery impossible Blinking Malfunction Recovery possible Green Orange Alternate In self diagnosis NS Green Light ON Online status Blinking Online...

Page 324: ...CAN over Ethernet Device type I O Device Node address 1 to 65 535 Setting to be established from master or software setting by I O parameters Communication speed 100Mbps Communication mode 100BASE TX Full duplex Cable Category 5e or higher Connector RJ45 2 As it is not applicable for the distribution clock in EtherCAT R synchronizing control cannot be performed ERR RUN IN OUT ...

Page 325: ...mmunication In SAFE OPERATION condition Orange Light ON Malfunction Recovery impossible Light OFF EtherCAT communication in INIT condition Power not supplied ERR Orange Light ON Unrecoverable error Blinking 1 Network construction error Double flash 3 Watchdog timeout Light OFF No error detected Power not supplied Link Activity Green Light ON In link Communication traffic not detected Flickering 4 ...

Page 326: ... 3 Connector RJ45 1 1 As 1st Octet 127 or 4th Octet 0 and 225 are reserved addresses they are not available for use 2 It is the port numbers to be used in EtherNet IP 3 STP cable is recommended I O Slot Status LED LED name Color Status Description NS Green Light ON Online status In the normal communication Blinking Online status No connection Orange Light ON IP addresses duplicated Critical link e...

Page 327: ... setting by I O parameters Communication speed 12M 6M 1 5M 500k 187 5k 93 75k 45 45k 19 2k 9 6kbps automatic recognition I O Slot Status LED LED name Color Status Description MS Green Light ON Normal operation Blinking There is no configuration information or incomplete Orange Light ON Malfunction Recovery impossible NS Green Light ON Online status Blinking Online status Configuration setting not ...

Page 328: ...pecifications Item Description Applicable Protocol PROFINET IO Conformance Class A RT Communication Device Class I O Device IP address 0 0 0 0 to 255 255 255 255 Setting to be established from master via PROFINET network Communication speed 100Mbps Communication mode 100BASE TX Cable Category 5 or higher Connector RJ45 x 1 NS MS ...

Page 329: ...ess error IP address setting not established Blinking 3 Station name error Blinking 4 Internal error Light OFF Power turned off or initialization incomplete NS Green Light ON Online RUN Host IO controller in RUN status Blinking Online STOP Host IO controller in STOP status Light OFF Offline Power turned off or connection to host IO controller not established Link Activity Green Light ON Link estab...

Page 330: ...s 6 12 ME0392 4C 8 PIO type I O Slot Status LED LED name Color Status Description RUN Green Light ON Turns on when initialization complete Operation in normal condition ERR Orange Light ON PIO power supply 24V DC voltage drop error I O NPN ERR 1A 1B RUN 20A 20B ...

Page 331: ...ght OFF Light OFF Updating 2 PIO Unit Status LED Light ON Light OFF Normal operation Light OFF Light ON Control power supply voltage dropped Light OFF Light ON IO power voltage dropped Blinking Light OFF Updating SIO interface specifications Item Description Interface standards RS 485 Communication Method Start Stop Synchronous Half Duplex Communication Baud Rate bps 9 6k 19 2k 38 4k 57 6k 115 2k ...

Page 332: ...list below O Applicable X Not Applicable Function Field Network PIO module PIO unit PIO SIO SCON extension unit CC CIE DV EC EP PR PRT NP PN PIO SIO Parallel I O 〇〇 Remote I O 〇〇〇〇〇〇〇 Serial Communication by SEL Program RS 485 〇 XSEL Serial Communication Protocol Format B RS 485 〇 CC CC Link CIE CC Link IE Field DV DeviceNet EC EtherCAT EP EtherNet IP PR PROFIBUS DP PRT PROFINET IO NP PN PI...

Page 333: ...ks should be assigned to the input ports from No 0 to 299 output ports from No 300 to 599 extension input ports from No 1 000 to 3 999 and extension output ports from No 4 000 to 6 999 I O used in PIO PIO modules should be assigned to the input ports from No 0 to 299 and output ports from No 300 to 599 The priority in the automatic assignment should provide the order of the field network or PIO mo...

Page 334: ...odule PIO SIO SCON extension unit PIO unit 1 000 to 3 999 Output port No 300 to 599 Assignment should be made from Port No 300 in the order of the field network or PIO module PIO SIO SCON extension unit PIO unit 4 000 to 6 999 Fixed Allocation Input Port No 0 to299 Assignment should be made to these ports when the field network or PIO module and PIO SIO SCON extension unit PIO unit are used 1 000 ...

Page 335: ... Input Domains Address Bit7 MSB 6 5 4 3 2 1 0 LSB RSEL system side Output port number 307 306 305 304 303 302 301 300 PLC Master Side Input Word Address 0 Low byte RSEL system side Output port number 315 314 313 312 311 310 309 308 PLC Master Side Input Word Address 0 High byte RSEL system side Output port number 323 322 321 320 319 318 317 316 PLC Master Side Input Word Address 1 Low byte RSEL sy...

Page 336: ... side Input port number 15 14 13 12 11 10 9 8 PLC Master Side Output Word Address 0 High byte RSEL system side Input port number 23 22 21 20 19 18 17 16 PLC Master Side Output Word Address 1 Low byte RSEL system side Input port number 31 30 29 28 27 26 25 24 PLC Master Side Output Word Address 1 High byte Example Data from the PLC master side 1234h should become 1234h in the RSEL system PLC master...

Page 337: ... Bit7 MSB 6 5 4 3 2 1 0 LSB RSEL system side Input port number 307 306 305 304 303 302 301 300 PLC Master Side Output Bit Address 15 14 13 12 11 10 9 8 PLC Master Side Output Word Address 0 High byte RSEL system side Input port number 315 314 313 312 311 310 309 308 PLC Master Side Output Bit Address 7 6 5 4 3 2 1 0 PLC Master Side Output Word Address 0 Low byte RSEL system side Input port number ...

Page 338: ...marks 8 to 96 Ver 1 00 1 32bit 4word 12byte 104 to 192 2 64bit 8word 24byte 200 to 288 3 96bit 12word 36byte 296 to 384 4 128bit 16word 48byte 392 to 1024 Ver 2 00 4 4 448bit 64word 184byte The last 16 bits of remote input and output are prohibited to use as they are system domains for CC Link CC Link in the RSEL system is a remote device station and the user domain and system domains are specifie...

Page 339: ...7 RX m n 8 Initial data press demand flag Not to use RY m n 8 Initial process complete flag Not to use RX m n 9 Initial data setting complete flag Not to use RY m n 9 Initial setting demand flag Not to use RX m n A Error status flag Not to use RY m n A Error reset demand flag Not to use RX m n B Remote station Ready RY m n B Not to use RX m n C Not to use RY m n C RX m n D RY m n D RX m n E RY m n...

Page 340: ...nts and output 256 points is as shown below The RSEL I O port start numbers should be from No 128 for input and from No 428 for output Three stations should be occupied 96 bits of the remote input and output RX RY and 12 words of the remote register RWr RWw on the PLC side RSEL side input port No PLC side address OUT RSELsideoutputportNo PLC side address IN 128 to 143 RY0 to RYF 428 to 443 RX0 to ...

Page 341: ...444 to 459 RX90 to RX9F 160 to 175 RYA0 to RYAF 460 to 475 RXA0 to RXAF 176 to 191 RYB0 to RYBF 476 to 491 RXB0 to RXBF 192 to 207 RYC0 to RYCF 492 to 507 RXC0 to RXCF 208 to 223 RYD0 to RYDF 508 to 523 RXD0 to RXDF 224 to 239 RYE0 to RYEF 524 to 539 RXE0 to RXEF 240 to 255 RYF0 to RYFF 540 to 555 RXF0 to RXFF 256 to 271 RY100 to RY10F 556 to 571 RX100 to RX10F 272 to 287 RY110 to RY11F 572 to 587...

Page 342: ... to 4455 RWr12 1456 to 1471 RWw13 4456 to 4471 RWr13 1472 to 1487 RWw14 4472 to 4487 RWr14 1488 to 1503 RWw15 4488 to 4503 RWr15 1504 to 1519 RWw16 1504 to 1519 RWr16 1520 to 1535 RWw17 4520 to 4535 RWr17 1536 to 1551 RWw18 4536 to 4551 RWr18 1552 to 1567 RWw19 4552 to 4567 RWr19 1568 to 1583 RWw1A 4568 to 4583 RWr1A 1584 to 1599 RWw1B 4584 to 4599 RWr1B 1600 to 1615 RWw1C 4600 to 4615 RWr1C 1616 ...

Page 343: ... 184 16 2 Substitute the number of ports used for output I O Parameter No 15 and the number of remote resistor output words I O Parameter No 185 to the formula below to figure out the number of the remote output bits Number of Remote Output Bit Number of Ports Used for Output I O Parameter No 15 Number of Remote Resistor Output Words I O Parameter No 185 16 3 In Table A below look for the size wit...

Page 344: ...44 144 385 to 400 400 641 to 656 656 897 to 912 912 145 to 160 160 401 to 416 416 657 to 672 672 913 to 928 928 161 to 176 176 417 to 432 432 673 to 688 688 929 to 944 944 177 to 192 192 433 to 448 448 689 to 704 704 945 to 960 960 193 to 208 208 449 to 464 464 705 to 720 720 961 to 976 976 209 to 224 224 465 to 480 480 721 to 736 736 977 to 992 992 225 to 240 240 481 to 496 496 737 to 752 752 993...

Page 345: ...put and Output Domain Number of Remote Input and Output Bits 96 As shown in the figure below the remote input and output domain RX RY size 96 4 Confirmation of Remote Resistor Input and Output Domain Size Remote Resistor Input and Output Domain Number of Remote Resistor Input Words 2 As shown in the figure below the remote resistor input and output domain RWr RWw size 4 Number of Remote Input Outp...

Page 346: ...ts output 256 points and remote register input 10 words is as shown below The RSEL I O port start numbers should be from No 128 for input and from No 428 for output RSEL side input port No PLC side address OUT RSELsideoutputportNo PLC side address IN 128 to 143 RY0 to RYF 428 to 443 RX0 to RXF 144 to 159 RY10 to RY1F 444 to 459 RX10 to RX1F 160 to 175 RY20 to RY2F 460 to 475 RX20 to RX2F 176 to 19...

Page 347: ...BF 476 to 491 RXB0 to RXBF 192 to 207 RYC0 to RYCF 492 to 507 RXC0 to RXCF 208 to 223 RYD0 to RYDF 508 to 523 RXD0 to RXDF 224 to 239 RYE0 to RYEF 524 to 539 RXE0 to RXEF 240 to 255 RYF0 to RYFF 540 to 555 RXF0 to RXFF 256 to 271 RY100 to RY10F 556 to 571 RX100 to RX10F 272 to 287 RY110 to RY11F 572 to 587 RX110 to RX11F 288 to 295 1000 to 1007 RY120 to RY12F 588 to 595 4000 to 4007 RX120 to RX12F...

Page 348: ...w11 4424 to 4439 RWr11 1440 to 1455 RWw12 4440 to 4455 RWr12 1456 to 1471 RWw13 4456 to 4471 RWr13 1472 to 1487 RWw14 4472 to 4487 RWr14 1488 to 1503 RWw15 4488 to 4503 RWr15 1504 to 1519 RWw16 1504 to 1519 RWr16 1520 to 1535 RWw17 4520 to 4535 RWr17 1536 to 1551 RWw18 4536 to 4551 RWr18 1552 to 1567 RWw19 4552 to 4567 RWr19 1568 to 1583 RWw1A 4568 to 4583 RWr1A 1584 to 1599 RWw1B 4584 to 4599 RWr...

Page 349: ...tput 256 points is as shown below The RSEL I O port start numbers should be from No 128 for input and from No 428 for output and the assignment on the PLC side should be made in order from the top CH in 1 word unit RSEL side input port No PLC side address OUT RSELsideoutputportNo PLC side address IN 128 to 143 Top CH 428 to 443 Top CH 144 to 159 Top CH 1 444 to 459 Top CH 1 160 to 175 Top CH 2 460...

Page 350: ... 176 to 191 Top CH 11 476 to 491 Top CH 11 192 to 207 Top CH 12 492 to 507 Top CH 12 208 to 223 Top CH 13 508 to 523 Top CH 13 224 to 239 Top CH 14 524 to 539 Top CH 14 240 to 255 Top CH 15 540 to 555 Top CH 15 256 to 271 Top CH 16 556 to 571 Top CH 16 272 to 287 Top CH 17 572 to 587 Top CH 17 288 to 295 1000 to 1007 Top CH 18 588 to 595 4000 to 4007 Top CH 18 1008 to 1023 Top CH 19 4008 to 4023 T...

Page 351: ...440 to 1455 Top CH 46 4440 to 4455 Top CH 46 1456 to 1471 Top CH 47 4456 to 4471 Top CH 47 1472 to 1487 Top CH 48 4472 to 4487 Top CH 48 1488 to 1503 Top CH 49 4488 to 4503 Top CH 49 1504 to 1519 Top CH 50 4504 to 4519 Top CH 50 1520 to 1535 Top CH 51 4520 to 4535 Top CH 51 1536 to 1551 Top CH 52 4536 to 4551 Top CH 52 1552 to 1567 Top CH 53 4552 to 4567 Top CH 53 1568 to 1583 Top CH 54 4568 to 45...

Page 352: ...should be from No 128 for input and from No 428 for output and the assignment on the PLC side should be made in order from the top address in 1 word unit RSEL side input port No PLC side address OUT RSELsideoutputportNo PLC side address IN 128 to 143 Top address 428 to 443 Top address 144 to 159 Top address 1 444 to 459 Top address 1 160 to 175 Top address 2 460 to 475 Top address 2 176 to 191 Top...

Page 353: ...address 12 492 to 507 Top address 12 208 to 223 Top address 13 508 to 523 Top address 13 224 to 239 Top address 14 524 to 539 Top address 14 240 to 255 Top address 15 540 to 555 Top address 15 256 to 271 Top address 16 556 to 571 Top address 16 272 to 287 Top address 17 572 to 587 Top address 17 288 to 295 1000 to 1007 Top address 18 588 to 595 4000 to 4007 Top address 18 1008 to 1023 Top address ...

Page 354: ...Top address 46 1456 to 1471 Top address 47 4456 to 4471 Top address 47 1472 to 1487 Top address 48 4472 to 4487 Top address 48 1488 to 1503 Top address 49 4488 to 4503 Top address 49 1504 to 1519 Top address 50 4504 to 4519 Top address 50 1520 to 1535 Top address 51 4520 to 4535 Top address 51 1536 to 1551 Top address 52 4536 to 4551 Top address 52 1552 to 1567 Top address 53 4552 to 4567 Top addr...

Page 355: ...uld be from No 128 for input and from No 428 for output and the assignment on the PLC side should be made in order from the top address in 1 byte unit RSEL side input port No PLC side address OUT RSELsideoutputportNo PLC side address IN 128 to 143 Top address 428 to 443 Top address 144 to 159 Top address 2 444 to 459 Top address 2 160 to 175 Top address 4 460 to 475 Top address 4 176 to 191 Top ad...

Page 356: ... Top address 24 492 to 507 Top address 24 208 to 223 Top address 26 508 to 523 Top address 26 224 to 239 Top address 28 524 to 539 Top address 28 240 to 255 Top address 30 540 to 555 Top address 30 256 to 271 Top address 32 556 to 571 Top address 32 272 to 287 Top address 34 572 to 587 Top address 34 288 to 295 1000 to 1007 Top address 36 588 to 595 4000 to 4007 Top address 36 1008 to 1023 Top add...

Page 357: ... 1456 to 1471 Top address 94 4456 to 4471 Top address 94 1472 to 1487 Top address 96 4472 to 4487 Top address 96 1488 to 1503 Top address 98 4488 to 4503 Top address 98 1504 to 1519 Top address 100 4504 to 4519 Top address 100 1520 to 1535 Top address 102 4520 to 4535 Top address 102 1536 to 1551 Top address 104 4536 to 4551 Top address 104 1552 to 1567 Top address 106 4552 to 4567 Top address 106...

Page 358: ...uld be from No 128 for input and from No 428 for output and the assignment on the PLC side should be made in order from the top address in 1 byte unit RSEL side input port No PLC side address OUT RSELsideoutputportNo PLC side address IN 128 to 143 Top address 428 to 443 Top address 144 to 159 Top address 2 444 to 459 Top address 2 160 to 175 Top address 4 460 to 475 Top address 4 176 to 191 Top ad...

Page 359: ...7 Top address 24 492 to 507 Top address 24 208 to 223 Top address 26 508 to 523 Top address 26 224 to 239 Top address 28 524 to 539 Top address 28 240 to 255 Top address 30 540 to 555 Top address 30 256 to 271 Top address 32 556 to 571 Top address 32 272 to 287 Top address 34 572 to 587 Top address 34 288 to 295 1000 to 1007 Top address 36 588 to 595 4000 to 4007 Top address 36 1008 to 1023 Top ad...

Page 360: ... 1456 to 1471 Top address 94 4456 to 4471 Top address 94 1472 to 1487 Top address 96 4472 to 4487 Top address 96 1488 to 1503 Top address 98 4488 to 4503 Top address 98 1504 to 1519 Top address 100 4504 to 4519 Top address 100 1520 to 1535 Top address 102 4520 to 4535 Top address 102 1536 to 1551 Top address 104 4536 to 4551 Top address 104 1552 to 1567 Top address 106 4552 to 4567 Top address 106...

Page 361: ...put 4Word 5 328 384 Input 4Word 6 328 384 Output 4Word 6 392 448 Input 4Word 7 392 448 Output 4Word 7 456 512 Input 4Word 8 456 512 Output 4Word 8 520 576 Input 4Word 9 520 576 Output 4Word 9 584 to 640 Input 4Word 10 584 to 640 Output 4Word 10 648 to 704 Input 4Word 11 648 to 704 Output 4Word 11 712 to 768 Input 4Word 12 712 to 768 Output 4Word 12 776 to 832 Input 4Word 13 776 to 832 Output 4Word...

Page 362: ...rs and the PLC addresses when it is fixed assignment input 256 points and output 256 points is as shown below The RSEL I O port start numbers should be from No 128 for input and from No 428 for output and the assignment on the PLC side should be made in order from the top address in 4 words unit RSEL side input port No PLC side address OUT RSELsideoutputportNo PLC side address IN 128 to 143 Top ad...

Page 363: ... to 127 412 to 427 128 to 143 Top address 2 428 to 443 Top address 2 144 to 159 444 to 459 160 to 175 460 to 475 176 to 191 476 to 491 192 to 207 Top address 3 492 to 507 Top address 3 208 to 223 508 to 523 224 to 239 524 to 539 240 to 255 540 to 555 256 to 271 Top address 4 556 to 571 Top address 4 272 to 287 572 to 587 288 to 295 1000 to 1007 588 to 595 4000 to 4007 1008 to 1023 4008 to 4023 102...

Page 364: ...dress 11 4408 to 4423 Top address 11 1424 to 1439 4424 to 4439 1440 to 1455 4440 to 4455 1456 to 1471 4456 to 4471 1472 to 1487 Top address 12 4472 to 4487 Top address 12 1488 to 1503 4488 to 4503 1504 to 1519 4504 to 4519 1520 to 1535 4520 to 4535 1536 to 1551 Top address 13 4536 to 4551 Top address 13 1552 to 1567 4552 to 4567 1568 to 1583 4568 to 4583 1584 to 1599 4584 to 4599 1600 to 1615 Top ...

Page 365: ... as shown in the table below Unit No Pin No Category Signal name Port No Pin No Category Signal name Port No SEL unit PIO module 1A 24 P24 1B Output OUT0 300 2A 24 P24 2B OUT1 301 3A 3B OUT2 302 4A 4B OUT3 303 5A Input IN0 000 5B OUT4 304 6A IN1 001 6B OUT5 305 7A IN2 002 7B OUT6 306 8A IN3 003 8B OUT7 307 9A IN4 004 9B OUT8 308 10A IN5 005 10B OUT9 309 11A IN6 006 11B OUT10 310 12A IN7 007 12B OU...

Page 366: ... OUT13 329 15A IN10 026 15B OUT14 330 16A IN11 027 16B OUT15 331 17A IN12 028 17B 18A IN13 029 18B 19A IN14 030 19B 0 N 20A IN15 031 20B 0 N 2 1A 24 P24 1B Output OUT0 332 2A 24 P24 2B OUT1 333 3A 3B OUT2 334 4A 4B OUT3 335 5A Input IN0 032 5B OUT4 336 6A IN1 033 6B OUT5 337 7A IN2 034 7B OUT6 338 8A IN3 035 8B OUT7 339 9A IN4 036 9B OUT8 340 10A IN5 037 10B OUT9 341 11A IN6 038 11B OUT10 342 12A ...

Page 367: ...B OUT13 361 15A IN10 058 15B OUT14 362 16A IN11 059 16B OUT15 363 17A IN12 060 17B 18A IN13 061 18B 19A IN14 062 19B 0 N 20A IN15 063 20B 0 N 4 1A 24 P24 1B Output OUT0 364 2A 24 P24 2B OUT1 365 3A 3B OUT2 366 4A 4B OUT3 367 5A Input IN0 064 5B OUT4 368 6A IN1 065 6B OUT5 369 7A IN2 066 7B OUT6 370 8A IN3 067 8B OUT7 371 9A IN4 068 9B OUT8 372 10A IN5 069 10B OUT9 373 11A IN6 070 11B OUT10 374 12A...

Page 368: ...B OUT13 393 15A IN10 090 15B OUT14 394 16A IN11 091 16B OUT15 395 17A IN12 092 17B 18A IN13 093 18B 19A IN14 094 19B 0 N 20A IN15 095 20B 0 N 6 1A 24 P24 1B Output OUT0 396 2A 24 P24 2B OUT1 397 3A 3B OUT2 398 4A 4B OUT3 399 5A Input IN0 096 5B OUT4 400 6A IN1 097 6B OUT5 401 7A IN2 098 7B OUT6 402 8A IN3 099 8B OUT7 403 9A IN4 100 9B OUT8 404 10A IN5 101 10B OUT9 405 11A IN6 102 11B OUT10 406 12A...

Page 369: ...B OUT13 425 15A IN10 122 15B OUT14 426 16A IN11 123 16B OUT15 427 17A IN12 124 17B 18A IN13 125 18B 19A IN14 126 19B 0 N 20A IN15 127 20B 0 N 8 1A 24 P24 1B Output OUT0 428 2A 24 P24 2B OUT1 429 3A 3B OUT2 430 4A 4B OUT3 431 5A Input IN0 128 5B OUT4 432 6A IN1 129 6B OUT5 433 7A IN2 130 7B OUT6 431 8A IN3 131 8B OUT7 435 9A IN4 132 9B OUT8 436 10A IN5 133 10B OUT9 437 11A IN6 134 11B OUT10 438 12A...

Page 370: ...l serial communication on delivery Category Condition Command Operand 1 Operand 2 Output Function Timer Optional TIMC Program No Prohibited CP Standby Canceled Communication Optional OPEN Channel No Prohibited CP Channel Open Optional CLOS Channel No Prohibited CC Channel Closed Optional READ Channel No Column Number CC Input from Channel Optional TMRW Lead Time Light Timer CC REA WRIT Timeout Set...

Page 371: ...t delivery 2 Node Address and TCP IP Settings Set the node address in I O Parameter No 226 for CC Link CC Link IE Field DeviceNet EtherCAT and PROFIBUS DP For EtherCAT set as shown below When having automatic assignment of node address from master Set 0 setting at delivery When having fixed assignment of node address Set 1 to 65 535 No Parameter Name Input range Unit Remarks 226 I O1 Fieldbus Node...

Page 372: ...I O Fieldbus Subnet mask MH 0 to 255 Setting establishment not necessary for PROFINET IO 138 I O Fieldbus Subnet mask ML 0 to 255 Setting establishment not necessary for PROFINET IO 139 I O Fieldbus Subnet mask L 0 to 255 Setting establishment not necessary for PROFINET IO 140 I O Fieldbus Default gateway H 0 to 255 Setting establishment not necessary for PROFINET IO 141 I O Fieldbus Default gatew...

Page 373: ... master setting It is not necessary to set up for CC Link IE Field EtherCAT PROFIBUS DP PROFINET IO and PIO module I O Settings Set the assignment types and assignment port numbers in the following I O parameters For the field network set the number of ports to be used in addition No Parameter Name Input range Unit Remarks 1 I O port assignment type 0 to 20 0 Fixed assignment 1 Automatic assignmen...

Page 374: ...tart No 1 to 3 999 0 Multiple of 8 0 to 299 1 000 Multiple of 8 1 000 to 3 999 Invalid if a negative value is set The number set in this parameter should be the port start number of a unit next to the SEL unit 188 Option unit fix allocated output port start No 1 to 6 999 300 Multiple of 8 300 to 599 4 000 Multiple of 8 4 000 to 6 999 Invalid if a negative value is set The number set in this parame...

Page 375: ...dbus Error FBRS Link Error occurs because the RSEL system gets launched earlier than the network master No Parameter Name Input range Unit Remarks 121 Network attribute 2 0H to FFFFFFFFH Bits 16 to 27 Link timeout value in Fieldbus initialization 100 ms Input Port Data Select in Link Error Remote I O Communication Selection can be made whether to clear or hold maintain the input port data in the R...

Page 376: ... type 0 1 word 1 4 word Bits 16 to 27 Reserved by the system Bits 28 to 31 Input Port Data Select in I O1 Fieldbus Link Error 0 Clear 1 Hold 121 Network attribute 2 C8 0000H C8 0000H C8 0000H C8 0000H C8 0000H C8 0000H C8 0000H C8 0000H 0H to FFFFFFFFH Bits 0 to 15 Reserved by the system Bits 16 to 27 Link timeout value in Fieldbus initialization 100ms Bits 28 to 31 EtherCAT PDO mapping type 0 Var...

Page 377: ...FIBUS DP 4 to 5H Reserved by the system 6H EtherCAT 7H EtherNet IP 8H Reserved by the system 9H PIO AH PROFINET IO B to CH Reserved by the system DH CC Link IE Bits 8 to 31 Reserved by the system 226 I O1 Fieldbus Node Address 0 1 1 0 0 0 1 0 0 to 99 999 999 Settable Range At CC Link 1 to 64 At DeviceNet 0 to 63 At PROFIBUS DP 0 to 125 At EtherCAT 0 to 65 535 At CC Link IE 1 to 120 Setting establi...

Page 378: ...17 I O1 fix allocated output port start No 300 300 300 multiple of 8 300 to 599 4 000 multiple of 8 4 000 to 6 999 Invalid if a negative value is set 18 I O1 error monitor 1 1 0 Do not monitor 1 Monitor Some exceptions apply 120 Network attribute 1 641001H Optional Bits4 11 I O1 Fieldbus link error confirmation timer value 10 ms Bits28 31 Input Port Data Select in I O1 Fieldbus Link Error 0 Clear ...

Page 379: ... fix allocated output port start No 300 4 000 300 multiple of 8 300 to 599 4 000 multiple of 8 4 000 to 6 999 Invalid if a negative value is set 18 I O1 error monitor 1 1 0 Do not monitor 1 Monitor Some exceptions apply 20 Input filtering periods 2 Optional ms Input signal is recognized when the status is held for twice the period set by this parameter Valid only for PIO PIO unit PIO SIO unit 120 ...

Page 380: ... Some exceptions apply 190 Option Unit Attribute 1 C800200H Optional Bits 0 to 3 PIO unit output port data select in TF connection error 0 Clear 1 Hold Bits 4 to 7 PIO unit input port data select in TF connection error 0 Clear 1 Hold Bits 8 to 15 TF communication link error check timer value 10 ms Bits 16 to 19 For future extension use Bits 20 to 31 Link timeout value in TF communication initializ...

Page 381: ... 3 999 Invalid if a negative value is set 17 I O1 fix allocated output port start No 300 1 300 multiple of 8 300 to 599 4 000 multiple of 8 4 000 to 6 999 Invalid if a negative value is set 18 I O1 error monitor 1 1 0 Do not monitor 1 Monitor Some exceptions apply 20 Input filtering periods 2 Optional ms Input signal is recognized when the status is held for twice the period set by this parameter ...

Page 382: ...Some exceptions apply 190 Option Unit Attribute 1 C800200H Optional Bits 0 to 3 PIO unit output port data select in TF connection error 0 Clear 1 Hold Bits 4 to 7 PIO unit input port data select in TF connection error 0 Clear 1 Hold Bits 8 to 15 TF communication link error check timer value 10 ms Bits 16 to 19 For future extension use Bits 20 to 31 Link timeout value in TF communication initializa...

Page 383: ... Do not monitor 1 Monitor Some exceptions apply 20 Input filtering periods 2 2 ms Input signal is recognized when the status is held for twice the period set by this parameter Valid only for PIO PIO unit PIO SIO unit 120 Network attribute 1 641001H Optional Bits4 11 I O1 Fieldbus link error confirmation timer value 10 ms Bits12 15 Registered module data size type in PROFINET IO configuration 0 1 w...

Page 384: ...Remarks 225 I O controller 1H 1H Bits 0 7 Type of Network I F Module Control 1 0H Not mounted 1H CC Link 2H DeviceNet 3H PROFIBUS DP 6H EtherCAT 7H EtherNet IP 9H PIO AH PROFINET IO DH CC Link IE 226 I O1 Fieldbus Node Address 1 Optional Settable Range 1 to 120 228 I O1 Fieldbus Network Number 1 Optional Settable Range 1 to 239 ...

Page 385: ...iple of 8 0 to 299 1 000 Multiple of 8 1 000 to 3 999 Invalid if a negative value is set 17 I O1 fix allocated output port start No 300 4 000 300 multiple of 8 300 to 599 4 000 multiple of 8 4 000 to 6 999 Invalid if a negative value is set 18 I O1 error monitor 1 1 0 Do not monitor 1 Monitor Some exceptions apply 20 Input filtering periods 2 Optional ms Input signal is recognized when the status ...

Page 386: ...Invalid if a negative value is set 189 PIO Unit PIO SIO Unit Error Monitor 1 1 0 Not monitored 1 Monitored 2 Monitored 24V I O power supply related errors not monitored 3 Monitored only 24V I O power supply related errors monitored 4 Monitored 24V I O power supply related errors output as message level Some exceptions apply 190 Option Unit Attribute 1 C800200H Optional Bits 0 to 3 PIO unit output ...

Page 387: ...4 192 Multiple of 8 16 I O1 fix allocated input port start No 0 1 0 Multiple of 8 0 to 299 1 000 Multiple of 8 1 000 to 3 999 Invalid if a negative value is set 17 I O1 fix allocated output port start No 300 1 300 multiple of 8 300 to 599 4 000 multiple of 8 4 000 to 6 999 Invalid if a negative value is set 18 I O1 error monitor 1 1 0 Do not monitor 1 Monitor Some exceptions apply 20 Input filteri...

Page 388: ...ltiple of 8 4 000 to 6 999 Invalid if a negative value is set 189 PIO Unit PIO SIO Unit Error Monitor 1 1 0 Not monitored 1 Monitored 2 Monitored 24V I O power supply related errors not monitored 3 Monitored only 24V I O power supply related errors monitored 4 Monitored 24V I O power supply related errors output as message level Some exceptions apply 190 Option Unit Attribute 1 C800200H Optional B...

Page 389: ...cated output port start No 300 300 300 multiple of 8 300 to 599 4 000 multiple of 8 4 000 to 6 999 Invalid if a negative value is set 18 I O1 error monitor 1 1 0 Do not monitor 1 Monitor Some exceptions apply 120 Network attribute 1 641001H Optional Bits4 11 I O1 Fieldbus link error confirmation timer value 10 ms Bits28 31 Input Port Data Select in I O1 Fieldbus Link Error 0 Clear 1 Hold 121 Netwo...

Page 390: ... I O1 fix allocated output port start No 300 300 300 multiple of 8 300 to 599 4 000 multiple of 8 4 000 to 6 999 Invalid if a negative value is set 18 I O1 error monitor 1 1 0 Do not monitor 1 Monitor Some exceptions apply 20 Input filtering periods 2 2 ms Input signal is recognized when the status is held for twice the period set by this parameter Valid only for PIO PIO unit PIO SIO unit 120 Netw...

Page 391: ...age level Some exceptions apply 190 Option Unit Attribute 1 C800200H Optional Bits 0 to 3 PIO unit output port data select in TF connection error 0 Clear 1 Hold Bits 4 to 7 PIO unit input port data select in TF connection error 0 Clear 1 Hold Bits 8 to 15 TF communication link error check timer value 10 ms Bits 16 to 19 For future extension use Bits 20 to 31 Link timeout value in TF communication ...

Page 392: ...to 3 999 Invalid if a negative value is set 17 I O1 fix allocated output port start No 300 1 300 multiple of 8 300 to 599 4 000 multiple of 8 4 000 to 6 999 Invalid if a negative value is set 18 I O1 error monitor 1 1 0 Do not monitor 1 Monitor Some exceptions apply 20 Input filtering periods 2 Optional ms Input signal is recognized when the status is held for twice the period set by this paramete...

Page 393: ...ge level Some exceptions apply 190 Option Unit Attribute 1 C800200H Optional Bits 0 to 3 PIO unit output port data select in TF connection error 0 Clear 1 Hold Bits 4 to 7 PIO unit input port data select in TF connection error 0 Clear 1 Hold Bits 8 to 15 TF communication link error check timer value 10 ms Bits 16 to 19 For future extension use Bits 20 to 31 Link timeout value in TF communication i...

Page 394: ...ix allocated output port start No 300 300 300 multiple of 8 300 to 599 4 000 multiple of 8 4 000 to 6 999 Invalid if a negative value is set 18 I O1 error monitor 1 1 0 Do not monitor 1 Monitor Some exceptions apply 120 Network attribute 1 641001H Optional Bits4 11 I O1 Fieldbus link error confirmation timer value 10ms Bits28 31 Input Port Data Select in I O1 Fieldbus Link Error 0 Clear 1 Hold 121...

Page 395: ...tart No 300 4 000 300 multiple of 8 300 to 599 4 000 multiple of 8 4 000 to 6 999 Invalid if a negative value is set 18 I O1 error monitor 1 1 0 Do not monitor 1 Monitor Some exceptions apply 20 Input filtering periods 2 Optional ms Input signal is recognized when the status is held for twice the period set by this parameter Valid only for PIO PIO unit PIO SIO unit 120 Network attribute 1 641001H ...

Page 396: ...itored 24V I O power supply related errors output as message level Some exceptions apply 190 Option Unit Attribute 1 C800200H Optional Bits 0 to 3 PIO unit output port data select in TF connection error 0 Clear 1 Hold Bits 4 to 7 PIO unit input port data select in TF connection error 0 Clear 1 Hold Bits 8 to 15 TF communication link error check timer value 10 ms Bits 20 to 31 Link timeout value in...

Page 397: ...le of 8 0 to 299 1 000 Multiple of 8 1 000 to 3 999 Invalid if a negative value is set 17 I O1 fix allocated output port start No 300 1 300 multiple of 8 300 to 599 4 000 multiple of 8 4 000 to 6 999 Invalid if a negative value is set 18 I O1 error monitor 1 1 0 Do not monitor 1 Monitor Some exceptions apply 20 Input filtering periods 2 Optional ms Input signal is recognized when the status is hel...

Page 398: ...d 3 Monitored only 24V I O power supply related errors monitored 4 Monitored 24V I O power supply related errors output as message level Some exceptions apply 190 Option Unit Attribute 1 C800200H Optional Bits 0 to 3 PIO unit output port data select in TF connection error 0 Clear 1 Hold Bits 4 to 7 PIO unit input port data select in TF connection error 0 Clear 1 Hold Bits 8 to 15 TF communication ...

Page 399: ...s set 18 I O1 error monitor 1 1 0 Do not monitor 1 Monitor Some exceptions apply 120 Network attribute 1 641001H Optional Bits4 11 I O1 Fieldbus link error confirmation timer value 10 ms Bits28 31 Input Port Data Select in I O1 Fieldbus Link Error 0 Clear 1 Hold 121 Network attribute 2 C80000H Optional Bits 16 27 Link timeout value in Fieldbus initialization 100 ms 130 I O Fieldbus Own MAC address...

Page 400: ...42 I O Fieldbus Default gateway ML 0 Optional 143 I O Fieldbus Default gateway L 0 Optional 225 I O controller 7H 7H Bits 0 7 Type of Network I F Module Control 1 0H Not mounted 1H CC Link 2H DeviceNet 3H PROFIBUS DP 6H EtherCAT 7H EtherNet IP 9H PIO AH PROFINET IO DH CC Link IE 227 I O1 Fieldbus communication speed 0 Optional 0 Autonegotiation 1 10Mbps Half Duplex 2 10Mbps Full Duplex 3 100Mbps H...

Page 401: ...000 Multiple of 8 1 000 to 3 999 Invalid if a negative value is set 17 I O1 fix allocated output port start No 1 4 000 300 multiple of 8 300 to 599 4 000 multiple of 8 4 000 to 6 999 Invalid if a negative value is set 18 I O1 error monitor 1 1 0 Do not monitor 1 Monitor Some exceptions apply 20 Input filtering periods 2 Optional ms Input signal is recognized when the status is held for twice the p...

Page 402: ... 8 1 000 to 3 999 Invalid if a negative value is set 188 Option unit fix allocated output port start No 1 300 300 Multiple of 8 300 to 599 4 000 Multiple of 8 4 000 to 6 999 Invalid if a negative value is set 189 PIO Unit PIO SIO Unit Error Monitor 1 1 0 Not monitored 1 Monitored 2 Monitored 24V I O power supply related errors not monitored 3 Monitored only 24V I O power supply related errors moni...

Page 403: ...input port start No 1 1 0 Multiple of 8 0 to 299 1 000 Multiple of 8 1 000 to 3 999 Invalid if a negative value is set 17 I O1 fix allocated output port start No 1 1 300 multiple of 8 300 to 599 4 000 multiple of 8 4 000 to 6 999 Invalid if a negative value is set 18 I O1 error monitor 1 1 0 Do not monitor 1 Monitor Some exceptions apply 20 Input filtering periods 2 2 ms Input signal is recognized...

Page 404: ...f 8 1 000 to 3 999 Invalid if a negative value is set 188 Option unit fix allocated output port start No 1 1 300 Multiple of 8 300 to 599 4 000 Multiple of 8 4 000 to 6 999 Invalid if a negative value is set 189 PIO Unit PIO SIO Unit Error Monitor 1 1 0 Not monitored 1 Monitored 2 Monitored 24V I O power supply related errors not monitored 3 Monitored only 24V I O power supply related errors monit...

Page 405: ...f a negative value is set 17 I O1 fix allocated output port start No 300 300 300 multiple of 8 300 to 599 4 000 multiple of 8 4 000 to 6 999 Invalid if a negative value is set 18 I O1 error monitor 1 1 0 Do not monitor 1 Monitor Some exceptions apply 120 Network attribute 1 641001H Optional Bits4 11 I O1 Fieldbus link error confirmation timer value 10 ms Bits28 31 Input Port Data Select in I O1 Fi...

Page 406: ...4 000 multiple of 8 4 000 to 6 999 Invalid if a negative value is set 18 I O1 error monitor 1 1 0 Do not monitor 1 Monitor Some exceptions apply 20 Input filtering periods 2 Optional msec Input signal is recognized when the status is held for twice the period set by this parameter Valid only for PIO PIO unit PIO SIO unit 120 Network attribute 1 641001H Optional Bits 4 11 I O1 Fieldbus link error c...

Page 407: ...ptions apply 190 Option Unit Attribute 1 C800200H Optional Bits 0 to 3 PIO unit output port data select in TF connection error 0 Clear 1 Hold Bits 4 to 7 PIO unit input port data select in TF connection error 0 Clear 1 Hold Bits 8 to 15 TF communication link error check timer value 10ms Bits 20 to 31 Link timeout value in TF communication initialization 100ms 225 I O controller 3H 3H Bits 0 7 Type...

Page 408: ...o 3 999 Invalid if a negative value is set 17 I O1 fix allocated output port start No 300 1 300 multiple of 8 300 to 599 4 000 multiple of 8 4 000 to 6 999 Invalid if a negative value is set 18 I O1 error monitor 1 1 0 Do not monitor 1 Monitor Some exceptions apply 20 Input filtering periods 2 Optional ms Input signal is recognized when the status is held for twice the period set by this parameter...

Page 409: ...itored 24V I O power supply related errors output as message level Some exceptions apply 190 Option Unit Attribute 1 C800200H Optional Bits 0 to 3 PIO unit output port data select in TF connection error 0 Clear 1 Hold Bits 4 to 7 PIO unit input port data select in TF connection error 0 Clear 1 Hold Bits 8 to 15 TF communication link error check timer value 10 ms Bits 20 to 31 Link timeout value in...

Page 410: ...f 8 300 to 599 4 000 multiple of 8 4 000 to 6 999 Invalid if a negative value is set 18 I O1 error monitor 1 1 0 Do not monitor 1 Monitor Some exceptions apply 120 Network attribute 1 641001H Optional Bits 4 11 I O1 Fieldbus link error confirmation timer value 10 ms Bits 12 15 Registered module data size type in PROFINET IO configuration 0 1 word 1 4 words Bits 28 31 Input Port Data Select in I O1...

Page 411: ...f 8 1 000 to 3 999 Invalid if a negative value is set 17 I O1 fix allocated output port start No 1 4 000 300 multiple of 8 300 to 599 4 000 multiple of 8 4 000 to 6 999 Invalid if a negative value is set 18 I O1 error monitor 1 1 0 Do not monitor 1 Monitor Some exceptions apply 20 Input filtering periods 2 2 ms Input signal is recognized when the status is held for twice the period set by this par...

Page 412: ...s set 189 PIO Unit PIO SIO Unit Error Monitor 1 1 0 Not monitored 1 Monitored 2 Monitored 24V I O power supply related errors not monitored 3 Monitored only 24V I O power supply related errors monitored 4 Monitored 24V I O power supply related errors output as message level Some exceptions apply 190 Option Unit Attribute 1 C800200H Optional Bits 0 to 3 PIO unit output port data select in TF connec...

Page 413: ...o 1 1 0 Multiple of 8 0 to 299 1 000 Multiple of 8 1 000 to 3 999 Invalid if a negative value is set 17 I O1 fix allocated output port start No 1 1 300 multiple of 8 300 to 599 4 000 multiple of 8 4 000 to 6 999 Invalid if a negative value is set 18 I O1 error monitor 1 1 0 Do not monitor 1 Monitor Some exceptions apply 20 Input filtering periods 2 2 ms Input signal is recognized when the status i...

Page 414: ... set 189 PIO Unit PIO SIO Unit Error Monitor 1 1 0 Not monitored 1 Monitored 2 Monitored 24V I O power supply related errors not monitored 3 Monitored only 24V I O power supply related errors monitored 4 Monitored 24V I O power supply related errors output as message level Some exceptions apply 190 Option Unit Attribute 1 C800200H Optional Bits 0 to 3 PIO unit output port data select in TF connect...

Page 415: ...1 0 Not monitored 1 Monitored 2 Monitored 24V I O power supply related errors not monitored 3 Monitored only 24V I O power supply related errors monitored 4 Monitored 24V I O power supply related errors output as message level Only PIO available for setting in 2 to 4 Some exceptions apply 20 Input filtering periods 2 Optional ms Input signal is recognized when the status is held for twice the peri...

Page 416: ...utput as message level Some exceptions apply 190 Option Unit Attribute 1 C800200H Optional Bits 0 to 3 PIO unit output port data select in TF connection error 0 Clear 1 Hold Bits 4 to 7 PIO unit input port data select in TF connection error 0 Clear 1 Hold Bits 8 to 15 TF communication link error check timer value 10 ms Bits 20 to 31 Link timeout value in TF communication initialization 100 ms 225 ...

Page 417: ...ower supply related errors output as message level Only PIO available for setting in 2 to 4 Some exceptions apply 20 Input filtering periods 2 Optional ms Input signal is recognized when the status is held for twice the period set by this parameter Valid only for PIO PIO unit PIO SIO unit 186 Number of Connected option unit 0 3 unit The number of ports used for input and output should be number of...

Page 418: ...nection error 0 Clear 1 Hold Bits 4 to 7 PIO unit input port data select in TF connection error 0 Clear 1 Hold Bits 8 to 15 TF communication link error check timer value 10 ms Bits 20 to 31 Link timeout value in TF communication initialization 100 ms 225 I O controller 9H 9H Bits 0 7 Type of Network I F Module Control 1 0H Not mounted 1H CC Link 2H DeviceNet 3H PROFIBUS DP 6H EtherCAT 7H EtherNet ...

Page 419: ...A_ja cspp DeviceNet EDS_IANP3801_DN0_V_2_3 eds PROFIBUS DP IAI_0CEF gsd EtherCAT ESI_IAI_SEL_ECT_V_1_08_Rev_1 xml EtherNet IP IANP3802 EP0_V_2_1 eds PROFINET IO GSDML V2 3 IAI IAI PRT 20130807 xml CC Link IE Field 0x0226_RSEL G CIE_1 0 0_ja cspp The version of file names numbers in the latter part in a file name should be changed in version updates URL http www iai robot co jp download network ...

Page 420: ...onfiguration data format is applicable for the both formats of standard and special identifications However it is necessary to have the configuration data size in the RSEL system and the I O size used in PROFIBUS DP aligned Standard Identification Format Special Identification Format ...

Page 421: ... Name Input range Unit Remarks 121 Network attribute 2 C80000h Bits 28 to 31 EtherCAT PDO mapping type 0 Variable 1 32Byte Fixed 6 4 4 EtherNet IP In EtherNet IP communication it cannot be used when the used Port No 2 222 UDP Port and 44 828 TCP Port and UDP Port are blocked by the firewall in the communication path There is a concern that stable communication cannot be established if a repeater h...

Page 422: ...cribes the connectivity setting between the EtherCAT type RSEL controller and EtherCAT Master NJ Series manufactured by Omron 6 5 1 Downloading setting file for network ESI file Go to Download page in the IAI homepage and download the applicable ESI file from Field Network Setting File PLC Function Block URL https www intelligentactuator com field network configuration files 2 ...

Page 423: ... Device Connect to Device window shows up Select Direct connection via USB in Connection type Also remove the checkmarks on Transfer from Device and Display the Troubleshooting Dialog Box in Operation after Connection Click Connection type Complete dialog appears Click OK Auto Connect Project window should get displayed online Once it gets online a yellow frame should appear at the top in Edit Win...

Page 424: ...e for network ESI file From the menu bar in Auto Connect Project window click Controller Offline to set the status offline In Auto Connect Project window click Configurations and Setup from Multiview Explorer Double click EtherCAT in Configurations and Setup EtherCAT window should be shown in Edit Window 1 2 3 4 ...

Page 425: ...SIO 6 5 Example of Connectivity Setting ME0392 4C 6 107 Right click Master and select Display ESI Library Click Install File in ESI Library window Select the ESI file that was downloaded from the IAI homepage and click Open 6 7 5 ...

Page 426: ...ME0392 4C Execute Installation dialog should appear Confirm the content and click Yes Installation Complete dialog should appear Click OK The installed ESI file should get added in ESI Library window Click the plus icon to confirm that devices get displayed Click Close 9 10 8 ...

Page 427: ...line Merge Actual Network Configuration In EtherCAT tab in Auto Connect Project right click Master Click Compare and Merge with Actual Network Configuration Click Apply actual network configuration Apply actual network configuration window should appear Confirm the content and click Apply Once the execution result gets displayed click Close 1 2 3 4 ...

Page 428: ...ng 6 110 ME0392 4C The slave should be added to Network configuration on Sysmac Studio in Compare and Merge with Actual Network Configuration window Confirm that it is added and click Close The slave should be added in EtherCAT tab in Auto Connect Project window 5 6 ...

Page 429: ... the applicable device referring to the number of used EtherCAT input and output ports Number of Used EtherCAT Input and Output Ports ESI File Applicable Device 8 to 256 SEL ECT 32bytes 32bytes 264 to 512 SEL ECT 64bytes 64bytes 520 to 768 SEL ECT 96bytes 96bytes 776 to 1 024 SEL ECT 128bytes 128bytes As the applicable device should differ depending on the number of ports used for input and output...

Page 430: ...EL controller I O Parameter No 226 1 to 65535 select Slave in EtherCAT tab and change Node Address in the parameter setting window so it matches with the value in I O Parameter No 226 of RSEL Controller The node address of the slave in EtherCAT tab in Auto Connect Project window should be updated 4 5 Have the node addresses match with each other ...

Page 431: ...n 0 Variable it is necessary to match the input and output settings in the master and slave Confirm that it is in the state of PLC and offline If it is online click Controller Offline from the menu bar in Auto Connect Project window to set it offline Select a slave subject to the change of PDO mapping setting in EtherCAT tab and click Edit PDO Map Settings in the parameter setting window 1 2 Bits ...

Page 432: ...mber of ports used for I O1 fieldbus remote output of RSEL controller 1 Select Input from the PDO mapping list and delete the PDO entries till the input of the process data size matches with Parameter No 15 Number of ports used for I O1 fieldbus remote output in RSEL Controller Select the PDO entries in the descending order of the index from PDO entries included in In and click Delete PDO Entry 3 ...

Page 433: ...twork PIO SIO 6 5 Example of Connectivity Setting ME0392 4C 6 115 2 Once the input of the process data size matches with Parameter No 15 Number of ports used for I O1 fieldbus remote output in RSEL Controller click Apply ...

Page 434: ...e input Number of RSEL controller 1 Select Output from the PDO mapping list and delete the PDO entries till the output of the process data size matches with Parameter No 14 Number of ports used for I O1 fieldbus remote input in RSEL Controller Select the PDO entries in the descending order of the index from PDO entries included in Out and click Delete PDO Entry Two values do not match Delete in de...

Page 435: ...nce the input of the process data size matches with Parameter No 14 Number of ports used for I O1 fieldbus remote input in RSEL Controller click Apply Once the process data size in both the input and the output matches with the number of used ports in the slave click OK to finish the edit ...

Page 436: ...e a yellow frame should be displayed at the top in Edit Window If it is offline click Controller Online from the menu bar in Auto Connect Project window to set it online Click Controller Synchronize from the menu bar in Auto Connect Project window Synchronization window should appear Put a checkmark on the data subject to transfer Click Transfer To Controller Online 2 3 4 1 ...

Page 437: ...indow appears confirm that there is no problem if PLC operation stops and click Yes As the Operation mode change confirmation window appears confirm that there is no problem if PLC operation stops and click Yes Confirm that Synchronization is complete and click Close 6 7 Synchronizing is completes when data turns to white 5 ...

Page 438: ...Chapter 6 Field Network PIO SIO 6 5 Example of Connectivity Setting 6 120 ME0392 4C ...

Page 439: ...n Using Orthogonal Coordinate System Features 7 10 7 2 1 Relation between axis numbers and axis patterns 7 10 7 2 2 CP operation 7 11 7 2 3 PTP operation 7 13 7 2 4 Wrist form and singularity 7 15 7 2 5 Position data 7 17 7 2 6 Coordinate system definition data 7 19 7 2 7 Positioning in each coordinate system 7 21 7 2 8 Jog movement 7 25 7 2 9 Simple contact check zone 7 28 7 2 10 Restriction 7 31...

Page 440: ... 1 Guideline of Coordinate Systems 7 1 1 List of coordinate systems When the orthogonal coordinate system feature is valid in a 6 axis cartesian robot the orthogonal coordinate system positioning feature should be added only for the 6 axis cartesian robot Added axes are out of subject ...

Page 441: ...E0392 4C 7 2 7 1 2 Applicable robots The 6 axis cartesian robots applicable for use of the orthogonal coordinate system are as shown below CRS XB XY Base Fixed CRS XG XY Base Fixed Gantry CRS XZ Y XY Base Fixed Horizontal Approach CRS XZ Z XY Base Fixed Vertical Approach ...

Page 442: ...1 3 Specific axis coordinate system The specific axis coordinate system of the 6 axis cartesian robot is a coordinate system set to the constructing axes of the robot CRS XB XY Base Fixed Arrows show positive sides CRS XG XY Base Fixed Gantry Arrows show positive sides C1 C2 C3 C1 C2 C3 ...

Page 443: ...artesian Robot 7 1 Guideline of Coordinate Systems ME0392 4C 7 4 CRS XZ Y XY Base Fixed Horizontal Approach Arrows show positive sides CRS XZ Z XY Base Fixed Vertical Approach Arrows show positive sides C1 C2 C3 C2 C3 C1 ...

Page 444: ...rections Six coordinates shown below should determine the position and posture X Y Z Coordinates to present the positions on the X Y and Z axes Unit mm Rx Ry Rz Coordinates to present posture Unit deg The posture data should show Rx rotation around X coordinate direction Ry rotation around Y coordinate direction and Rz rotation around Z coordinate direction and each turns in the order of 1 Rx 2 Ry...

Page 445: ...Guideline of Coordinate Systems ME0392 4C 7 6 For Rx Ry Rz 90deg 90deg 90deg Rx Ry Rz 0 0 0 Rx Ry Rz 90 90 90 Rx Ry Rz 90 0 0 Rx Ry Rz 90 90 0 1 Turn in 90deg around X axis 2 Turn in 90deg around Y axis 3 Turn in 90deg around Z axis 1 2 3 ...

Page 446: ...shown below The origin of the base coordinates should be the position of Point P crossing point of B axis rotary axis and T axis rotary axis when C1 C2 C3 0 0 0 in each axis coordinate CRS XB XY Base Fixed CRS XG XY Base Fixed Gantry CRS XZ Y XY Base Fixed Horizontal Approach CRS XZ Z XY Base Fixed Vertical Approach Arrows show positive sides Xb Zb O Yb Xb Yb Zb O Xb Zb O Yb Xb Zb O Yb ...

Page 447: ...ed in each area of workspace for a workpiece The origin can be defined at any position The work coordinate system is to be defined with the coordinate origin offset X Y Z from the base coordinates and the rotary angles Rx Ry Rz around the X Y and Z axes on the base coordinates The work coordinate system equals to the base coordinate system when it is not defined Point P B axis Bending T axis Turni...

Page 448: ...the center of the flange is the Ym axis This coordinate system is a datum to set the tool coordinate system Wrist Flange Face Tool Coordinate System The tool coordinate system is a system to determine the position of the tool tip and the tool posture and is to be indicated by the offset X Y Z from the mechanical interface coordinate origin and the posture Rx Ry Rz The X axis on the tool coordinate...

Page 449: ...s 6 axis Cartesian Robot Z Axis 3 6 axis Cartesian Robot R Axis 6 axis Cartesian Robot Rx Axis 4 6 axis Cartesian Robot B Axis 6 axis Cartesian Robot Ry Axis 5 6 axis Cartesian Robot T Axis 6 axis Cartesian Robot Rz Axis 6 Added Axis No 7 7 Added Axis No 8 8 2 Axis pattern Upper lower Axis Specific Axis Coordinate System 8 axis 7 axis T axis B axis R axis C3 axis C2 axis C1 axis Orthogonal Coordin...

Page 450: ...city and acceleration deceleration settings of the CP operation should be established in advance in a program with control declaration commands Velocity Setting Command VEL in unit mm s Acceleration Setting Command ACC in unit G Deceleration Setting Command DCL in unit G Example ACC 0 5 The acceleration in CP operation is set at 0 5G DCL 0 5 The deceleration in CP operation is set at 0 5G VEL 500 ...

Page 451: ...hould differ depending on the command languages CP Operation Commands with Specific Axis Coordinate System Joint Available for Indication MOVL MVLI PATH PSPL CIR ARC CIR2 ARC2 ARCC ARCD ARCS CIRS PUSH ARCH CP Operation Commands with Orthogonal Coordinate System Rect Available for Indication MOVL MVLI TMLI PATH PSPL ARCS CIRS ARCH Refer to SEL Language Programming Manual ME0224 for the detail of la...

Page 452: ... unit G Deceleration Setting Command DCL in unit G Example ACC 0 5 The acceleration in PTP operation is set at 0 5G DCL 0 5 The deceleration in PTP operation is set at 0 5G VEL 500 The velocity in PTP operation is set at 500 mm s MOVP 2 Makes a drive in PTP operation to Position No 2 The velocity and acceleration deceleration settings are also available to be established in the VEL ACC and DCL box...

Page 453: ...position types available for indication should differ depending on the command languages PTP Operation Commands with Specific Axis Coordinate System Joint Available for Indication MOVP MVPI PTP Operation Commands with Orthogonal Coordinate System Rect Available for Indication MOVP MVPI TMPI Refer to SEL Language Programming Manual ME0224 for the detail of languages ...

Page 454: ...y the orthogonal coordinates X Y Z Rx Ry and Rz When the orthogonal coordinates of the 6 axis cartesian robot are to be indicated it is necessary to indicate the Flip NonFlip of the wrist form Flip NonFlip It is to be determined by the specific axis coordinates of the B axis and It is Flip when positive side from the rotary center specific axis coordinate at 0deg and It is NonFlip when negative si...

Page 455: ...rdinate system Set it away from the singularity or use the specific axis operations Passing through the singularity vicinity in the path of the CP operation linear circle arc spline move path move jog mode on orthogonal coordinate etc indicating the orthogonal coordinate system would not be made In case of passing through the singularity including the vicinity in the path use the specific axis ope...

Page 456: ...is6 Axis7 Axis8 Rect 6 axis Cartesian Robot X Axis Coordinate mm 6 axis Cartesian Robot Y Axis Coordinate mm 6 axis Cartesian Robot Z Axis Coordinate mm 6 axis Cartesian Robot Rx Axis Coordinate deg 6 axis Cartesian Robot Ry Axis Coordinate deg 6 axis Cartesian Robot Rz Axis Coordinate deg Joint 6 axis Cartesian Robot C1 Axis Coordinate mm 6 axis Cartesian Robot C2 Axis Coordinate mm 6 axis Cartes...

Page 457: ...ault acceleration MC Common Parameters No 12 Default deceleration Unit mm for velocity and acceleration deceleration set in Rx Ry Rz in the rotary drive axes of the added axes and the orthogonal coordinate system should be handled in unit deg Velocity 1mm s 1 deg s Acceleration Deceleration 1G 9807mm s2 9807 deg s2 In case of performing an operation indicating the orthogonal coordinate system in t...

Page 458: ...shown below Input the contents indicated below in each cell Item Contents inputted Remarks X X axis offset from base coordinate system Indication of origin of work coordinates Y Y axis offset from base coordinate system Z Z axis offset from base coordinate system Rx X axis rotation from base coordinate system Indication of posture of work coordinates Ry Y axis rotation from base coordinate system ...

Page 459: ...tted Remarks X X axis offset from mechanical interface coordinate system Indication of origin of tool coordinates Y Y axis offset from mechanical interface coordinate system Z Z axis offset from mechanical interface coordinate system Rx X axis rotation from mechanical interface coordinate system Indication of posture of tool coordinates Ry Y axis rotation from mechanical interface coordinate syste...

Page 460: ... with Joint Specific Axis set in the position type In operation in the specific axis coordinate system the selected numbers in the work coordinate system and the tool coordinate system should not impact the robot arrival position Example in SEL Program VEL 100 Velocity 100mm s ACC 0 3 Acceleration 0 3G DCL 0 3 Deceleration 0 3G MOVP 1 Makes a drive in PTP operation to Position No 1 MOVP 2 Makes a ...

Page 461: ...K Command when selecting a work coordinate system number in a SEL program Validity of the selected work coordinate system select number should continue after finishing a program or after rebooting the power Example in SEL Program VEL 100 Velocity 100mm s ACC 0 3 Acceleration 0 3G DCL 0 3 Deceleration 0 3G SLWK 0 Selects Work Coordinate System No 0 base coordinate system MOVP 1 Makes a drive in PTP...

Page 462: ...en selecting a work coordinate system number in a SEL program Validity of the selected work coordinate system select number should be retained after rebooting the power Use the DFWK Command to set the work coordinate system offset amount in the SEL program Example in SEL Program VEL 100 Velocity 100mm s ACC 0 3 Acceleration 0 3G DCL 0 3 Deceleration 0 3G SLWK 1 Selects Work Coordinate System No 1 ...

Page 463: ...ordinate system number in a SEL program Validity of the selected tool coordinate system select number should be retained after rebooting the power Use the DFTL Command to set the tool coordinate system offset amount in the SEL program Example in SEL Program VEL 100 Velocity 100mm s ACC 0 3 Acceleration 0 3G DCL 0 3 Deceleration 0 3G SLTL 1 Selects Tool Coordinate System No 1 SLWK 1 Selects Work Co...

Page 464: ...8 Jog movement 1 Jog on Each Axis Each axis should be operated individually in accordance with coordinate systems on each axis Axis1 should apply to C1 axis Axis2 to C2 axis Axis3 to C3 axis Axis4 to R axis Axis5 to B axis and Axis6 to T axis Jog operations with the jog switches are the specific axis jog C3 C2 C1 ...

Page 465: ...nate system Axis1 should apply to the X direction while Axis2 to Y and Axis3 to the Z direction Pressing Axis4 Axis5 or Axis6 button should make a turn around the X Y or Z axis to change the orientation of the hand The tip position should be fixed Axis4 should apply to the Rx direction while Axis5 to Ry and Axis6 to the Rz direction Drive operation should be made on the base coordinate system if t...

Page 466: ...o the X direction while Axis2 to Y and Axis3 to the Z direction Pressing Axis4 Axis5 or Axis6 button should make a turn around the X Y or Z axis to change the orientation of the hand The tip position should be fixed However it is necessary to set up the offset properly in the tool coordinate system definition data Axis4 should apply to the Rx direction while Axis5 to Ry and Axis6 to the Rz directi...

Page 467: ...ntact check zone It is a feature to prevent interfere with external output or error output when a tool tip the center of the flange face when Tool Coordinate System No 0 is selected gets into the simple contact check zone Approach of anything else other than the tool tip should not be detected Shown below is the data format ...

Page 468: ... turns on while the 6 axis cartesian robot tool tip is in the zone and off when out of the zone It is not available to indicate a number duplicated with the system output port or flag number output feature select zone etc Error Type 0 No error setup during approach 1 Message level error during approach 2 Operation cancelation level error during approach Set one from above DFIF SOIF SEIF or GTIF Co...

Page 469: ...ormed with the absolute coordinate unconfirmed The frequency of approach monitoring should be every 5 ms Detection may not work unless the tip stays in the zone for 5 ms or more It is recommended to have the range of the zone set relatively large considering the tool size and the non detected duration It may take 5ms before the setting change reflected for the simple contact check zone It is recom...

Page 470: ... switch recovery type 0 0 to 2 0 Abort operations programs 1 Recovery after reset 2 Operation continued Only during automatic operation When the orthogonal coordinate system features of the are used the axes constructing the 6 axis cartesian robot cannot use the multi slider over approach detection feature 625 Multi Slider Parameter Error should occur Set the following parameter to the setting in ...

Page 471: ...is coordinate system position data They would not be read in as the orthogonal coordinate system position data When the orthogonal coordinate system features in the 6 axis cartesian robot are to be used do not attempt to change the following parameters on the constructing axes from the settings at the delivery from factory Driver Unit Parameter No Name Unit Input range Default initial value settin...

Page 472: ...Chapter 7 6 axis Cartesian Robot 7 2 Caution When Using Orthogonal Coordinate System Features 7 33 ME0392 4C ...

Page 473: ...fication 8 2 8 1 3 Simple absolute specification 8 2 8 1 4 Absolute reset home return procedure 8 3 8 2 Procedures for Wrist Unit Absolute Reset 8 5 8 2 1 Preparation 8 5 8 2 2 B T axis 8 6 8 3 Procedures for 6 axis Cartesian Robot Absolute Reset 8 10 8 3 1 Preparation 8 10 8 3 2 X Y Z axis 8 10 8 3 3 R axis 8 13 8 3 4 B T axis 8 17 RSEL Chapter 8 ...

Page 474: ...e first time to start up the system or after replacing the battery Encoder Type Mounted Actuator Series Timing to Have Home Return and Absolute Reset Driver Unit Parameter No 83 Section to Pick Up Home Return Absolute Reset Incremental RCP2 to 4 RCA RCA2 RCD RCS2 to 3 ISA ISB SSPA FS RS NS NSA Linear rotary axis and grippers When power is turned on 0 8 1 1 8 1 4 Battery less Absolute RCP5 to 6 RCA...

Page 475: ...n absolute error occurs Absolute reset is performed by home return operation Refer to 8 1 4 for the operation method 8 1 3 Simple absolute specification The simple absolute specification retains the encoder position information even when the power is turned off with the battery of the simple absolute unit Therefore there is no need to perform home return every time at startup For the Simple absolu...

Page 476: ...et is performed by home return operation The following is for the first axis 1 For PC software 1 Connects PC software 2 If an error has occurred reset the error 3 Open the position data edit window 4 Press the SV button to turn on the servo 5 Press the HM button to perform home return operation 6 Absolute reset is completed when home return is completed ...

Page 477: ...e Return Absolute Reset 8 1 Home Return Absolute Reset for Single axis ME0392 4C 8 4 2 For SEL program 1 Specify the first axis with the HOME command 2 Absolute reset is completed when the HOME command is completed ...

Page 478: ... Note The model numbers stated above are those that an absolute reset jig screws and pins come in a set Jig for Absolute Reset in common for S Type and M Type Bolt Size S Hexagonal Socket Head Bolt M6 6 1 piece Size M Hexagonal Socket Head Bolt M6 10 1 piece Pin Size S φ4 B Type Parallel Pin Length 40mm 1 piece φ3 B Type Parallel Pin Length 40mm 2 pieces Size M φ4 B Type Parallel Pin Length 40mm 3...

Page 479: ...for Wrist Unit Absolute Reset ME0392 4C 8 6 8 2 2 B T axis 1 Please select the following menu Menu Controller Abs Encoder Reset Figure 8 2 2 Menu selection 2 A warning message will be displayed Confirm it and click OK and Yes Figure 8 2 3 Warning message ...

Page 480: ... Absolute Reset 8 7 ME0392 4C 3 Select the Wrist Unit tab and select the Axis Group No and Axis No of the B Axis for performing the absolute reset Figure 8 2 4 Abs Encoder Reset window Wrist Unit Axis group No selection is displayed only when axis group No 2 is valid ...

Page 481: ...Warning message 5 The Jog to Interference Avoidance Posture screen is displayed Click and to move the B and T axes closer to the reference posture Refer to Fig 8 2 7 for the standard posture of the B and T axes Also change Vel and Inc as necessary Click OK when it is near the standard posture To manually approach the standard posture just click OK Figure 8 2 6 Jog to Standard Posture window ...

Page 482: ...on the confirmation window Figure 8 2 8 Confirmation window Leave it in emergency stop condition when you click OK If you click OK after the emergency stop is canceled it should generate 24A Undefined Error Absolute Reset Execution Condition Unestablished Error 7 Remove the jig for absolute reset Release the emergency stop with the jig for absolute reset removed and click OK on the confirmation wi...

Page 483: ...3 Procedures for 6 axis Cartesian Robot Absolute Reset 8 3 1 Preparation Refer to 8 2 1 Preparation 8 3 2 X Y Z axis 1 Please select the following menu Menu Controller Abs Encoder Reset Figure 8 3 1 Menu selection 2 A warning message will be displayed Confirm it and click OK and Yes Figure 8 3 2 Warning message ...

Page 484: ...lute Reset 8 11 ME0392 4C 3 Select Z Y Z R tab and set the absolute reset target axis to either of X Y or Z axis Figure 8 3 3 Abs Encoder Reset window 6 axis Cartesian Robot 4 When you click Start a warning message will be displayed Check it and click Yes Figure 8 3 4 Warning message ...

Page 485: ...k OK Figure 8 3 5 Jog to Interference Avoidance Posture window 6 Home return operation of the axis target for the absolute reset should start Once the home return operation is finished the absolute reset should complete 7 If it is required to have the absolute reset conducted on the rest of X Y and Z axes repeat the process from 3 If the absolute reset is required on other axes proceed to section ...

Page 486: ...et 8 13 ME0392 4C 8 3 3 R axis 1 1 2kg Payload Type 1 Select Z Y Z R tab and set the absolute reset target axis to R axis Figure 8 3 6 Abs Encoder Reset window 6 axis Cartesian Robot 2 When you click Start a warning message will be displayed Check it and click Yes Figure 8 3 7 Warning message ...

Page 487: ...he setup of the position posture to avoid interference click OK Figure 8 3 8 Jog to Interference Avoidance Posture window 4 Conduct emergency stop and brake release and approach near the standard posture of the R axis Refer to Figure 8 3 10 for the standard posture of the R axis Attach the stopper bolt at the standard posture Figure 8 3 11 With the stopper bolt being applied conduct the brake lock...

Page 488: ... for 6 axis Cartesian Robot Absolute Reset 8 15 ME0392 4C Figure 8 3 10 R Axis Standard Posture Figure 8 3 11 R axis Stopper Bolt Attached Rotary axis R axis Wrist Axis B T Axes Adjust the position referring to the alignment mark Alignment Mark Sticker ...

Page 489: ...gency stop conducted and take the stopper bolt off Figure 8 3 13 With the stopper bolt taken off release the emergency stop and click OK in the confirmation window Figure 8 3 12 Confirmation window Figure 8 3 13 R axis Stopper Bolt Removed 7 If the absolute reset is required on other axes proceed to section 8 3 2 or section 8 3 4 close the absolute reset window if no more required The software res...

Page 490: ...o section 8 2 2 3 and later The process is the same as section 8 2 2 3 and later but the window in the figure below is slightly different from section 8 2 2 3 and later There is no selection of the axis number in Figure 8 3 14 Figure 8 3 14 Abs Encoder Reset window 6 axis Cartesian Robot Figure 8 3 15 Jog to Standard Posture window ...

Page 491: ...to check 9 5 9 2 PSA 24 Communication Monitor 9 6 9 3 Preventive Maintenance Function 9 11 9 3 1 Electrolytic capacitor life prediction 9 11 9 3 2 Capacitor for calendar feature life prediction 9 11 9 3 3 Maintenance information 9 12 9 4 Predictive Maintenance Function 9 16 9 4 1 Monitoring on fan unit revolution 9 16 9 4 2 Overload warning 9 17 RSEL Chapter 9 ...

Page 492: ...pplicable function 9 21 9 5 3 Interface specification 9 22 9 5 4 Related parameters 9 23 9 5 5 Related error code 9 27 9 6 RSEL Serial Communication Multiple Channel Applicable Features 9 32 9 6 1 Applicable version 9 32 9 6 2 Function details 9 33 9 6 3 Restriction 9 36 9 6 4 Related parameters 9 37 ...

Page 493: ...n the instruction manual and catalog Note Get out of the approaching point with using e g jog after the excess approaching is detected Jog operation towards the direction to get out should be available Note The multi slider excess approaching collision prevention feature should activate after the coordinates of both of the target axes mutual axes are confirmed This feature should get disabled in s...

Page 494: ...abled Axis Parameter No 41 Multiple Slider Excess Approach Detection Target Axis Indication Soft limit Soft limit Multi Slider Effective Stroke Multi Slider Effective Stroke Soft limit Soft limit Min Distance Between Sliders 1st Axis 2nd Axis Stop Judgment Position 1st Axis 2nd Axis Min Distance Between Sliders Multi Slider Setting Bit Pattern1 Actual Position Excess Approaching Margin Command Pos...

Page 495: ...de for the distance set from the minimum distance between sliders It is necessary to establish the setting of distance shorter than the minimum distance between sliders This is valid only in the parameter on the master axis of the multi sliders The smaller axis number Initial setting 2 mm 2 Bits 4 7 Multi slider commanded position over approach detection margin mm It is used for judgment for the m...

Page 496: ... axes Set to 0 when there is no slider close to the side of applicable movement of the self axis coordinate 42 Emergency Deceleration Margin at Multi Slider Over Approach 5 0 to 999 0 01G 43 Multi Slider Setting Bit Pattern 1 12H 0H to FFFFFFFFH Bits 0 to 3 Multi slider actual position over approach detection margin mm Valid only on multi slider master axis parameters Bits 4 to 7 Multi slider comm...

Page 497: ...ion after confirming the coordinates and performing the home return operation for the incremental type on both of the target axes 1 Move the sliders towards each other in low speed with the jog operation until an error gets generated 2 Check if the sliders stop at a position ahead in a few millimeters of the multi slider command position excess approaching margin initially set at 1mm or near it ...

Page 498: ...ent For the preventive maintenance features equipped on PSA 24 other than status data monitor refer to PSA 24 Instruction Manual ME0379 How to Establish Connection SEL Unit to PSA 24 in order to monitor the status data of the power source via RSEL If it is preferred to monitor the status data using the PC software establish the connection using the USB interface on RSEL Monitoring in PC software v...

Page 499: ...rrent volume to be used There could be a concern of communication failure if using thinner cables than the complied cable diameter Also make sure to use twisted pair cables for the differential lines A communication line on one unit of PSA 24 is not available for connecting to multiple SEL units Connecting to multiple units should generate the alarm of 22E Power Supply Unit Communication Error Wir...

Page 500: ...verted value It changes in response to the load on output voltage side as it does for the output voltage which is not an error Peak Hold Voltage Output voltage AD converted value Comparison is performed every time AD conversion is executed and the maximum voltage is saved Output Current Output current AD converted value It shows the transient value Peak Hold Current Output current peak value Compa...

Page 501: ... 851 Data IO Output Setting 01 Data Type 0H 0H FFFFFFFF H Set 0 when output inactivated Bits 00 03 Output data type 0 Output Invalid 1 Power Supply Status 2 Axis Status 3 EC Status Main application part V1 09 or later Bits 04 07 Reserved Bits 08 15 Output data item Output data type Bit 00 03 1 Power Supply Status 0 Output Voltage 1 Auxiliary Winding Voltage 2 Output Current 3 Peak Hold Current 4 L...

Page 502: ... ME0392 4C For the operation of teaching tool refer to the following instruction manual PC dedicated teaching software instruction manual ME0398 Touch Panel Teaching Pendant TB 02 instruction manual ME0356 Touch Panel Teaching Pendant TB 03 instruction manual ME0377 ...

Page 503: ...dropped by 20 When an alarm is generated although the capacity of the capacitor is not zero dried out we recommend replacing it as soon as possible 9 3 2 Capacitor for Calendar Feature Life Prediction The temperature of the capacitor for the RSEL unit calendar function is monitored to calculate the service life There should be a message level alarm Alarm Code 203 Presumed Life Passed Warning gener...

Page 504: ...g If the set count or distance Note 1 is exceeded an alarm Note 2 and external signal Note 3 can be output This enables checking the timing for lubrication and periodic inspection The recorded data should be able to be checked in a teaching tool PC Software Maintenance Information screen TB 02 Maintenance Information Note 1 Setting should be established in the following parameters or the maintenan...

Page 505: ...ill continue to operate without interruption When the total travel count exceeds the set value the user will be notified with Maintenance warning 1 When Maintenance warning 1 is output maintenance is recommended such as greasing Set the target value to a value larger than the present one and update Setting it to 0 times will disable this function When the total travel distance exceeds the set valu...

Page 506: ...on I Axis selection As a reference shown below is how to operate using a teaching pendant TB 02 Refer to an instruction manual for each teaching tool for detail Switchover to Maintenance Information Screen Using TB 02 Touch Information on the Menu 1 screen The screen will switch to the Information screen If the TP operation mode is not Monitor mode a confirmation screen will appear for switching t...

Page 507: ...with the Ten Key pad and touch the ENT key The target value will change If you touch ESC the target value will not be changed and the original screen will return A confirmation message will be displayed to reboot the controller when leaving the maintenance screen The setting change will take effect after rebooting If the actuator has been replaced touch the Actuator replacement button Total travel...

Page 508: ... by 20 When an alarm is generated although the fan will not have stopped completely we recommend replacing it as soon as possible Note that if the fan rotation speed drops 30 an operation cancel level alarm alarm code 404 Fan error is generated and the actuator stops Replace the fan and reset the alarm to resume operation Refer to the following for the replacement method 24V Driver Unit Refer to 1...

Page 509: ...erload warning Using this function enables monitoring of motor temperature changes caused by dried up grease or wear and tear on parts A warning is output when the preset value is exceeded This enables detection of abnormalities before a breakdown or a malfunction occurs Operational image ...

Page 510: ... as 100 The setting range should be 50 to 100 and if 100 or a number out of the range is set the driver overload warning and the driver overload warning output should get invalid Driver Unit Parameter No Parameter Name Setting at Delivery Input range Unit Remarks 143 Overload Warning Loading Level Ratio 100 50 to 100 Set in from Driver overload error loading level invalid at 100 2 Axis Parameter N...

Page 511: ...e status LED on ELECYLINDER should flash in green and red in turns to notify When the motor temperature rise value falls below the ratio set as overload warning level Maintenance warning 3 will be automatically cleared When Maintenance warning 3 is output investigate the cause of the increase in load Maintenance such as greasing or reviewing the operating conditions is recommended Setting it to 10...

Page 512: ...L System should be monitored in one screen The setting in Driver Unit Parameter No 143 Overload Warning Loading Level Ratio can be checked in the maintenance information window For the operation of teaching tool refer to the following instruction manual PC dedicated teaching software instruction manual ME0398 Touch Panel Teaching Pendant TB 02 instruction manual ME0356 Touch Panel Teaching Pendant...

Page 513: ...the position data Refer to Separate Volume Vision System I F Feature Instruction Manual ME0269 for details 9 5 2 Applicable function This manual subjects to the controllers described below RSEL System Only the Each Axis Coordinate System including combination with cartesian 6 axis robot is applicable 1 Applicable Vision System Company name Product name Interface Cognex In Sight EZ 110 In Sight5000...

Page 514: ...ial communication Item Applications Remarks Parallel PIO Input 1 point Vision system initialization complete Status input To be used as necessary For handshaking with the vision system It is necessary to select PIO board or to purchase PIO unit PIO Output 1 point Capturing command output mandatory to vision system Serial Ethernet TCP Reception of captured work data mandatory Applicable for Etherne...

Page 515: ...itor 2 Monitor Do not monitor 24 V I O power errors 3 Monitor Monitor 24 V I O power errors 4 Monitor Make 24V I O power errors to message level Only PIO available for setting in 2 to 4 Some exceptions apply 123 Network attribute 4 0H 0H to FFFFFFFFH Bits 0 to 3 EtherNet TCP IP message communication Selection whether to permit 0 0 0 0 IP address of connection destination can be ignored as IP addre...

Page 516: ... communication 0 Not in use 1 Use Bits 8 to 31 Reserved Operation requirement 145 Channel 31 opened to user TCP IP Own port number 64512 1025 to 65535 Important note Always set a unique number for each port number Duplication of port numbers is permitted only in the IAI protocol B TCP MANU AUTO modes 146 Channel 32 opened to user TCP IP Own port number 64513 1025 to 65535 Important note Always set...

Page 517: ...its 8 to 11 Vision System I F 1 response timeout value s Bits 12 to 19 Vision System I F 1 capturing command disable delay timer value ms Bits 20 to 23 Vision System I F 1 capturing delay prediction timer value ms Bits 24 to 31 Number of Vision System I F 1 capturing command retries No retry if 0 352 Vision System I F 1 Function Selection 2 0H 0H to FFFFFFFFH Bits 0 to 7 Vision System I F 1 commun...

Page 518: ...inate is taken as the datum Setting is to be established at vision system I F adjustment 35 Vision system I F 1 Z axis direction vision system position judgment datum 0 99 999 999 to 99 999 999 0 001mm Related Information All Axes Parameter No 130 Vision System I F 1 Control 2 36 Vision system I F 1 X axis GTVD acquirement data adjustment offset 0 99 999 to 99 999 0 001mm 37 Vision system I F 1 Y ...

Page 519: ...ystem sends data to the capturing command 40F Received command error vision system Content Cause 1 An unsupported identification code was received from the vision system 2 Inappropriate data was received from the vision system Countermeasure 1 2 Check that data sent from the vision system is correct 410 Error of workpiece quantity received vision system Content Cause 1 The number of workpieces rec...

Page 520: ...ication in a command such as OPEN CLOS READ and WRIT Commands 2 A communication command such as OPEN CLOS READ and WRIT Command attempt to be executed to a channel in use for vision system I F feature Countermeasure 1 2 Attempt not to execute a communication command such as OPEN CLOS READ and WRIT Commands and a vision system command such as SLVS to one channel at the same time 417 SIO multiple WR...

Page 521: ...ameters set as shown below I O Parameter No 129 Bit 4 to 7 0 I O Parameter No 124 with the client server set to Not to Use Bit 8 to 11 Free to User Channel 31 0 Bit 12 to 15 Free to User Channel 32 0 Bit 16 to 19 Free to User Channel 33 0 Bit 20 to 23 Free to User Channel 34 0 2 Check the following parameters I O Parameter No 132 to 135 I O Fieldbus Self IP Address H MH ML or L comes in in order I...

Page 522: ...ed 5 A value set in MC Common Parameter No 31 Vision System I F1 Coordinate Axis Definition is out of the range or there is no setting established of X and Y axes Countermeasure 1 Set Parameter No 351 Vision System I F Feature Select 1 Bit 4 to 7 as follows When communication to vision is to be established with Ethernet Set in the channel number set in I O Parameter No 124 Network Attribute 5 2 Se...

Page 523: ...ers of input and output ports used and the input and output port start numbers set in the parameters below and confirm that there is no duplication I O Parameter No 14 to 15 Number of I O Fieldbus Remote Input Output Used Ports I O Parameter No 16 to 17 Input Output Port Start Number in I O1 Fixed Assignment I O Parameter No 187 to 188 Input Output Port Start Number in PIO Unit PIO SIO Unit Fixed ...

Page 524: ...hing software a teaching pendant and a programmable display at the same time This feature is set inactivated on delivery 9 6 1 Applicable version The applicable versions for this feature are as shown below Target Version SEL Unit V1 09 or later PC Software V14 01 00 00 or later TB 02 03 V3 40 or later Note If the PC software or TB 02 03 is in a version not applicable activating this feature may di...

Page 525: ...ution in each protocol refer to the manual below Program Type Controller Serial Communication Format B Protocol Specification Manual ME0347 Japanese Only 1 About Execution Commands The execution command reception channels for each operation mode are as shown below Operation mode Execution Command Reception Channel Indication Description MANU Priority as shown below 1 given to top priority 1 Teachi...

Page 526: ...n mode RSEL System 1 TP Port 2 USB 4 SIO connection connector 3 Ethernet Port Status of Execution Command Reception in MANU 1 to 4 are priorities in communication channels RSEL System TP Port USB SIO connection connector Ethernet Port Status of Execution Command Reception in AUTO SIO connection connector set in I O Parameter No 116 Applicable for both execution inquiry Reference only ...

Page 527: ...cation Attribute 0H 0H to FFFFFFFFH None Bits 0 3 Select Permission for IAI Protocol Multiple Channel Communication Select Permission 0 Not to Permit 1 Permit Bits 4 11 Select IAI Protocol Execution Command Communication Reception Channel in AUTO Mode Communication channel 00H Teaching connector 01H SIO connection connector 0AH USB 26H Ethernet With the settings above the example this time set I O...

Page 528: ...tched over in the parameter below MC Common Parameter No 23 Select Jog Switch 0 Permit Job Switch Setting on Delivery The jog switch should be disabled on all axes when the IAI protocol multiple channel communication is enabled 1 Permit Jog Switch Even though the jog switch is activated when the IAI protocol multiple channel communication is enabled the jog switch may activate also when a window s...

Page 529: ...ommunication Reception Channel in AUTO Mode 00H Teaching connector 01H SIO connection connector 0AH USB 26H Ethernet Select Permission for IAI Protocol Multiple Channel Communication Enabled when 1 Permit Execution commands in MANU Mode to be received in priorities when feature disabled Main application part V1 09 or later MC Common Parameters No Parameter name Setting at Delivery Input range Unit...

Page 530: ...Chapter 9 Special Functions 9 6 RSEL Serial Communication Multiple Channel Applicable Features 9 38 ME0392 4C ...

Page 531: ...tor parameters 10 40 10 2 6 Option board parameters 10 41 10 2 7 Other parameters 10 42 10 3 Parameter list Driver Unit 10 46 10 3 1 Driver unit parameter 10 46 10 3 2 Details of driver unit parameter 10 49 10 4 Parameters for Linear Rotation Controls 10 80 10 5 Parameter List ELECYLINDER 10 82 10 5 1 Parameter list for ELECYLINDER 10 82 10 5 2 Parameter details of ELECYLINDER 10 83 RSEL Chapter 1...

Page 532: ...10 6 Servo Gain Adjustment 10 90 10 7 Parameter Configuration Advanced Use 10 93 ...

Page 533: ...the teaching tool The initial settings reference described in the tables in the sections from 6 1 I O Parameters to 6 7 Other Parameters differ depending of the actuator The input ranges are the limitations for the input in the teaching pendant and PC software For the actual setting input the values defined in the remarks The values other than those defined in the remarks are for the system reserv...

Page 534: ...1001 1010 Hexadecimal number In the Hexadecimal number system the figure is expressed using nine numerical characters from 0 to 9 and alphabetical characters from A to F The figure is gradually increased from 0 to 1 2 3 4 5 6 7 8 9 A B C D E F and then moves on to the next digit to 10 11 etc Decimal number 0 to 9 Same expression in the decimal number system and the hexadecimal number system 10 11 ...

Page 535: ...the axis control should be managed on the driver unit side The parameters necessary in the axis control for the SEL unit should be acquired from the driver unit as the initializing parameters The driver unit parameters should be those for parameter management in the driver unit and not used in the SEL unit ...

Page 536: ...r Depends on Controller Construction 0 to 5 0 Do not monitor 1 Monitor 2 Monitor Do not monitor 24 V I O power errors 3 Monitor Monitor 24 V I O power errors 4 Monitor Make 24V I O power errors to message level Only PIO available for setting in 2 to 4 Some exceptions apply 19 For expansion 0 20 Input filtering periods 2 1 to 9 ms Input signal is recognized when the status is held for twice the per...

Page 537: ...edge Input ports 008 to 014 binary specified program number Note The function of I O parameter No 44 Input function selection 014 relating to drive source cutoff reset is assigned to I O parameter No 37 Input function selection 007 while the function of I O parameter No 43 Input function selection 013 error reset program number specified for program start is assigned to I O parameter No 44 Input f...

Page 538: ...terlock actuation during automatic operation operation is terminated upon interlock in non AUTO mode Note The port number assigned to this function can be changed using I O parameter No 287 Port number assigned to input function selection 004 35 Input function selection 005 0 0 to 5 0 General purpose input 1 Operation pause reset signal ON edge Note The port number assigned to this function can be...

Page 539: ... specified for program start Note The assignment changes depending on the value set in I O parameter No 30 Input function selection 000 Note The port number assigned to this function can be changed using I O parameter No 295 Port number assigned to input function selection 012 43 Input function selection 013 1 0 to 5 0 General purpose input 1 Program number specified for program start 2 Error rese...

Page 540: ...put function selection 300 47 Output function selection 301 3 0 to 20 0 General purpose output 1 READY output PIO trigger program can be run 2 READY output PIO trigger program can be run and error of operation cancellation level or higher is not present 3 READY output PIO trigger program can be run and error of cold start level or higher is not present Note The port number assigned to this functio...

Page 541: ...tput function selection 308 0 0 to 5 0 General purpose output 1 4th axis in position output turned OFF when pressing missed 2 Output when axis 4 servo is ON System monitor task output 3 Reserved by the system Note The port number assigned to this function can be changed using I O parameter No 307 Port number assigned to output function selection 308 55 Output function selection 309 0 0 to 5 0 Gene...

Page 542: ...utputs in this area must be operated under the responsibility of user programs including the I O processing program at operation program abort Outputs outside this area will be forcibly turned OFF Invalid if 0 is set 71 Unaffected general purpose output area number MAX when all operations programs are aborted 0 0 to 6 999 72 Unaffected general purpose output area number MIN when all operations are...

Page 543: ... Even 96 Reserved by the system 0 0 to 1 97 IAI protocol minimum response delay for SIO channel 0 opened to user 0 0 to 999 ms Valid only with IAI protocol 98 to 99 Reservation of SIO channel 0 opened to user 0 100 Reserved by the system 28100010H 0H to FFFFFFFFH 101 Reserved by the system 0 0H to FFFFFFFFH 102 Reserved by the system 28100020H 0H to FFFFFFFFH 103 Reserved by the system 0 0H to FFF...

Page 544: ...nication Enabled when 1 Permit Execution commands in MANU Mode should be received in priorities when the features are inactivated Main application part V1 09 or later 117 to 119 For expansion 0 120 Network attribute 1 641001H 0H to FFFFFFFFH Bits 0 to 3 Reserved by the system Bits 4 to 11 I O1 fieldbus link error check timer value 10 ms Bits 12 to 15 Registered module data size type in PROFINET IO...

Page 545: ...heck function 0 Not to use 1 Use Keep Alive Bits 24 to 27 EtherNet Free for User Channel 34 Select existence check function 0 Not to use 1 Use Keep Alive Bits 28 to 31 EtherNet Tracking Vision System I F Select existence check function 0 Not to use 1 Use Keep Alive The connection may get cut if the mating device is not applicable for TCP Keep Alive Function 124 Network attribute5 0H 0H to FFFFFFFF...

Page 546: ...necessary for PROFINET IO 135 I O FIELDBUS Own IP address L 1 1 to 254 Setting of 0 and 255 is prohibited Setting establishment not necessary for PROFINET IO 136 I O FIELDBUS Subnet mask H 255 0 to 255 Setting establishment not necessary for PROFINET IO 137 I O FIELDBUS Subnet mask MH 255 0 to 255 Setting establishment not necessary for PROFINET IO 138 I O FIELDBUS Subnet mask ML 255 0 to 255 Sett...

Page 547: ...0 to 254 Setting of 0 and 255 is prohibited 158 IAI protocol B TCP Port number of connection destination AUTO mode 64611 0 to 65 535 0 can be set in the case of a server 0 Port number of connection destination is ignored only the IP address is checked 0 cannot be set in the case of a client 159 IAI protocol B TCP Own port number AUTO mode 64516 1025 to 65535 Important note Always set a unique numb...

Page 548: ...ach input and output 187 Option Unit fix allocated input port start No 1 1 to 3 999 0 Multiple of 8 0 to 299 1 000 Multiple of 8 1 000 to 3 999 Invalid if a negative value is set 188 Option Unit fix allocated output port start No 1 1 to 6 999 300 Multiple of 8 300 to 599 4 000 Multiple of 8 4 000 to 6 999 Invalid if a negative value is set 189 PIO Unit PIO SIO Unit Error Monitor 1 0 to 5 0 Not mon...

Page 549: ... opened to user 01118040H 0H to FFFFFFFFH 204 Attribute 4 of SIO channel 1 opened to user 00000000H 0H to FFFFFFFFH 205 Attribute 5 of SIO channel 1 opened to user 00000000H 0H to FFFFFFFFH 206 Attribute 6 of SIO channel 1 opened to user 00000000H 0H to FFFFFFFFH 207 Free for User Channel 1 IAI Protocol Response Min Latency 0 0 to 999 Main application part V1 09 or later 208 Attribute 8 of SIO cha...

Page 550: ...f Duplex 2 10Mbps Full Duplex 3 100Mbps Half Duplex 4 100Mbps Full Duplex Setting establishment not necessary for PROFIBUS DP EtherCAT PROFINET IO and CC Link IE 228 I O1 Fieldbus Network Number Depends on Controller Construction 0 to 99 999 999 At CC Link IE 1 to 239 Setting not necessary when other than CC Link IE 229 to 230 For expansion 0 231 to 232 Reserved by the system 0 0 to 256 233 Reserv...

Page 551: ...gned to input port No 7 If Program number specified for program start has been specified for input function selection 007 specify in this parameter an input port number whose LSB contains the next higher value to the LSB of the program number specified for program start Related information I O parameter No 30 Input function selection 000 291 Port number assigned to input function selection 008 1 1...

Page 552: ...pecified for program start 297 Port number assigned to input function selection 014 1 1 to 3 999 Specify the port number to be assigned to the function of I O parameter No 44 Input function selection 014 If a negative value is set the function will be assigned to input port No 14 If Program number specified for program start has been specified for input function selection 014 specify in this param...

Page 553: ... the port number to be assigned to the function of I O parameter No 56 Output function selection 310 If 0 is set the function will be assigned to output port No 310 310 Port number assigned to output function selection 311 0 0 to 6 999 Specify the port number to be assigned to the function of I O parameter No 57 Output function selection 311 If 0 is set the function will be assigned to output port...

Page 554: ...Specify the port number to be assigned to the function of I O parameter No 339 Output function selection 308 area 2 If 0 is set the function will not be assigned to any port 324 Port number assigned to output function selection 309 area 2 0 0 to 6 999 Specify the port number to be assigned to the function of I O parameter No 340 Output function selection 309 area 2 If 0 is set the function will no...

Page 555: ...O mode output 2 Automatic operation in progress output other parameter No 12 335 Output function selection 304 area 2 0 0 to 5 0 General purpose output 1 Output at the time of All Effective Linear Sliding Axes Homing 0 2 Output when all the effective linear sliding axes homing is completed Coordinates determined Use MOVP Command not HOME Command if moving the ABS encoder linear sliding axes to the...

Page 556: ... 1 to 3 999 349 Reserved by the system 0 0 to 6 999 350 For expansion 0 351 Vision System I F 1 Function Selection 1 3105500H 0H to FFFFFFFFH Bits 0 to 3 Function Select 0 Not to use 1 Use Bits 4 to 7 Communication Device Selection 0 Reserved by the system 1 Reserved by the system 2 EtherNet Ch31 3 EtherNet Ch32 4 EtherNet Ch33 5 EtherNet Ch34 Related I O Parameters No 124 129 to 143 145 to 148 Bi...

Page 557: ...rograms are aborted 0 0 to 6 999 384 Unaffected general purpose output area 4 number MIN when all operations programs are aborted 0 0 to 6 999 Same as I O parameter No 70 385 Unaffected general purpose output area 4 number MAX when all operations programs are aborted 0 0 to 6 999 386 to 389 For expansion 0 390 Unaffected general purpose output area 2 number MIN when all operations are paused servo...

Page 558: ... the system 0 0 to 512 415 Reserved by the system 1 1 to 299 416 Reserved by the system 1 1 to 599 417 to 419 For expansion 0 420 Reserved by the system 0H 0H to FFFFFFFFH 421 Reserved by the system 1003000H 0H to FFFFFFFFH 422 Reserved by the system FF007530H 0H to FFFFFFFFH 423 Reserved by the system 2H 0H to FFFFFFFFH 424 to 429 Reserved by the system 0H 0H to FFFFFFFFH 430 Reserved by the syst...

Page 559: ...99 ms 507 Reserved by the system 8030H 0H to FFFFFFFFH 508 to 510 For expansion 0 511 to 526 Reserved by the system 0 0 to 3 999 527 to 528 For expansion 0 529 Reserved by the system 00111111B 0B to 11111111B 530 Reserved by the system 128 0 to 512 531 Reserved by the system 0 0 to 31 532 Reserved by the system 0 0 to 512 533 to 534 Reserved by the system 00000000H 0H to FFFFFFFFH 535 Reserved by ...

Page 560: ...eserved by the system 0 0 to 3 999 569 Reserved by the system 0 0 to 6 999 570 Reserved by the system 00000000H 0H to FFFFFFFFH 571 Reserved by the system 0 0 to 3 999 572 Reserved by the system 0 0 to 6 999 573 Reserved by the system 00000000H 0H to FFFFFFFFH 574 Reserved by the system 0 0 to 3 999 575 Reserved by the system 0 0 to 6 999 576 Reserved by the system 00000000H 0H to FFFFFFFFH 577 Re...

Page 561: ...tem 0H 0H to FFFFFFFFH 624 Reserved by the system 0 0 to 99 999 999 625 to 627 Reserved by the system 0H 0H to FFFFFFFFH 628 Reserved by the system 0 0 to 99 999 999 629 to 631 Reserved by the system 0H 0H to FFFFFFFFH 632 Reserved by the system 0 0 to 99 999 999 633 to 635 Reserved by the system 0H 0H to FFFFFFFFH 636 Reserved by the system 0 0 to 99 999 999 637 to 639 Reserved by the system 0H 0...

Page 562: ...0 687 to 688 Reserved by the system 0 0 to 8 Unit 689 Reserved by the system 1 1 to 3 999 690 Reserved by the system 1 1 to 6 999 691 Reserved by the system 1 1 to 3 999 692 Reserved by the system 1 1 to 6 999 693 to 700 Reserved by the system 0H 0H to FFFFFFFFH 701 Reserved by the system 0 0 to 256 702 to 704 For expansion 0 705 Reserved by the system 0H 0H to FFFFFFFFH 706 Reserved by the system...

Page 563: ... Byte Order 0 Big Endian 1 Middle Endian 1 PDP Endian 2 Middle Endian 3 Little Endian Bits 28 to 31 Data Size 0 1 byte 1 2 byte 1 word 2 4 byte 2 word 852 Data IO Output Setting 01 Unit Type 0H 0H to FFFFFFFFH Set 0 when output inactivated Bits 00 to 07 Axis Group Number 0 Invalid 1 to 4 Valid Bits 08 to 15 Axis Group Constructing Axis Numbers 0 Invalid 1 to 8 Valid Bits 16 to 31 Top Output Port N...

Page 564: ...FFFFFFFH Same as I O parameter No 851 864 Data IO Output Setting 07 Unit Type 0H 0H to FFFFFFFFH Same as I O parameter No 852 865 Data IO Output Setting 08 Data Type 0H 0H to FFFFFFFFH Same as I O parameter No 851 866 Data IO Output Setting 08 Unit Type 0H 0H to FFFFFFFFH Same as I O parameter No 852 867 Data IO Output Setting 09 Data Type 0H 0H to FFFFFFFFH Same as I O parameter No 851 868 Data I...

Page 565: ...l rated acceleration in some conditions of the actuator installation 12 Default deceleration 0 0 to 200 0 01G Operation made with the lowest rated acceleration deceleration speed in axis group when set to 0 It may differ from the actual rated acceleration in some conditions of the actuator installation 13 Operation Continuous Recovery Speed 30 1 to 250 mm s deg s 14 Operation Continuous Recovery A...

Page 566: ...e datum Setting is to be established at vision system I F adjustment 35 Vision system I F 1 Z axis direction vision system position judgment datum 0 99 999 999 to 99 999 999 0 001mm Related Information All Axes Parameter No 130 Vision System I F 1 Control 2 36 Vision system I F 1 X axis GTVD acquirement data adjustment offset 0 99 999 to 99 999 0 001mm 37 Vision system I F 1 Y axis GTVD acquiremen...

Page 567: ...H 4th axis valid setting and driver assignment setting parameter definitions same as 1st axis 5 5th Axis Use Setting 0H Reference only 0H to FFFFFFFFH 5th axis valid setting and driver assignment setting parameter definitions same as 1st axis 6 6th Axis Use Setting 0H Reference only 0H to FFFFFFFFH 6th axis valid setting and driver assignment setting parameter definitions same as 1st axis 7 7th Ax...

Page 568: ...FFFFFFFFH Bits 0 to 3 Protect type 0 Read write 1 Read only 2 No read write Bits 4 to 7 Protect release method 0 Special operation Referenced by the PC TP 14 PC TP Tool Coordinate System Data Protection Setting 0H 0H to FFFFFFFFH Bits 0 to 3 Protect type 0 Read write 1 Read only 2 No read write Bits 4 to 7 Protect release method 0 Special operation Referenced by the PC TP 15 PC TP Simple Interfere...

Page 569: ...arameter No 3 10 ACMX Acceleration 4 30 1 to 999 0 01G Same as Axis Parameter No 4 11 SIO and PIO home return order 0 0 to 16 Executed from smaller 12 Pressing Compulsory Complete Deviation Ratio 5000 1 to 99 999 Comparison of deviation to Pressing speed steady deviation Pressing speed pulse speed compulsory complete deviation ratio 13 Pressing Current Initial Value 70 1 to 300 Current at pressing...

Page 570: ... 999 to 99 999 999 0 001mm Only Positive side Negative side valid Necessary to secure 3 ms or more for domain going through time 29 Zone 3 Output No 0 0 to 6 999 Physical output port or Global Flag or Extended Output Ports Output invalid when set to 0 invalid when duplicated 30 Zone4 Positive Side 0 99 999 999 to 99 999 999 0 001mm Only Positive side Negative side valid Necessary to secure 3 ms or...

Page 571: ...nchronizing type forbidden to select synchro slave axes Set to 0 when there is no slider close to the side of applicable movement of the self axis coordinate 42 Emergency Deceleration Margin at Multi Slider Over Approach 5 0 to 999 0 01G 43 Multi Slider Setting Bit Pattern 1 12H 0H to FFFFFFFFH Bits 0 to 3 Multi slider actual position over approach detection margin mm Valid only on multi slider ma...

Page 572: ...nt in one turn of motor 6 Software Limit Margin Depended to Actuator Robot Reference only 0 to 999 999 0 01mm 16 Pressing Stop Judgment Time Depended to Actuator Robot Reference only 0 to 9 999 ms 17 Position Gain Depended to Actuator Robot Reference only 0 to 9 999 rad s 19 Initial Positioning Band Depended to Actuator Robot Reference only 1 to 9 999 0 01mm 25 Soft Limit after Combination Unit Ad...

Page 573: ...c dedicated for EC connection unit 3 Type lower Manufacturing information 0 0 to 3 999 0 Multiple to 8 0 to 299 1 000 Multiple to 8 1 000 to 3 999 Setting necessary when Control System 1 Host Device Number of ports depends on types of units dedicated for EC connection unit 4 Manufacturing data Manufacturing information 0 0 to 6 999 300 Multiple to 8 300 to 599 4 000 Multiple to 8 4 000 to 6 999 Se...

Page 574: ...n level or higher has generated 5 I O processing program start type at operation program abort 0 0 to 5 0 When all operation cancellation factor has generated Only when a program is running 1 When all operation cancellation factor has generated Always 2 All operation cancellation factor Error of operation cancellation level or higher Other parameter No 4 0 is considered Only when a program is runn...

Page 575: ...nitial condition after connection Without safety speed cancellation Referenced by the PC TP 22 Control use region 0 0 to 99 0 J 1 E 2 EU 23 PSIZ command function type 0 0 to 5 0 Maximum number of position data areas 1 Number of position data used 24 Local variable number for storing SEL communication command return code 99 1 to 99 1001 to 1 099 25 to 29 For expansion 0 30 Option Password 00 0H 0H ...

Page 576: ...Bits 0 to 3 Reserved by the system Bits 4 to 7 Decimal place rounding selection for real number integer variable assignment in LET TRAN commands 0 Do not round 1 Round Bits 8 to 11 Reserved by the system Bits 12 to 15 Selection of processing to be performed when subroutine first step input condition is not specified when TPCD command 1 0 Do not execute 1 Execute 2 Error Bits 16 to 19 Reserved by t...

Page 577: ...0 Read write 1 Read only 2 No read write Bits 20 to 23 Protect release method Symbol 0 Special operation Bits 24 to 27 Protect type Parameter 0 Read write 1 Read only 2 No read write Bits 28 to 31 Protect release method Parameter 0 Special operation Referenced by the PC TP 56 PC TP data protect setting 2 0H 0H to FFFFFFFFH Bits 0 to 3 Protect range maximum number Position 10 s place BCD Bits 4 to ...

Page 578: ...Not to be Used 1 Albeit Contact 2 Break Contact 10 55 20 Creep sensor input polarity 0 to 2 0 Not to be Used 1 Albeit Contact 2 Break Contact 10 55 22 Homing offset mm deg 9 999 99 to 9 999 99 Offset distance from Z phase ideal position positive direction against end Caution for ABS encoder When a value near multiple of Z phase distance integer offset distance 0 included is set there is a concern ...

Page 579: ...ore shipped out 10 63 75 Electromagnetic Brake Power Supply Monitoring 0 to 1 0 Disabled 1 Enabled 10 64 76 Belt breaking sensor input polarity 0 to 2 0 Not to be Used 1 Albeit Contact 2 Break Contact 10 64 77 Lead size of ball screw mm deg 0 01 to 999 99 10 65 78 Axis motion type 0 to 1 0 linear Axis 1 Rotary Axis Angle Control 10 65 79 Rotary axis mode select 0 to 1 0 Normal 1 Index Mode 10 66 8...

Page 580: ... 154 BU velocity loop integral gain 1 to 217 270 Velocity Loop Integral Gain when high output setting valid 10 74 155 Absolute battery retention time 0 to 3 0 20 Days 1 15 Days 2 10 Days 3 5 Days 10 74 158 Enabled disable d axis select 0 to 1 0 Enabled 1 Disabled 10 75 165 Latency after Shutdown Cancelled ms 0 to 10 000 Set the latency before it gets available to turn the servo on after shutdown i...

Page 581: ...nge Default initial value setting 3 Soft limit side mm deg 9 999 99 to 9 999 99 Actual stroke on side 4 Soft limit side mm deg 9 999 99 to 9 999 99 Actual stroke on side 0 3 mm deg is added to the outside of the effective actuator stroke for the default setting Change as required to prevent collision when there are obstacles or when used slightly above effective stroke within the movable range The...

Page 582: ...ror Homing Direction Parameter No 5 No Name Unit Input range Default initial value setting 5 Homing direction 0 Reverse 1 Forward In accordance with actuator Unless indicated as home reverse specification option the direction of home return for the linear axis is on the motor side the rotary axis is on the counterclockwise side and the gripper is on the outside open side For details refer to Actua...

Page 583: ...he position table is monitored and the pushing complete signal PEND turns ON when the load current reaches the following conditions during push motion operation PUSH command signal turns ends when the conditions are satisfied even if the workpiece is not stopped Accumulated time in which current has reached push value accumulated time in which current is less than push value 255ms Parameter No 6 C...

Page 584: ... control loop The increased set value improves tracking of position command If it is too high overshoot may occur If the setting value is low tracking performance with respect to the position command becomes worse and positioning takes time In systems with low mechanical rigidity and systems with low natural frequency mechanical resonance occurs when the setting value is increased and this may cau...

Page 585: ...ution can be calculated with the equation below Minimum resolution mm pulse Actuator lead mm r Encoder resolution pulse r For RCP2 3 4 5 Series a value 3 times the minimum resolution will be the minimum positioning width Note 1 For RCP4 and RCP5 Series actuators the minimum setting should be the value for the minimum positioning band width Current Limit During Positioning Stop Parameter No 12 No N...

Page 586: ...ion due to the fixing method or load bearing conditions it is necessary to increase the set value Contact IAI Dynamic brake Parameter No 14 No Name Unit Input range Default initial value setting 14 Dynamic brake 0 Disabled 1 Enabled 1 This parameter defines whether the dynamic brake is enabled or disabled while the actuator is at standstill Normally it need not be changed Home Sensor Polarity Para...

Page 587: ...rdance with actuator Even though the movement speed for most of the actuators at the home return is 20 mm s there are some actuators with other settings Refer to the instruction manual of each actuator Even though the actuator with long stroke requires time to home return if the power is shut at a point far from the home position the required time can be improved with using the creep sensor The ac...

Page 588: ... actuator Adjustment process 1 Perform home return motion 2 Check amount of deviation 3 Change the parameter 4 After setting repeat home return motion several times to confirm that the actuator always returns to the same home position Caution If the homing offset has been changed the software limit parameter also needs to be reviewed If the value must be set above the default setting contact IAI F...

Page 589: ... value opposite to that of Parameter No 5 1 if No 5 is 0 0 if No 5 is 1 For simple absolute specification and RCP5 Series it detects excitation upon home return motion complete Excitation Signal Detection Time Parameter No 29 No Name Unit Input range Default initial value setting Specifications 29 Excitation signal detection time ms 1 to 999 10 Stepper motor specification 50 to 999 128 24V AC serv...

Page 590: ...ount may cause the slider or rod to fall during excitation detection operation Be sure to mount in the designated direction Set new mode 1 if anything falls even if mounted in the designated direction For simple absolute specification and RCP5 Series it detects excitation upon home return motion complete Pole Sense Type Parameter No 30 No Name Unit Input range Default initial value setting 30 Pole...

Page 591: ...The increased set value improves tracking of speed command The higher the setting value the greater the load inertia becomes If it is too high overshoot and oscillation as well as vibration in the mechanical system may occur For the conditions for using this item in the stepper motor specification refer to Selection and use of Velocity Loop Proportional Gain and Velocity Loop Integral Gain at the ...

Page 592: ... stepper motor specification refer to Selection and use of Velocity Loop Proportional Gain and Velocity Loop Integral Gain below Selection and use of Velocity Loop Proportional Gain and Velocity Loop Integral Gain Each of the 3 parameters No 31 145 and 153 for Velocity Loop Proportional Gain and Parameters No 32 146 and 154 for Velocity Loop Integral Gain of the stepper motor specification can be ...

Page 593: ...rmation sensor optional The home confirmation sensor is mounted on the mechanical end If inverted before reaching the mechanical end due to interference etc it will be recognized as a positioning diversion and alarm code 458 Home sensor undetected error will be output There is normally no need to make changes Set value Content 0 Home confirmation sensor not in use 1 Sensor polarity is a contact 2 ...

Page 594: ...ervo control system so affecting the stability of the control system due to inappropriate setting may cause vibration and abnormal noise However this parameter only changes the speed command value so it is irrelevant to the servo loop and it does not make the control system unstable or generate persistent vibration and noise However if the setting is excessive every time it operates vibration and ...

Page 595: ...this parameter need not be changed When a value between 0 and 9 is set no fusing is detected Encoder voltage level Parameter No 73 No Name Unit Input range Default initial value setting 73 Encoder voltage level 0 to 3 Depending on encoder cable length To stabilize encoder detection signals this parameter defines the voltage supplied to the encoder circuit to one of four levels in accordance with t...

Page 596: ... not be changed because it has been set properly prior to the shipment in accordance with the actuator i e whether or not the actuator is equipped with brake Set value Content 0 Disabled no brake 1 Enabled with brake Caution If this parameter is set to Disabled no brake control is provided Belt breaking sensor input polarity Parameter No 76 No Name Unit Input range Default initial value setting 76...

Page 597: ...g will not only make operation at the instructed speed acceleration deceleration or travel distance impossible but also cause an alarm or malfunction to occur Axis Motion Type Parameter No 78 No Name Unit Input range Default initial value setting 78 Axis motion type 0 Linear axis 1 Rotary axis In accordance with actuator Sets the type of actuator to use Connecting actuator Set value Remarks Linear...

Page 598: ...x mode cannot be specified with an absolute specification actuator Caution Push motion operation is not available during index mode Even if data is input for the push motion of position data it will become invalid and normal travel will be executed Also the positioning width will be the parameter positioning width initial value When changing the index mode setting to normal mode the software limit...

Page 599: ...ting 83 Absolute unit 0 Not in use 1 Used 0 not in use For stepper motor specification Set 1 for simple absolute specification For the battery less absolute specification the factory default value is 1 Change the setting to 0 when using in incremental specification For 24V AC servo motor specification Set 1 for simple absolute specification Battery less absolute specification cannot be used in inc...

Page 600: ...hin the range of 0 to ball screw lead length Also if a value other than 0 00 is set to this parameter the home return complete position will not be 0 00 but the home position this parameter position For the incremental specification actuator be sure to set to 0 00 Caution If the homing offset value and this parameter setting do not meet the above conditions the home position may be shifted by the ...

Page 601: ...l when motor temperature exceeds the ratio set in this parameter if motor temperature under rated operation is set as 100 For details refer to 9 4 2 Overload warning page 9 17 No judgment will be made when set as 100 Using this function enables monitoring of motor temperature changes caused by dried up grease or wear and tear on parts A warning is output when the preset value is exceeded This enab...

Page 602: ...alue Description 100 or less Gain scheduling disabled 101 to 1 023 Gain scheduling enabled Recommended value 300 GS Velocity Loop Proportional Gain Parameter No 145 No Name Unit Input range Default initial value setting 145 GS velocity loop proportional gain 1 to 99 999 999 In accordance with actuator When Parameter No 144 GS Magnification Upper Limit is set to 101 or higher the setting of this pa...

Page 603: ...etails refer to Parameter No 32 Velocity Loop Integral Gain page 10 60 For the conditions for using this item refer to Selection and use of Velocity Loop Proportional Gain and Velocity Loop Integral Gain on the bottom of page 10 60 Total Travel Distance Threshold Parameter No 148 No Name Unit Input range Default initial value setting 148 Total travel distance threshold m 0 to 999 999 999 0 Disable...

Page 604: ...shows the position of each part related to the datum the initial position at the delivery from our factory Caution Note the initial parameter at the delivery from our factory in a memo before changing the settings Take the initial parameter at the delivery from our factory as the datum when giving a change to the settings After having a change to the settings make sure to have an operation check w...

Page 605: ...ut function is to be used However it is necessary to connect an actuator that supports high output Actuators that support high output RCP4 RCP5 and RCP6 Series BU Velocity Loop Proportional Gain Parameter No 153 No Name Unit Input range Default initial value setting 153 BU velocity loop proportional gain 1 to 99 999 999 In accordance with actuator When Parameter No 152 High Output Setting is enabl...

Page 606: ...e after turning the power supply to the actuator OFF The setting is available in 4 levels The lower the motor rotation speed setting is the longer the retention time of the positional data can be If there is a possibility of external force moving the workpiece conveying components of the actuator such as the slider or rod while power is OFF refer to the following table and calculate motor revoluti...

Page 607: ...165 Delay Time after Shutdown Release ms 0 to 10 000 0 The setting should be established for the duration till it gets available to have the servo on when it takes time for the rising of the cutoff source due to such a reason as the external drive cutoff circuit at the cancellation of the emergency stop There is no need of making a change when having a drive cutoff only on an internal drive cutoff...

Page 608: ...a condition of getting sticky Warning Do not attempt to set this parameter valid unless necessary Make sure to confirm the followings when it is to be changed As it generates high force in case also of load other than static friction it may cause injury damage on a workpiece or influence to the actuator life As current higher than usual flows it may require higher current amperage Also note that t...

Page 609: ...ed actuator and establish the setting Set value Motor Output 0 to 750W 1 30 00W to Servo ON Delay Time Adjustment Parameter No 190 No Name Unit Input range Default initial value setting 190 Servo ON delay time adjustment ms 0 to 9 999 0 This parameter adjusts the time from when servo ON command signal SON is input until servo ON By shifting the timing of each actuator instantaneous power can be su...

Page 610: ...Name Unit Input range Default initial value setting 194 JOG Switch 0 Enabled 1 Disabled 0 Enabled Either Enabled or Disabled can be selected for the JOG switch on the front of the driver unit When Disabled is selected with this parameter the actuator does not operate even if the JOG switch is operated ...

Page 611: ...fault initial value setting 196 Virtual axis absolute initial position 9 999 99 to 9 999 99 0 The absolute initial position setting of the feature capable of operation simulation without connecting an axis should be established The unit should be deg for the rotary Multiple Slider Excess Approach Detection Effective Stroke Parameter No 197 No Name Unit Input range Default initial value setting 197...

Page 612: ... rotation movement axis 0 Normal Mode 0 Shortcut control not selected Do not set any value except for 0 in normal Counter Range Enable Enable angle mm deg Angular velocity mm s deg s Angular acceleration and deceleration G 9807mm s2 9807deg s2 9807 2π 360 rad s2 deg shows the angle of a solid of revolution on the tip 1 Index Mode 0 Shortcut control not selected Note 0 to 359 999 Rotary Disable Fix...

Page 613: ...it Parameter No 80 Make a setting whether to valid or invalid the shortcut at positioning except for the relative position movement for the multi rotary type rotary actuator Shortcut defines a movement in rotational direction with smaller movement amount to the next positioning operation Set Value Description 0 Disable 1 Enable ...

Page 614: ...99 According to ELECYLINDER specifications 10 86 5 Smooth accel decel setting Disabled enabled Disabled 10 87 6 Current control setting at stop Disabled Powerful stop Enabled Energy saving stop Disabled 10 88 7 Wireless function setting Disabled enabled Enabled 10 89 8 Power saving setting Disabled enabled Disabled 10 89 9 Select Electromagnetic Valve System Operation System Double Single Double N...

Page 615: ...is 0 01 mm Set to your desired stroke length The controller automatically adds 0 30 mm and controls monitors the operation range Set the operating stroke between 0 and 80 mm by changing Parameter No 1 to 80 00 mm Caution Set within the ELECYLINDER movable range Setting to a value that exceeds the maximum stroke will result in collision with the forward side mechanical stopper This may damage the E...

Page 616: ...rward end When the ELECYLINDER enters the detection range the backward complete or forward complete signal turns ON The minimum setting unit is 0 01 mm The LS signal detection range for the conditions below is shown in the figure Backward end 0 00 mm Forward end 100 00 mm Parameter No 2 0 10 mm Caution A value smaller than the minimum resolution cannot be set Minimum resolution mm p ball screw lea...

Page 617: ...For standard specification the motor side is home If Parameter No 3 is Forward If Parameter No 3 is Reverse Caution Changing the home return direction reverses the operation direction After changing this parameter always perform home return reset absolute reset Even if the operation direction is reversed check that the moving parts do not interfere with any other objects If the moving parts collid...

Page 618: ...djust the new home position upon reversing the default home return direction after purchase 3 To eliminate a slight deviation from the previous home position generated after replacing the ELECYLINDER If Parameter No 4 is 0 30 mm the relationship between mechanical stopper and home position is as follows Caution If adjusting Parameter No 4 simultaneously adjust Parameter No 1 Operation range adjust...

Page 619: ... the shocks of acceleration deceleration without delaying the operation time If Disabled the above functionality is not enabled Setting Acceleration deceleration pattern Operation waveform image Disabled Trapezoid Enabled S motion Caution For operation in which the acceleration time or deceleration time exceeds 2 seconds do not Enable smooth accel decel settings Normal operation will not be possib...

Page 620: ...unit to a complete stop If Enabled a current appropriate to the load will be transmitted to the motor stopping it This limits the amount of power consumed while stopping If abnormal noise or vibration occurs during a gradual stop setting to Enabled may fix the issue Moreover setting to Enabled can also fix issues in which the command position cannot quite be attained Caution If Disabled even if a ...

Page 621: ...number Power saving setting Parameter No 8 No Name Unit Input range Default initial value setting 8 Power saving setting Disabled Enabled Disabled Either Enabled or Disabled can be selected for the ELECYLINDER power saving setting When Enabled the power capacity can be reduced up to 40 compared to Disabled mode but the maximum speed maximum acceleration deceleration and payload decrease in compari...

Page 622: ...d cause to overshoot easily which may leads to noise and vibration When Servo Gain Number is increased adjust also Driver Unit Parameter No 31 Velocity Loop Proportional Gain in increasing wise in order to secure stability of the control system Adjust Servo Gain Number first When increasing Velocity Loop Proportional Gain try to increase little by little by approximately 20 to the initial setting ...

Page 623: ...on optimized Reference Selection of an actuator motor is the most important element Servo is very sensitive to the amount of load inertia For a servo motor if the moment of inertia on the load side load inertia is too big to the moment of inertia of the motor itself motor inertia the motor gets swung by the load thus the control will become unstable Therefore it is necessary to make the load inert...

Page 624: ...o 31 Velocity Loop Proportional Gain and Driver Unit Parameter No 32 Velocity Loop Integral Gain Set the following 6 values in order and check the operation Load is 0 2 kg or less Setting order Velocity loop proportional gain setting value Velocity loop integral gain setting value 1 42 382 2 42 520 3 42 749 4 42 1 171 5 42 2 081 6 42 4 683 If the operation does not improve contact IAI Load is heav...

Page 625: ...7 8 Would like to have RSEL controller reset externally 10 7 8 9 Would like to have the servo turned on externally 10 7 9 10 Would like to have the home return operation conducted externally on all the single axis actuators 10 7 10 11 Would like to have a program in RSEL controller activated externally 10 7 11 12 Would like to have a program activated externally by conducting a command in a progra...

Page 626: ...omatic operation could differ depending on the setting in Other Parameter No 12 Parameter No Set Value Description I O Parameter No 49 2 Turn on Output Port 303 during automatic operation Other Parameter No 12 0 Set program under execution to automatic operation Other Parameter No 12 1 Set program under execution or in AUTO Mode to automatic operation 10 7 3 Would like to retain the current output...

Page 627: ...meters in Other Parameter No 5 I O Process Program Startup Type at Operation Program Cease Parameter No Description Other Parameter No 5 0 When all operation cancellation cause occurred during program execution 1 When all operation cancellation factor has generated Launched no matter of program execution 2 When all operation cancellation cause occurred during program execution or when error at ope...

Page 628: ...ter an emergency stop was released with the condition just before the emergency stop was input Input the on edge off on to Input Port 005 after the emergency stop switch is released Parameter No Set Value Description Other Parameter No 10 2 Operation Continued after Emergency Stop Released I O Parameter No 31 1 Set Input Port 001 as Soft Reset Signal Input Port I O Parameter No 35 1 Set Input Port...

Page 629: ...ctivated externally Input the on edge OFF ON to Input Port 003 and a program gets executed and input the off edge ON OFF and the program stops In order to secure firm operation make sure to keep it on for 100ms or more Parameter No Set Value Description Other Parameter No 1 Execution Program Number I O Parameter No 33 2 Set Input Port 003 as Automatic Start Program Startup Input Port 10 7 12Would ...

Page 630: ...Parameter No Set Value Description I O Parameter No 43 2 Set Input Port 013 as Error Reset Signal Input Port 10 7 15 Would like to release the brake on an actuator externally Set a port to input the brake release signal to each axis and turn the applicable input port on and a brake on an actuator can be compulsorily released It is not available on SCARA Robot Parameter No Set Value Description Axi...

Page 631: ...Parameter No 283 Input Feature Select 000 Physical Input Port Number For instance if 016 is set the feature of Input Feature 000 Start should be assigned in Input Port No 016 The signal input port for Input Feature Select 000 Start should be Input Port 016 Input Port No 000 after change made to assignment becomes a general input port Note It is available to establish settings to any input port num...

Page 632: ...a zone Setting four areas zones and output port to each axis of single axis actuators is available It can be checked that the set area zone was invaded The signal will not be output turn on unless an actuator stays for 3ms or more However SCARA Robot has a simple interference check zone different from this setting Refer to SEL Language Programming Manual Current Position Output Port Set in Axis Sp...

Page 633: ...n Value in Zone 3 Axis Specific Parameter No 94 Zone 3 Output Ports No Axis Specific Parameter No 95 Max Value in Zone 4 Axis Specific Parameter No 96 Min Value in Zone 4 Axis Specific Parameter No 97 Zone 4 Output Ports No Note Duplicating indication in output ports is not accepted Example of Setting Here shows an example of setting the following area zone to Zone 1 1st Axis Invaded in range from...

Page 634: ...put Port 301 on in message level and operation cancel level 10 7 22 Would like to output that an actuator is in an emergency stop Checking if in an emergency stop or not is available with the status of Output Port 302 Current Status Output Port 302 Not in Emergency Stop ON In Emergency Stop OFF Parameter No Set Value Description I O Parameter No 48 2 Setting of turning Output Port 302 off during e...

Page 635: ... number to assign Input Feature Select 315 Here shows an example of assigning Output Feature Select 300 ALM set in Output Feature Select 300 to another output port Set the physical output port number for Output Feature Select 300 ALM in I O Parameter No 299 Output Feature Select 300 Physical Output Port Number For instance if 316 is set the feature of Input Feature 300 ALM should be assigned in Ou...

Page 636: ... 38 4 3 57 6 4 76 8 5 115 2 6 230 4kbps Bits 24 27 Data length 7 7bits 8 8bits Bits 20 23 Stop bit length 1 1bit 2 2bits Bits 16 19 Parity type 0 None 1 Odd Number 2 Even Number Bits 12 15 Communication mode 0 SEL program 2 XSEL serial communication protocol format B Bits 8 11 For future extension Bits 4 7 For future extension Bits 0 3 Select to Use General Protocol Communication 0 Not to Use 1 Us...

Page 637: ... 0 0 to 999 ms In case XSEL Serial Communication Protocol Format B is to be set in the communication mode the minimum latency setting from when the controller receives a command till the start of the response sending should be established The host should get ready for receiving within the set time after the command message sending is complete This parameter should be valid in V1 09 and later ...

Page 638: ...Chapter 10 Parameter 10 7 Parameter Configuration Advanced Use 10 106 ME0392 4C ...

Page 639: ...r Level Control 11 2 11 3 Error List 11 3 11 4 Alarm Codes of Driver Unit 11 70 11 5 Causes and Countermeasures for ELECYLINDER Alarms 11 86 11 5 1 ELECYLINDER alarm group 11 86 11 5 2 Troubleshooting for ELECYLINDER alarm g roups 11 87 RSEL Chapter 11 ...

Page 640: ...lete connection 6 Check the cables for connection error disconnection or snagging Cut off the main power supply of the equipment to avoid electric shock and remove the cables around the measurement point to avoid conductivity through the surrounding circuit before checking the conductivity 7 Check the network terminal resistor mounting status and resistance 8 Check the I O signals Use a teaching p...

Page 641: ...rnal statuses are registered in an error list as secret level errors when deemed necessary in order to facilitate error analysis Error level Occurrence Source Error No HEX Secret level S Controller 100 to 1AF TP PC 1B0 to 1FF Message M Controller 200 to 2FF TP PC 300 to 3FF Operation cancellation level A Controller 400 to 4FF TP PC 500 to 5FF Cold start level C Controller 600 to 6FF TP PC 700 to 7...

Page 642: ...ror Content Cause 1 Contact Error at SIO Cable Connector 2 SIO Cable Breakage 3 Communication Setting Error Baud Rate Setting Mismatch Stop Bit Setting Mismatch Parity Setting Mismatch 4 Noise Applied to SIO Cable Countermeasure 1 Check SIO cable connection status and connect again 2 Replace SIO cable 3 Revise communication settings Check if baud rate setting is matched Check if parity setting is ...

Page 643: ... function error Content Cause 1 There is an error in the clock data indicated in communication message 2 Clock data lost due to voltage drop on RTC backup battery 3 Clock data failed to be acquired in internal process Countermeasure 1 Indicate the correct clock data in the communication message 2 Establish clock setting again 3 Reboot the power 203 Estimated service life excess warning Content Cau...

Page 644: ...ol 6 When updating a flash ROM write command was received before a flash ROM erase command Countermeasure 1 Rebooting 2 Update command was received when in a mode other than Update Mode 2 3 6 Select the correct file and have an update again from the beginning 4 Reboot the power and conduct the update again 5 Check if the updating tool is applicable 208 Flash ROM error Content Cause 1 Data delete i...

Page 645: ...making a change to data 2 Attempt not to send or receive the flash ROM writing commands during flash ROM writing For users disclosing the flash ROM related protocols in special 3 Wait till the flash ROM writing ends before executing the direct monitoring 4 Wait till the flash ROM writing or slave parameter writing ends before having a software reset 20B Position error Content Cause 1 The power was...

Page 646: ...r No 227 I O1 Fiedlbus Baud Rate I O Parameter No 228 I O1 Fieldbus Network Number 4 Noise Countermeasure 1 Check the connection status of fieldbus connection cable and connect again 2 Replace fieldbus connection cable 3 Check the following parameters and establish the controller parameter settings or change the settings on the PLC side I O Parameter No 14 Number of I O Fieldbus Remote Input Used ...

Page 647: ...n the valid program number was indicated in the program clear or inquiry of number of steps one line in program to several SEL programs Countermeasure 1 Make sure to have the start step number of programs is less than the maximum program number 215 Internal process error Content Cause 1 Malfunction on SEL unit 2 Noise Countermeasure 1 Replace SEL unit in case this error occurs after power reboot 2...

Page 648: ...umber exceeding the maximum number of support programs was indicated Countermeasure 1 Conduct operation of program edit inquiry or execution indicating a registered program 2 A number less than 1 should not be indicated as a program number 3 A number more than the maximum number of programs 512 should not be indicated 21D Multiple programs simultaneous running prohibition error Content Cause 1 Mul...

Page 649: ...ll the upper limit 20 000 steps Countermeasure 1 Revise the program to secure some free steps by deleting blank lines making same processes to sub routine etc 225 Insufficient blank steps error Content Cause 1 Variable 99 may be a negative value 2 A value in one place is larger than 9 1001b Countermeasure 1 A negative number should not be set to the value for Variable 99 2 Set the value in one pla...

Page 650: ...I protocol Content Cause 1 The ID in the received message is invalid 2 Noise Countermeasure 1 Check the sending message in the destination of connection 2 ake a counteraction to noise 22B Received command data error Content Cause 1 The received message does not match the message format or contains invalid data 2 Noise Countermeasure 1 Check the sending message in the destination of connection 2 Ta...

Page 651: ...en indicating the coordinate system type in Protocol B 0 Work Coordinate System 1 Tool Coordinate System 2 Malfunction on SEL unit Countermeasure 1 Check the sending message and indicate the number correctly 2 Replace SEL unit 230 Simple interference check zone error Content Cause 1 A simple interference check zone number out of the range number out of 1 to 10 was indicated in IAI Protocol Counter...

Page 652: ...n in Other Parameter No 21 Manual Operation Type while in MANU Mode 2 Set to Allow in Other Parameter No 45 Bit 0 3 PC TP Startup Permission in AUTO Mode while in AUTO Mode 236 PC TP servo motion command reception permit input OFF error Content Cause 1 Turn on the input indicated in I O Parameter No 77 PC TP Servo Operation Command Reception Permitting Input Port Number and issue an applicable axi...

Page 653: ...or symbol definition data size out of the range was indicated in IAI Protocol B Countermeasure 1 A number of position comment characters or symbol definition data size in the range should be indicated in IAI Protocol B 23D Deviation excess warning Content Cause 1 Sliding resistance on the actuator is to high 2 The operation condition is out of the range of specifications 3 Grease dried up Counterm...

Page 654: ...s attempted to be used 12 A feature disclosed only to the manufacturer such as conveyor tracking was attempted to be used 13 A parameter number out of the range was indicated in parameter inquiry or change in IAI Protocol Countermeasure 1 Two or more parameters should not be changed in one time of parameter change 2 A parameter type not defined in IAI Protocol should not be indicated 3 Check the i...

Page 655: ...terface resistor specifications that is subject to If the continuous change is not made to a resistor prohibited to have continuous change 241 Number of position data comment definitions exceeded Content Cause The number of the position comments exceeded the upper limit Countermeasure Delete unnecessary position comments 242 Coordinate system definition invalid error Content Cause It was attempted...

Page 656: ...backup battery voltage low warning Content Cause 1 Voltage drop 3 1V on absolute encoder backup battery 2 Encoder cable error or connector contact error Countermeasure 1 Check the voltage on absolute encoder backup battery and have it replaced if necessary 2 Check the connection status of the encoder cable 248 EMG logic error Content Cause 1 Malfunction on SEL unit Countermeasure 1 Replace SEL uni...

Page 657: ...4 Input a value in the range available for input in Operand 1 5 Input a value in the range available for input in Operand 2 6 Input a value in the range available for input in Operand 3 304 Undefined symbol usage for operand error Content Cause 1 An undefined symbol is used in Operand 1 2 An undefined symbol is used in Operand 2 3 An undefined symbol is used in Operand 3 Countermeasure 1 Use a def...

Page 658: ...Input condition undefined symbol usage error Content Cause 1 An undefined symbol is used in the input conditions in a SEL command Countermeasure 1 A defined symbol should be used in the input condition at the position where the error occurred 309 Number of symbol use exceeding error Content Cause 1 There is not enough area to store the source symbols Countermeasure 1 Check the number of times sour...

Page 659: ... Data edit should not be attempted in a non manual mode AUTO Mode 30E Input data error Content Cause 1 Data that was input was out of the range 2 Combination of input data is inappropriate 3 A character prohibited to use was used in the file name at backup Countermeasure 1 Make an input in the range 2 Make an appropriate combination for input 3 Avoid using 30F Input value too small Content Cause 1...

Page 660: ...er conducting absolute reset encoder error reset Countermeasure 1 Movement should be conducted after the home return operation is completed 2 Teaching operation should be conducted after the home return operation is completed 3 Operation should be conducted after conducting software reset or power rebooting after conducting absolute reset encoder error reset 315 Servo OFF during motion Content Cau...

Page 661: ... exceed the upper limit 10 31C Axis error Content Cause 1 An axis number that is not valid was indicated Countermeasure 1 A valid axis number should be indicated 31D Valid axis unavailable error Content Cause 1 The number of axes set and actually connected do not match with each other 2 There is no valid axis existed Countermeasure 1 Have the axis configuration conducted 2 Check the driver unit co...

Page 662: ...velocity should be unstable and could cause abnormal noise or vibration 322 Communication error related to driver unit Content Cause 1 Noise 2 TP version is old 3 Malfunction on SEL unit 4 Contact error on driver unit 5 Malfunction of driver unit Countermeasure 1 In case the error occurs even after rebooting the power take a countermeasure to noise 2 Check the latest version of the teaching tool i...

Page 663: ... cartesian robot 327 Calender function error Content Cause 1 Clock data lost due to voltage drop on RTC backup battery 2 Voltage drop on RTC backup battery 3 Clock data failed to be acquired in internal process Countermeasure 1 Establish clock setting again 2 Replace batteries in a teaching tool 3 Reboot the power 328 Position error Content Cause 1 The number of position points is 0 2 There is an ...

Page 664: ...coder error detection 1 Content Cause 1 Change to the current position made during absolute data read in or saving Countermeasure 1 Make sure vibration would not get applied to actuator 402 Driver unit absolute encoder error detection 2 Content Cause 1 Absolute reset is not conducted 2 Absolute Battery Voltage Drop 3 Contact error on connector part of actuator connection cable 4 Cable breakage on ...

Page 665: ... a countermeasure to noise on controller such as installing ferrite core 1 2 4 2 5 2 6 2 Replace SEL unit 2 3 Reboot the power 407 Symbol definition table error Content Cause 1 The power was cut during flash ROM writing 2 Malfunction of Flash ROM Countermeasure 1 Turn the power back on have the same setting established again and conduct the flash ROM writing 2 Replace SEL unit 408 SEL program sour...

Page 666: ...setting error 2 Setting error in vision system side Countermeasure 1 1 Check that the value in I O Parameter No 129 Bit 4 7 TCP IP Message Communication is set to 1 To Use 1 2 Check that the values set in I O Parameter No 160 to 163 Vision System I F Connection Destination IP Address are correct 1 3 Check that the value set in I O Parameter No 164 Vision System I F Connection Destination Port Numb...

Page 667: ...e is open 415 SIO other task in use error Content Cause 1 Attempted to open again a channel already open in another task Countermeasure 1 Check a channel to release 416 SIO communication mode error Content Cause 1 The vision system command SLVS was executed to a channel in use for communication in a command such as OPEN CLOS READ and WRIT Commands 2 A communication command such as OPEN CLOS READ a...

Page 668: ...g error Content Cause 1 Setting error in SCHA Command Countermeasure 1 Check SCHA Command setting 41C TPCD command setting error Content Cause 2 Setting error in TPCD Command Countermeasure 1 Check TPCD Command setting 41D SLEN command setting error Content Cause 1 Setting error in SLEN Command Countermeasure 1 Check SLEN Command setting 41E ECMD 300 command error Content Cause 1 User system error...

Page 669: ...o IF IS Commands and EDIF Check the treatment to DO Command and EDDO Check the treatment to SLCT Command and EDSL 425 BGSR pair end insufficient error Content Cause 1 There was lack in EDSR corresponding to BGSR 2 There was lack in BGSR corresponding to EDSR Countermeasure 1 2 Check the treatment of BGSR and EDSR 426 DO IF IS nesting step times error Content Cause 1 The number of nesting times in ...

Page 670: ...e error occurred 42D Input condition CND insufficient error Content Cause 1 There was no necessary input conditions even in use of extension conditions Countermeasure 1 Check the input conditions in the program step that the error occurred 42E Actuator control declaration error Content Cause 1 There is an error in setting in actuator control declaration command Countermeasure 1 Check the setting i...

Page 671: ...output during delay and pulse output included has exceeded the upper limit 16 Countermeasure 1 Have the number of BTPN and BTPF timers operating at the same time in the program that the error occurred not to exceed the upper limit 16 2 Check the SEL program or position number that the error occurred and avoid exceeding the upper limit 16 of the number of output at the same time in the position out...

Page 672: ...ndicated as a program number 3 A number exceeding the maximum number of support programs was indicated 4 A program number not registered in PIO was indicated Countermeasure 1 Conduct operation of program edit inquiry or execution indicating a registered program 2 A number less than 1 should not be indicated as a program number 3 A number more than the maximum number of programs 512 should not be i...

Page 673: ...mber error Content Cause 1 An axis number out of the range out from 1 to 8 was indicated in a SEL command Countermeasure 1 Indicate an axis number in the range 1 8 by SEL command 446 Axis pattern error Content Cause 1 The axis patterns set in two sets of the position data in a row indicated in DFIF Command do not match with each other 2 0 was indicated in an axis pattern in HOME Command Countermea...

Page 674: ...finition 44D Excess number of symbol use times error Content Cause 1 There is not enough open area to store the source symbols Countermeasure 1 Check the number of times of source symbol use 44E Axis duplication error Content Cause 1 Acquirement of the right of use was attempted during the axis in use Countermeasure 1 Acquirement of the right of use should not be attempted during the axis in use 4...

Page 675: ... 2 There is an error in indicating a position data number 3 A wrong axis number was indicated accidentally 4 An indicated axis is not activated Countermeasure 1 Set the target position to the position data 2 3 Check that there is no failure in the SEL program setting 4 Set the axis number to be indicated activated Use configuration tool 453 Driver unit mismatch error Content Cause 1 A driver unit ...

Page 676: ... zig zag even row setting error Content Cause 1 A number 1 or less is set in Operand 2 in PSLI Command Countermeasure 1 Set a number 0 or more in Operand 2 in PSLI Command 45C Incorrect setting of palletize axis direction place points Content Cause 1 A number 0 or less is set in Operand 1 or Operand 2 in PAPI Command Countermeasure 1 Set a number 1 or more in Operand 1 or Operand 2 in PAPI Command...

Page 677: ... and PX axis end point are the same in palletizing 3 point teaching setting Countermeasure 1 Staggered offset should not be set when base point and PX axis end point are the same in palletizing 3 point teaching setting 462 Undeclaired BGPA during palletize setting Content Cause 1 Palletizing setting was conducted without BGPA declaration Countermeasure 1 Have BGPA declared before palletizing setti...

Page 678: ... is not declared Countermeasure 1 Have the Z axis Declaration performed by PCHZ or ACHZ 46A Arch top end Z axis pattern undetected error Content Cause 1 There is no peak point arch motion related Z axis component in an axis pattern in the arch motion Countermeasure 1 Set the peak point arch motion related Z axis components in an axis pattern in the arch motion 46B Arch trigger Z axis pattern undet...

Page 679: ...rmeasure 1 Indicate a variable number in the range 471 Tag error Content Cause 1 A tag is defined at several places to the same tag number 2 There is no tag defined for the destination of jump for GOTO Command 3 A tag number out of the range other than 1 to 256 was indicated Countermeasure 1 Check the program and avoid defining a tag at several places to the same tag number 2 Define a tag of a tag...

Page 680: ...rameters set as shown below I O Parameter No 129 Bit 4 to 7 0 I O Parameter No 124 with the client server set to Not to Use Bit 8 to 11 Free to User Channel 31 0 Bit 12 to 15 Free to User Channel 32 0 Bit 16 to 19 Free to User Channel 33 0 Bit 20 to 23 Free to User Channel 34 0 2 Check the following parameters I O Parameter No 132 to 135 I O Fieldbus Self IP Address H MH ML or L comes in in order ...

Page 681: ...n cable 3 Revise condition of assembly 4 If there is no problem with the payload cut off the power and check sliding resistance by hand 5 Check condition of brake cable wiring and then brake operation check manually 6 Replace the motor 7 Replace driver unit 477 Homing timeout error Content Cause 1 Contact error at connector of actuator connection cable 2 Cable breakage on actuator connection cable...

Page 682: ...ernal force was applied to an actuator 2 The sliding resistance on an actuator is high 3 The brake cannot be released 4 Malfunction of encoder 5 Malfunction of driver unit 6 Contact error at connector of actuator connection cable 7 Cable breakage on actuator connection cable Countermeasure 1 Revise condition of assembly 2 If there is no problem with the payload cut off the power and check sliding ...

Page 683: ...tion Content Cause 1 Irruption to the simple interference check zone was detected Countermeasure 1 Change the operation conditions or operation patterns to avoid irruption to the simple interference check zone 47F Axes group indication error Content Cause 1 The indicated axes group is invalid Countermeasure 1 A valid axes group should be indicated 480 Out of target track range error Content Cause ...

Page 684: ...ssued to a synchronized slave axis Countermeasure 1 An axis command such as servo on off movement command etc should not be issued to a synchronized slave axis An axis command such as servo on off movement command etc should be issued to a master axis 485 SEL command return code error Content Cause 1 OPEN READ or WRIT Command was executed with a value out of the range other than 1 to 99 and 1001 t...

Page 685: ...oting the power take a countermeasure to noise 48C Home return incomplete error Content Cause 1 Movement was attempted with the home return operation incomplete 2 Teaching operation was attempted with the home return operation incomplete 3 Operation was attempted without conducting software reset or power rebooting after conducting absolute reset encoder error reset Countermeasure 1 Movement shoul...

Page 686: ...peration command was executed while the servo is off 2 An axis with the servo off was attempted to be used Countermeasure 1 An operation command was executed while the servo is off 2 An axis with the servo off was attempted to be used 491 Deviation overflow error Content Cause 1 Contact error at connector of actuator connection cable 2 Cable breakage on actuator connection cable 3 The brake cannot...

Page 687: ...sition in CP operation set the same 496 Expansion condition LD simultaneous process exceeded Content Cause 1 The number of simultaneous processes in LD has exceeded the upper limit 32 Countermeasure 3 Set the number of simultaneous processes not to exceeded the upper limit 497 Expansion condition LD missing error 1 Content Cause 1 There is no input condition before steps of Extension Conditions A ...

Page 688: ...essing Content Cause 1 The length of the character string is not defined at string process Countermeasure 1 Defined the length of the character string by SLEN Command before executing the string process 49F Character string length error during string processing Content Cause 1 The length of the character string is out of the range at string process Countermeasure 1 Check the length of the characte...

Page 689: ...xes in PUSH Command 4A6 Push motion approach distance speed specification error Content Cause 1 A distance out of the range was indicated in PAPR Command 2 A speed out of the range was indicated in PAPR Command Countermeasure 1 A distance in the range should be indicated in PAPR Command 2 A speed in the range at 70mm s or below should be indicated in PAPR Command 4A7 Defective phase Z position err...

Page 690: ...d orthogonal coordinate system existed together Countermeasure Check the indication of the position data type referring to the SEL command programming manual and correct the value indicated in the position data type 4AE Invalid feature used error Content Cause A feature not available in the current setting is used in a SEL command or IAI Protocol command Countermeasure Check in the SEL command pro...

Page 691: ...circuit Cold start 600 Encoder error Content Cause 1 Contact error at connector of actuator connection cable 2 Cable breakage on actuator connection cable 3 Malfunction of encoder 4 Malfunction of driver unit 5 Noise applied on actuator connection cable 6 Parameter No 158 Valid Invalid Axis Select on an axis not connected is set to 0 Valid Countermeasure 1 Check actuator connection cable connectio...

Page 692: ...rmeasure 1 1 4 1 5 1 6 1 Take a countermeasure to noise on controller such as installing ferrite core 1 2 4 2 5 2 6 2 Replace SEL unit 2 3 Reboot the power 605 System construction definition ROM data error Content Cause 1 Data is not written properly to the flash ROM 2 Malfunction of Flash ROM Countermeasure 1 2 Replace the SEL unit in case it occurs again even after the power reboot 606 Symbol de...

Page 693: ...ountermeasure 1 Transfer the backup data and conduct the flash ROM writing 2 Replace SEL unit 60A Position error Content Cause 1 The number of axes groups was changed Countermeasure 1 Initialize the position data 60B Fieldbus error Content Cause 1 Operation failure due to noise or others 2 Concern of SEL unit malfunction Countermeasure 1 Take a countermeasure to noise on controller such as install...

Page 694: ...ter No 227 I O1 Fiedlbus Baud Rate I O Parameter No 228 I O1 Fieldbus Network Number 4 Noise Countermeasure 1 Check the connection status of fieldbus connection cable and connect again 2 Replace fieldbus connection cable 3 Check the following parameters and establish the controller parameter settings or change the settings on the PLC side I O Parameter No 14 Number of I O Fieldbus Remote Input Use...

Page 695: ...120 3 Check the value set in I O Parameter No 227 and set the correct value For CC Link 0 156kbps 1 625kbps 2 2 5Mbps 3 5Mbps 4 10Mbps For DeviceNet 0 125kbps 1 250kbps 2 500kbps For EtherNet IP 0 Automatic negotiation 1 10Mbps half duplex 2 10Mbps full duplex 3 100Mbps half duplex 4 100Mbps full duplex 4 Check the value set in I O Parameter No 228 and set the correct value For CC Link IE 1 to 239...

Page 696: ...th Ethernet Set in the channel number set in I O Parameter No 124 Network Attribute 5 2 Set a value in the range from 0 to 2 in I O Parameter No 352 Vision System I F1 Feature Select 2 Bit 0 to 7 3 Set a value in the range available to indicate for the setting in I O Parameter No 356 Vision System I F1 Initial Complete Status Physical Input Port Number 4 Check the port number set in I O Parameter ...

Page 697: ...slot 2 There is no indicated file saved in the Secure Digital memory card 3 An indicated file in the Secure Digital memory card is corrupted 4 Malfunction of the Secure Digital memory card 5 Malfunction on SEL unit Countermeasure 1 Install a Secure Digital memory card 2 Save a file that you would like to use in a Secure Digital memory card 3 Save a file that you would like to use in a Secure Digit...

Page 698: ...ad 2 If there is no problem with the payload cut off the power and check sliding resistance by hand 61B Excitation detection error Content Cause 1 Contact error at connector of actuator connection cable 2 Cable breakage on actuator connection cable 3 An external force was applied to an actuator 4 The sliding resistance on an actuator is high 5 The brake cannot be released 6 Malfunction of motor en...

Page 699: ...e 2 Replace driver unit 620 Driver unit related error Content Cause 1 An external force was applied to an actuator 2 The sliding resistance on an actuator is high 3 The brake cannot be released 4 Malfunction of driver unit 5 Noise 6 Controller HW is not applicable for the set actuator motor Countermeasure 1 Revise condition of assembly 3 If there is no problem with the payload cut off the power an...

Page 700: ...flag number 0 is acceptable A number duplicated with the output number indicated in the system output such as output feature select linear axis zone etc 2 A simple interference check zone number out of the range other than from 1 to 10 was indicated in a SEL command Countermeasure 1 Check the zone irruption output number for the simple interference zone and indicate a value following those below O...

Page 701: ...t 0 acceptable 2 Indication is duplicated with a number indicated in another feature 3 A number duplicated with an output number indicated to the system output in the output feature of an I O parameter was indicated Applicable parameters I O parameter numbers from No 46 to 61 and from 299 to 330 Countermeasure 1 Indicate output ports extension ports and global flags 2 Avoid Indicating a number dup...

Page 702: ...operation output error Content Cause 1 A value other than an output number other than from 0 to 6 999 was input to the following parameters I O Parameter No 70 Min Non Operated General Output Area Number When All Axes Programs Discontinued I O Parameter No 71 Max Non Operated General Output Area Number When All Axes Programs Discontinued I O Parameter No 72 Min Non Operated General Output Area Num...

Page 703: ...Content Cause 1 Malfunction on SEL unit 2 Noise Countermeasure 1 Replace SEL unit 2 In case the error occurs even after rebooting the power take a countermeasure to noise 630 Waiting for SEL unit to recover Content Cause 1 The enable switch is not released 2 A cause of drive cutoff such as error enable switch safety gate or emergency stop is not cancelled 3 The emergency stop is not cancelled 4 Th...

Page 704: ...xed assignment 2 Check in the numbers of input and output ports used and the input and output port start numbers set in the parameters below and confirm that there is no duplication I O Parameter No 14 to 15 Number of I O Fieldbus Remote Input Output Used Ports I O Parameter No 16 to 17 Input Output Port Start Number in I O1 Fixed Assignment I O Parameter No 187 to 188 Input Output Port Start Numb...

Page 705: ...le connection error 4 Replace driver unit Countermeasure 1 Cancel the drive cutoff before turning the servo on 2 Check external drive cutoff relay 3 Check connection of motor power supply cable 4 Replace driver unit 639 Deviation overflow error when home return is not yet completed Content Cause 1 Contact error at connector of actuator connection cable 2 Cable breakage on actuator connection cable...

Page 706: ...n Axes Group Parameter No 10 63C Axis construction parameter error Content Cause An error was detected in a parameter Axes Group Parameter No 1 to 8 related to the axis construction 1 Connection of the driver unit axis indicated was not detected 2 A value set in the parameter is out of the range 3 The number of axes to be used exceeded the upper limit 8 4 An axis was indicated duplicated Counterme...

Page 707: ...f noise 4 There is no terminal unit installed 5 Nine units or more option units are connected 6 There is an error in an option unit related parameter 7 The connected option unit differs from what is set in the parameter 8 The total of the number of driver axes and EC axes exceeds 16 axes 9 There was an error occurred in communication between the EC connection unit and the EC Countermeasure 1 to 3 ...

Page 708: ...nication error Content Cause 1 Noise 2 Malfunction on SEL unit 3 Malfunction of TP 4 A controller not supported is connected Countermeasure 1 In case the error occurs even after rebooting the power take a countermeasure to noise 2 Replace SEL unit 3 Replace the TP 4 Check the version of the teaching in IAI homepage System down F00 System down error Content Cause 1 A system error was detected Count...

Page 709: ... unit as soon as possible 04C Low fan rotation speed Cause The number of revolution of the fan in the fan unit mounted on the driver unit has dropped by 30 Countermeasure Replace the fan unit as soon as possible Refer to 12 3 2 How to Replace Fan Unit or 12 3 3 How to Replace Fan Unit for 200V Driver Unit for how to make replacement 04D Fan total running time exceeded Cause Fan total running time ...

Page 710: ...92 4C Alarm code Alarm name Causes countermeasures 06B Maintenance information data error Cause Maintenance information total travel count total travel distance has been lost Countermeasure Contact IAI 100 1FF Teaching tool alarm Refer to teaching tool instruction manual ...

Page 711: ...A software reset command was issued in servo ON status Countermeasure Check that servo is in OFF status SV signal is OFF status and issue a software reset command 091 Position No error during teaching Cause Position number outside the range was specified during teaching Countermeasure Set the specified position number to 128 or less in positioner 1 2 3 mode or 16 or less in positioner 5 mode 092 P...

Page 712: ... address is displayed Refer to these values and enter the appropriate values Detailed address Command item code Command item 0F00 Target position 0F02 Command speed 0F04 Acceleration 0F06 Deceleration 0F08 Positioning width 0F0C Pushing current limit value 0F0D Control signal 2 The damping control function and push motion operation cannot be used at the same time Set so that only one of the functi...

Page 713: ...es with the surroundings during home return 2 The sliding resistance of the actuator is excessive 3 Poor mounting malfunction or disconnection of the home sensor Countermeasures If the workpiece does not interfere with the surroundings 2 and 3 should be considered Contact IAI 0BE Home return timeout Cause Home return motion has not completed within a given period of time from the start Detailed co...

Page 714: ...ates that a signal from the OT sensor option installed at the mechanical end is detected 1 The actuator was moved by hand or received external force while the servo was OFF normal detection 2 A jog operation was made under a condition that the home coordinates are not established and the soft stroke limit would not work properly 3 The home position achieved by home return is not correct or in the ...

Page 715: ...ce Fan Unit and 12 3 3 How to Replace Fan Unit for 200V Driver Unit page 12 8 for how to make replacement 0D8 Deviation overflow Cause The position deviation counter overflowed 1 The unit decelerated or stopped due to the influence of external force or overload during travel 2 The excitation detection operation after power ON is unstable 3 The power supply voltage has dropped 4 The servo gain numb...

Page 716: ...ly charged the battery life may be the problem Replace the battery How to replace refer to 12 3 1 How to Replace Absolute Battery For 1 3 and 4 perform absolute reset Refer to Chapter 8 Home Return Absolute Rese 0EF P A Driver limited Absolute encoder error detection 3 Cause The encoder cannot detect position information normally with simple absolute specification Encoder overspeed error The prese...

Page 717: ...Servo ON command after encoder FRAM read write Cause After inputting a memo using the user memo edit function a function that enables to save memos on the actuator side servo was turned on without executing RSEL system reboot or reboot of the power supply Countermeasure Reboot the RSEL system or the power supply 0A1 Parameter data error Cause Data input range of parameter domain is not appropriate...

Page 718: ...t off the power and move the slider manually with hand to see the sliding resistance In case there is a cause on the actuator contact IAI 3 The motor requires to be replaced Contact IAI 0B7 A Driver limited Magnetic pole uncertain Cause When magnetic pole phase detection carried out even with simple absolute specification was performed in the first servo ON process after power ON magnetic pole pha...

Page 719: ...he continuous pressing time exceeds the time set for parameter No 89 Allowable time of exceeding torque allowing continuous pressing Countermeasure Check the sequence again Set the pressing time to be within the setting time 0C8 Overcurrent Cause The output current of the power supply circuit was abnormally high Countermeasure This does not normally occur There may be insulation deterioration of t...

Page 720: ...r unit must be replaced Please contact IAI 0D3 S Driver limited Motor power supply voltage low Cause 1 If the power source is shut off in the controller external circuit servo on command was made during the power is shut 2 Overcurrent occurred on the 200V motor power supply line 3 There is a concern of a malfunction of the controller internal components Countermeasure 1 Check the controller extern...

Page 721: ... the control power connector of the gateway unit the RSEL system may be faulty If not released there may be brake failure cable disconnection or RSEL system failure Contact IAI 3 Move the workpiece by hand if possible and check for any location with excessive sliding resistance Check for any distortions on the mounting surface If this error occurs even with a single actuator contact IAI Caution Ma...

Page 722: ...rt and or the driver unit 6 Check the encoder cable line breakage and connection at connectors For the high resolution battery less absolute encoder check the capacity of the 24V DC power source and connection at the power supply cables Contact IAI if the cause cannot be determined 0E6 P A S Driver limited Encoder count error Cause The encoder cannot detect location information properly 1 Disconne...

Page 723: ...tion cable actuator side attached cable or connector connection failure 2 Failure of the encoder itself Countermeasure 1 Check for any wire breakage on a connector and inspect the condition of the wire connections If there is no cable malfunction encoder failure may be possible Contact IAI 0F0 A D Driver limited Driver logic error Cause Excessive load parameter motor type mismatch noise RSEL syste...

Page 724: ...ter turning ON the power again 0FC Logic error Controller part error Cause RSEL system interior is not working properly 1 Malfunction due to noise or other causes 2 Failure of a peripheral circuit component Countermeasure Reboot the power If the error occurs again check for presence of noise If a spare driver unit is available replace it and try again A recurring error with the spare controller su...

Page 725: ...eplace the motor or controller C ELECYLINDER control unit error alarm Content Countermeasure ELECYLINDER control unit abnormality occurred Replace the ELECYLINDER control unit D ELECYLINDER control unit encoder abnormality alarm Content Countermeasure An abnormality occurred between the ELECYLINDER control unit and encoder Turn the power off and then on again If the unit still does not recover rep...

Page 726: ... green alternate blinking ON Continued operation Maintenance Warnings 1 2 Total travel count Total travel distance are cleared by updating the set values in the maintenance information window Maintenance Warning 3 Overload warning is cleared by resetting the alarm Caution Clear alarms only after investigating and resolving the cause If the same alarm recurs after clearance it is highly probable th...

Page 727: ...he ELECYLINDER increasing the sliding resistance of the guide The ELECYLINDER mounting surface should be a machined surface or a plane with similar accuracy with flatness within 0 05mm m Refer to the Instruction manual of each ELECYLINDER for the recommended tightening torque of the bolt for fixing the base 5 The peak power capacity of the 24V power supply is less than 4 2A Use a power supply with...

Page 728: ...the inspection above and improving the power supply environment it is highly likely that the motor has failed Replacement of the motor is required For some models the motor cannot be replaced by the customer In that case please contact IAI Alarm group C ELECYLINDER control unit abnormality alarm ELECYLINDER control unit abnormality occurred No Cause Countermeasure 1 The ELECYLINDER control unit is...

Page 729: ...he specifications of the replaced motor and ELECYLINDER control unit are both battery less absolute specification or incremental specification For the replacement method refer to the Instruction manual for each ELECYLINDER 3 The communication between the ELECYLINDER control unit and encoder is affected by the noise of a peripheral device and cannot operate normally Shut down the power supply of th...

Page 730: ...nd adjust them appropriately 2 The power supply voltage has been detected outside the range of 21 6V to 26 4V Inspect with a tester to see whether the power supply voltage is in the range of 21 6 V to 26 4 V If it is out of range the 24V DC power supply voltage has insufficient capacity Refer to our catalog for the required capacity and improve the power supply environment 3 If this alarm recurs a...

Page 731: ...e to set the target value to a value larger than the current value For details on the maintenance warning settings see 9 3 3 Maintenance Information Warning Maintenance warning 2 This is an alert that the target value of the total travel distance set by the customer has been reached No Cause Countermeasure 1 For safe use and long service life of the ELECYLINDER periodic lubrication is recommended ...

Page 732: ...the ELECYLINDER intrusion of foreign matter brake failure motor failure contact with peripheral equipment etc Countermeasure 1 Visually check for the depletion of grease on the ball screw guide inside the ELECYLINDER intrusion of foreign matter etc If this is the case clean the inside of the ELECYLINDER and replenish the grease Refer to the Instruction manual of each ELECYLINDER for the cleaning m...

Page 733: ...ion 12 1 12 2 Periodic Inspection Items 12 2 12 3 Replacing Units 12 4 12 3 1 How to replace absolute battery 12 5 12 3 2 How to replace fan unit 12 7 12 3 3 How to replace fan unit for 200V driver unit 12 8 12 4 Consumable Parts 12 9 RSEL Chapter 12 ...

Page 734: ...t Electric shocks may result if the power is not shut off Malfunctions may result if the unit connections are tightened loosely Caution Do not disassemble or modify any unit This may result in breakdowns malfunctions injury or fire Always shut off the RSEL system power supply before attaching or removing modules or motor encoder cables If not shut off module breakdowns or malfunctions may result D...

Page 735: ... operating temperature However simple absolute units and SCON controllers are 0 to 40 C Operating humidity Panel humidity if using in a panel 85 RH or less non condensing Measure the operating humidity with a hygrometer and adjust the environment so that it falls within the ambient operating humidity Atmosphere No corrosive or flammable gas Check with an odor or gas sensor No splatters of water oi...

Page 736: ...5 Absolute battery Simple absolute unit s absolute battery AB 7 beyond expiry date or lifespan The expiry date is 3 years and should not exceed the date written on a sticker adhered to the battery body Even if the absolute battery is free of errors replace it if the expiry date has passed Refer to Chapter 8 Home Return Absolute Reset for how to make replacement 6 Preventive predictive maintenance ...

Page 737: ...ing a fault during inspection Unit replacement should be conducted with the power off After replacement check that the new unit does not have any errors If returning a faulty unit for repairs write out the nature of the error in as much detail as possible and attach it to the product Be sure to back up position data parameters and PLC data just in case something goes wrong ...

Page 738: ...ff during replacement the encoder position data would not be retained Also the work can be performed with the cables left joined to the connectors on the simple absolute unit Press and hold down the snap feature on the front cover of the simple absolute unit and pull the cover up towards you to take it off Take the battery out of the simple absolute unit and take off the connector on the battery 1...

Page 739: ...the connector on a new battery to the PC board and put the battery in the simple absolute unit Put the cover on This is the end of the absolute battery replacement work 3 4 Join connectors Put battery inside Hang snap feature on cover Lay cover down towards front to snap it in 3 4 ...

Page 740: ...ach it Attaching Fan Unit 2 Adjust the installation orientation of the RSEL system and new fan unit Hook the claw of the fan unit to the driver unit as shown in the figure on the right 3 Pull down the fan unit to the front of the RSEL system 4 Press the fan unit from the top and snap in 1 Pull fan unit off upwards 2 Hook the claw of the fan unit to the driver unit New Fan Unit 3 Tilt the fan unit ...

Page 741: ...ards to detach it Attaching Fan Unit 2 Adjust the installation orientation of the RSEL system and new fan unit Hook the claw of the fan unit to the driver unit as shown in the figure on the right 3 Pull down the fan unit to the front of the RSEL system 4 Press the fan unit from the top and snap in 1 Pull fan unit off upwards 2 Hook the claw of the fan unit to the driver unit New Fan Unit RSEL syst...

Page 742: ...tion about preventive and predictive maintenance Item Guidelines for life Preventative maintenance function Predictive maintenance function Condition Electrolytic capacitor 5 years Ambient temperature 40 C rated operating mode Backup capacitor for calendar functions 5 years 12 h day ON time at 40 C environment 12 h 20 C environment when stopped power OFF Simple absolute battery 3 years Ambient tem...

Page 743: ...Appendix 13 1 Stopping Method and Recovery 13 1 13 1 1 Stopping method 13 1 13 1 2 Recovery 13 3 13 2 Connectable Actuators 13 4 13 2 1 List of actuator specifications 13 4 RSEL Chapter 13 ...

Page 744: ...l position control 2 Emergency stop Stop with immediate servo off Cancel the operation plan and immediately turn off the servo power supply to the motor is cut off How operation is stopped in each condition is explained below Stop command condition Stopping method Remarks Pause 1 Servo OFF 1 Emergency stop 1 Since the motor drive source is cut off by hardware means the deceleration operation plan ...

Page 745: ...incomplete error 491 Deviation overflow error 492 Overrun error 493 Creep sensor non detection error 4A7 Z phase position problem error 4AC Actual position soft limit excess error 600 Encoder error 61A Overload error 61B Excitation detection error 61C Overcurrent error 61D Current sensor error 61E Drive source error 61F Non volatile memory write verify error 620 Driver related error 621 Slave unit...

Page 746: ... edge Click Controller C from the menu of the PC software and then select Operation pause Reset Request L 2 Situation where reset of operation pause must be requested Reset of operation pause must be requested only in the following situations When other parameter No 10 was set to 2 emergency stop recovery type recovery with continued operation only during auto operation after which you have cancel...

Page 747: ... 450st 555 at 500st 1 22 77 20 Vertical 0 5 5 Horizontal 7 390 at 50 to 400st 330 at 450st 275 at 500st 1 44 155 Vertical 0 5 2 5 Horizontal 4 195 at 50 to 400st 165 at 450st 135 at 500st 1 89 310 Vertical 0 5 Standard SA6C SA6R Cleanroom SA6C Ball screw 8192 20 Horizontal 25 SA6C 1440 at 50 to 450st 1335 at 500st 1130 at 550st 970 at 600st 840 at 650st 735 at 700st 650 at 750st 575 at 800st SA6R ...

Page 748: ...t 885 at 450st 735 at 500st 620 at 550st 535 at 600st 460 at 650st 405 at 700st 355 at 750st 315 at 800st SA6R 800 at 50 to 450st 735 at 500st 620 at 550st 535 at 600st 460 at 650st 405 at 700st 355 at 750st 315 at 800st 0 5 27 93 6 Horizontal 8 450 at 50 to 400st 435 at 450st 365 at 500st 305 at 550st 265 at 600st 230 at 650st 200 at 700st 175 at 750st 155 at 800st 1 53 185 Vertical 0 5 3 Horizon...

Page 749: ...0 to 500st 965 at 550st 830 at 600st 720 at 650st 635 at 700st 560 at 750st 500 at 800st SA7R 840 at 50 to 550st 830 at 600st 720 at 650st 635 at 700st 560 at 750st 500 at 800st 1 60 209 Vertical SA7C 840 at 50 to 550st 830 at 600st 720 at 650st 635 at 700st 560 at 750st 500 at 800st SA7R 700 at 50 to 650st 635 at 700st 560 at 750st 500 at 800st 0 5 8 Horizontal 10 SA7C 490 at 50 to 500st 475 at 5...

Page 750: ... 120 at 800st 1 239 836 20 Vertical 210 at 50 to 550st 205 at 600st 175 at 650st 155 at 700st 135 at 750st 120 at 800st 0 5 Standard SA8C SA8R Cleanroom SA8C Ball screw 8192 30 Horizontal 38 1200 at 50 to 750st 1155 at 800st 1040 at 850st 940 at 900st 855 at 950st 780 at 1000st 715 at 1050st 660 at 1100st 1 46 159 20 Vertical 850 at 50 to 950st 780 at 1000st 715 at 1050st 660 at 1100st 0 5 20 Hori...

Page 751: ...0st 175 at 850st 155 at 900st 140 at 950st 130 at 1000st 120 at 1050st 110 at 1100st SA8R 250 at 50 to 650st 240 at 700st 215 at 750st 190 at 800st 175 at 850st 155 at 900st 145 at 950st 130 at 1000st 120 at 1050st 110 at 1100st 1 273 956 Vertical 0 5 RCP6 RCP6CR Wide slider type Standard type Cleanroom type Standard WSA10C WSA10R Cleanroom WSA10C Ball screw 8192 16 Horizontal 20 840 at 50 to 400s...

Page 752: ...550st 465 at 600st 405 at 650st 355 at 700st 315 at 750st 285 at 800st 1 27 93 6 Horizontal 8 450 at 50 to 350st 435 at 400st 365 at 450st 310 at 500st 265 at 550st 230 at 600st 200 at 650st 175 at 700st 155 at 750st 140 at 800st 1 53 185 Vertical 400 at 50 to 400st 365 at 450st 310 at 500st 265 at 550st 230 at 600st 200 at 650st 175 at 700st 155 at 750st 140 at 800st 0 5 3 Horizontal 4 225 at 50 ...

Page 753: ...0 at 650st 135 at 700st 120 at 750st 105 at 800st WSA14R 175 at 50 to 550st 170 at 600st 150 at 650st 135 at 700st 120 at 750st 105 at 800st 1 239 836 Vertical 175 at 50 to 550st 170 at 600st 150 at 650st 135 at 700st 120 at 750st 105 at 800st 0 5 Standard Cleanroom WSA16C Ball screw 8192 20 Horizontal 25 720 at 50 to 750st 715 at 800st 645 at 850st 590 at 900st 535 at 950st 490 at 1000st 450 at 1...

Page 754: ...365 at 50 to 750st 355 at 800st 320 at 850st 290 at 900st 265 at 950st 240 at 1000st 225 at 1050st 205 at 1100st 1 137 478 Vertical 210 at 50 to 1050st 205 at 1100st 0 5 5 Horizontal 7 170 at 50 to 800st 160 at 850st 145 at 900st 130 at 950st 120 at 1000st 110 at 1050st 100 at 1100st 1 273 956 Vertical 145 at 50 to 900st 130 at 950st 120 at 1000st 110 at 1050st 100 at 1100st 0 5 RCP6 Rod type RA4C...

Page 755: ... 8192 16 Horizontal 20 RRA4C 1120 at 60 to 360st 1080 at 410st RRA4R 840 1 21 48 40 Vertical 0 5 10 Horizontal 13 RRA4C 700 at 60 to 360st 685 at 410st RRA4R 610 1 22 77 20 Vertical 0 5 5 Horizontal 7 350 at 60 to 360st 340 at 410st 1 44 155 Vertical 0 5 2 5 Horizontal 4 175 at 60 to 360st 170 at 410st 1 89 310 Vertical 0 5 RRA6C RRA6R Ball screw 8192 20 Horizontal 25 800 1 16 56 20 Vertical 0 5 1...

Page 756: ...0st 300 at 100 to 350st 260 at 400st 220 at 450st 180 at 500st 160 at 550st 140 at 600st 120 at 650st 110 at 700st 0 2 333 1000 Vertical 250 at 50 to 400st 220 at 450st 180 at 500st 160 at 550st 140 at 600st 120 at 650st 110 at 700st 5 Horizontal Vertical 7 150 at 50 to 350st 130 at 400st 110 at 450st 90 at 500st 80 at 550st 70 at 600st 60 at 650st 55 at 700st 0 1 667 2000 RRA8R Ball screw 8192 20...

Page 757: ...o 400st 145 at 450st 120 at 500st 1 89 310 Vertical WRA10C 175 at 50 to 400st 145 at 450st 120 at 500st WRA10R 150 at 50 to 400st 145 at 450st 120 at 500st 0 5 WRA12C WRA12R Ball screw 8192 20 Horizontal 25 800 1 16 56 20 12 Horizontal 15 560 1 26 93 6 Horizontal 8 400 at 50 to 450st 375 at 500st 1 53 185 Vertical WRA12C 340 WRA12R 280 0 5 3 Horizontal 4 225 at 50 to 400st 220 at 450st 185 at 500s...

Page 758: ... 700st 200 at 750st 180 at 800st 0 2 167 500 10 10 Horizontal 13 240 at 50 to 400st 230 at 450st 195 at 500st 165 at 550st 145 at 600st 125 at 650st 110 at 700st 100 at 750st 90 at 800st 0 2 333 1000 Vertical WRA16C 200 at 50 to 450st 195 at 500st 165 at 550st 145 at 600st 125 at 650st 110 at 700st 100 at 750st 90 at 800st WRA16R 180 at 50 to 450st 195 at 500st 165 at 550st 145 at 600st 125 at 650...

Page 759: ...5degC or lower 1 Vertical 0 5 2 5 Horizontal 4 175 1 133 310 Vertical 150 0 5 Horizontal 130 In ambient temp 5degC or lower 1 Vertical 0 5 RA6C RA6R Ball screw 8192 12 Horizontal 15 630 1 40 93 20 Vertical 525 0 5 Horizontal 525 In ambient temp 5degC or lower 1 Vertical 0 5 6 Horizontal 8 420 1 79 185 Vertical 370 0 5 Horizontal 315 In ambient temp 5degC or lower 1 Vertical 0 5 3 Horizontal 4 210 ...

Page 760: ... 260 In ambient temp 5degC or lower 1 Vertical 0 5 2 5 Horizontal 4 175 at 50 to 350st 170 at 400st 1 133 310 Vertical 150 0 5 Horizontal 105 In ambient temp 5degC or lower 1 Vertical 0 5 RRA6C RRA6R Ball screw 8192 12 Horizontal 15 630 1 40 93 20 Vertical 525 0 5 Horizontal 525 In ambient temp 5degC or lower 1 Vertical 0 5 6 Horizontal 8 420 1 79 185 Vertical 370 0 5 Horizontal 315 In ambient tem...

Page 761: ... lower 5 Horizontal Vertical 7 100 at 50 to 450st 90 at 500st 80 at 550st 70 at 600st 60 at 650st 55 at 700st 0 1 1000 2000 60 at 50 to 650st 55 at 700st In ambient temp 5degC or lower RCP6W Dust and drip proof wide radial cylinder WRA10C WRA10R Ball screw 8192 10 Horizontal 13 525 at 50 to 450st 490 at 500st 1 33 77 20 350 In ambient temp 5degC or lower 5 Horizontal 7 350 at 50 to 400st 290 at 45...

Page 762: ...0 5 Horizontal 140 In ambient temp 5degC or lower 1 Vertical 0 5 4 Horizontal 5 130 1 469 1094 Vertical 0 5 Horizontal 70 In ambient temp 5degC or lower 1 Vertical 0 5 WRA16C WRA16R Ball screw 8192 20 Horizontal 25 280 at 50st 360 at 100 to 500st 340 at 550st 295 at 600st 260 at 650st 225 at 700st 200 at 750st 180 at 800st 0 2 250 500 10 240 at 50 to 650st 225 at 700st 200 at 750st 180 at 800st In...

Page 763: ... 16 Horizontal 20 980 1 21 48 40 Vertical 700 0 5 10 Horizontal 13 785 1 22 77 20 Vertical 700 0 5 5 Horizontal 7 390 1 44 155 Vertical 0 5 2 5 Horizontal 4 195 1 89 310 Vertical 0 5 TA4C TA4R Double Block Type Ball screw 8192 10 Horizontal 13 TA4C 785 at 40 to 190st 680 at 240st TA4R 700 at 40 to 190st 680 at 240st 1 22 77 20 Vertical TA4C 700 at 40 to 190st 680 at 240st TA4R 525 0 5 5 Horizontal...

Page 764: ...st 365 at 340st 300 at 390st 1 119 418 Vertical 350 at 40 to 340st 300 at 390st 0 5 4 Horizontal 5 210 at 40 to 290st 180 at 340st 150 at 390st 1 239 836 Vertical 0 5 RCP6 Gripper type GRT7A 8192 1 Note 1 1 25 75 0 3 34 Both Ends 120 Both Ends ５ GRT7B 1 6 Note 1 Gear Ratio Pattern 1 2 120 42 Both Ends 150 Both Ends 0 8 Note 1 Gear Ratio Pattern 2 1 60 86 Both Ends 300 Both Ends GRST6C GRST6R Trape...

Page 765: ...orizontal 25 SA6C 1440 at 50 to 450st 1335 at 500st 1130 at 550st 970 at 600st 840 at 650st 735 at 700st 650 at 750st 575 at 800st SA6R 1280 at 50 to 500st 1130 at 550st 970 at 600st 840 at 650st 735 at 700st 650 at 750st 575 at 800st 1 0 16 56 20 Vertical 1280 at 50 to 500st 1130 at 550st 970 at 600st 840 at 650st 735 at 700st 650 at 750st 575 at 800st 0 5 12 Horizontal 15 900 at 50 to 400st 885 ...

Page 766: ...crew 800 24 Horizontal 30 SA7C 1200 at 50 to 600st 1145 at 650st 1000 at 700st 885 at 750st 785 at 800st SA7R 1000 at 50 to 700st 885 at 750st 785 at 800st 1 0 40 139 20 Vertical 0 5 16 Horizontal 20 SA7C 980 at 50 to 550st 875 at 600st 755 at 650st 660 at 700st 585 at 750st 520 at 800st SA7R 840 at 50 to 600st 755 at 650st 660 at 700st 585 at 750st 520 at 800st 1 0 60 209 Vertical SA7C 840 at 50 ...

Page 767: ...40 1 0 21 48 20 Vertical 0 5 10 Horizontal 13 RA4C 700 at 60 to 360st 685 at 410st RA4R 610 1 0 22 77 Vertical 0 5 5 Horizontal 7 350 at 60 to 360st 340 at 410st 1 0 44 155 Vertical 0 5 2 5 Horizontal 4 175 at 60 to 360st 170 at 410st 1 0 88 310 Vertical 0 5 RA6C RA6R Ball screw 800 20 Horizontal 25 800 1 0 16 56 20 Vertical 0 5 12 Horizontal 15 700 1 0 26 93 Vertical 0 5 6 Horizontal 8 450 1 0 53...

Page 768: ...00 10 Vertical RA8C 280 at 50 405 at 100st 450 at 150 to 400st 440 at 450st 360 at 500st 320 at 550st 280 at 600st 240 at 650st 220 at 700st RA8R 280 at 50 400 at 100 to 450st 360 at 500st 320 at 550st 280 at 600st 240 at 650st 220 at 700st 10 Horizontal 13 RA8C 280 at 50 300 at 100 to 350st 260 at 400st 220 at 450st 180 at 500st 160 at 550st 140 at 600st 120 at 650st 110 at 700st RA8R 200 at 50 t...

Page 769: ...rew 800 10 Horizontal 13 RA10C 117 at 50st 167 at 100st 200 at 150st 250 at 200 to 500st 220 at 550st 200 at 600st 180 at 650st 160 at 700st 140 at 750st 120 at 800st RA10R 117 at 50st 167 at 100st 200 at 150 to 600st 180 at 650st 160 at 700st 140 at 750st 120 at 800st 0 04 429 1500 10 Vertical RA10C 117 at 50st 167 at 100 to 650st 160 at 700st 140 at 750st 120 at 800st RA10R 117 at 50st 140 at 10...

Page 770: ...800 12 Horizontal 15 500 at 50st 560 at 100 to 400st 1 40 93 20 Vertical 500 0 5 Horizontal 450 In ambient temp 5degC or lower 1 Vertical 400 In ambient temp 5degC or lower 0 5 6 Horizontal 7 5 360 1 79 185 Vertical 0 5 Horizontal 300 In ambient temp 5degC or lower 1 Vertical 0 5 3 Horizontal 3 75 180 1 159 370 Vertical 0 5 Horizontal 150 In ambient temp 5degC or lower 1 Vertical 0 5 3 Motor Type ...

Page 771: ... 280 at 600st 240 at 650st 220 at 700st 10 Horizontal 13 240 at 50 to 400st 220 at 450st 180 at 500st 160 at 550st 140 at 600st 120 at 650st 110 at 700st 0 2 333 1000 Vertical 200 at 50 to 450st 180 at 500st 160 at 550st 140 at 600st 120 at 650st 110 at 700st Horizontal 210 at 50 to 450st 180 at 500st 160 at 550st 140 at 600st 120 at 650st 110 at 700st In ambient temp 5degC or lower Vertical 175 a...

Page 772: ...to 450st 90 at 500st 80 at 550st 70 at 600st 60 at 650st 55 at 700st 50 at 750st 45 at 800st 0 02 857 3000 at 550st 2900 at 600st 2500 at 650st 2200 at 700st 2000 at 750st 1800 at 800st 2 5 Horizontal Vertical 4 50 at 50 to 600st 45 at 650st 40 at 700st 35 at 750st 30 at 800st 0 01 1714 6000 at 700st 5900 at 750st 5400 at 800st RCP5 Belt type BA4 BA4U Belt 800 Equivalent to 48 Horizontal 150 890 a...

Page 773: ...st 1225 at 550st 1045 at 600st 900 at 650st 785 at 700st 690 at 750st 610 at 800st SA5R 1120 at 50 to 550st 1045 at 600st 900 at 650st 785 at 700st 690 at 750st 610 at 800st 0 5 12 Horizontal 15 900 at 50 to 450st 795 at 500st 665 at 550st 570 at 600st 490 at 650st 425 at 700st 375 at 750st 330 at 800st 1 0 26 93 Vertical SA5C 900 at 50 to 450st 795 at 500st 665 at 550st 570 at 600st 490 at 650st ...

Page 774: ...5 at 600st 905 at 650st 785 at 700st 690 at 750st 615 at 800st 1 0 16 56 20 Vertical SA6C 1280 at 50 to 500st 1230 at 550st 1045 at 600st 905 at 650st 785 at 700st 690 at 750st 615 at 800st SA6R 1120 at 50 to 550st 1045 at 600st 905 at 650st 785 at 700st 690 at 750st 615 at 800st 0 5 12 Horizontal 15 900 at 50 to 450st 795 at 500st 670 at 550st 570 at 600st 490 at 650st 430 at 700st 375 at 750st 3...

Page 775: ...655 at 700st 580 at 750st 515 at 800st 1 0 60 209 Vertical SA7C 840 at 50 to 600st 750 at 650st 655 at 700st 580 at 750st 515 at 800st SA7R 700 at 50 to 650st 655 at 700st 580 at 750st 515 at 800st 0 5 8 Horizontal 10 SA7C 490 at 50 to 550st 430 at 600st 375 at 650st 325 at 700st 290 at 750st 255 at 800st SA7R 420 at 50 to 600st 375 at 650st 325 at 700st 290 at 750st 255 at 800st 1 0 119 418 Verti...

Page 776: ...450 1 0 53 185 Vertical 0 5 3 Horizontal 4 225 1 0 106 370 Vertical 0 5 3 Motor Type 42SP Vertical 4 80 0 5 370 750 RA6C RA6R Ball screw 800 24 Horizontal 30 800 1 0 52 182 20 Vertical 600 0 5 16 Horizontal 20 RA6C 700 RA6R 560 1 0 78 273 Vertical 560 0 5 8 Horizontal 10 420 1 0 156 547 Vertical RA6C 420 RA6R 350 0 5 4 Horizontal 5 RA6C 210 RA6R 175 1 0 312 1094 Vertical 0 5 4 Motor Type 56SP Vert...

Page 777: ... ambient temp 5degC or lower 1 0 Vertical 250 In ambient temp 5degC or lower 0 5 4 Horizontal 5 170 1 0 375 875 Vertical 140 0 5 Horizontal 150 In ambient temp 5degC or lower 1 0 Vertical 125 In ambient temp 5degC or lower 0 5 4 Motor Type 56SP Vertical 5 80 0 5 515 1030 RCP4 Gripper type GRSML 800 1 88 5 94 0 3 25 Both Ends 87 Both Ends 5 GRSLL 2 52 5 125 40 Both Ends 140 Both Ends GRSWL 3 14 5 1...

Page 778: ...l 13 500 0 7 25 40 20 Vertical 0 3 5 Horizontal 7 250 0 7 50 80 Vertical 0 3 2 5 Horizontal 4 125 0 7 100 160 Vertical 0 3 SA5C SA5R Ball screw 800 20 Only for SA5C Horizontal 25 1000 at 50 to 600st 910 at 650st 790 at 700st 690 at 750st 610 at 800st 0 7 20 34 20 Vertical 0 2 12 Horizontal 15 600 at 50 to 550st 570 at 600st 490 at 650st 425 at 700st 370 at 750st 330 at 800st 0 7 40 58 Vertical 0 3...

Page 779: ... 6 Vertical 0 2 2 Horizontal 3 100 0 3 7 2 25 2 Vertical 0 2 1 Horizontal 2 50 0 3 14 4 50 4 Vertical 0 2 Ball screw High thrust type 4 Horizontal 5 180 at 25st 200 at 50 to 100st 0 3 6 6 23 1 Vertical 0 2 2 Horizontal 3 100 0 3 13 2 46 2 Vertical 0 2 1 Horizontal 2 50 0 3 26 4 92 4 Vertical 0 2 RA2BC RA2BR Lead screw 800 6 Horizontal Vertical 8 180 at 25st 280 at 50st 300 at 75 to 150st 0 2 0 6 4...

Page 780: ... 0 2 30 45 Vertical 67 TA4C TA4R Ball screw 800 6 Horizontal 8 300 0 3 15 25 20 Vertical 0 2 4 Horizontal 5 200 0 3 22 37 Vertical 0 2 2 Horizontal Vertical 3 100 0 2 45 75 TA5C TA5R Ball screw 800 10 Horizontal 13 465 0 3 21 34 20 Vertical 400 0 2 5 Horizontal 7 250 0 3 41 68 Vertical 0 2 2 5 Horizontal Vertical 4 125 0 2 82 136 TA6C TA6R Ball screw 800 12 Horizontal 15 560 0 3 35 60 20 Vertical ...

Page 781: ... 250 to 600st 740 at 700st 650 at 750st 580 at 800st 0 2 12 Horizontal 15 600 at 50 to 550st 540 at 600st 460 at 650st 400 at 700st 360 at 750st 300 at 800st 0 7 40 115 Vertical 0 3 6 Horizontal 8 300 at 50 to 550st 270 at 600st 230 at 650st 200 at 700st 180 at 750st 150 at 800st 0 7 70 210 Vertical 0 3 3 Horizontal 4 150 at 50 to 550st 135 at 600st 115 at 650st 100 at 700st 90 at 750st 75 at 800s...

Page 782: ... 250 to 600st 740 at 700st 650 at 750st 580 at 800st 0 2 12 Horizontal 15 600 at 50 to 550st 540 at 600st 460 at 650st 400 at 700st 360 at 750st 300 at 800st 0 7 40 115 Vertical 0 3 6 Horizontal 8 300 at 50 to 550st 270 at 600st 230 at 650st 200 at 700st 180 at 750st 150 at 800st 0 7 70 210 Vertical 0 3 3 Horizontal 4 150 at 50 to 550st 135 at 600st 115 at 650st 100 at 700st 90 at 750st 75 at 800s...

Page 783: ... 2 6 Horizontal 8 300 at 50 to 500st 230 at 600st 0 3 70 210 Vertical 0 2 3 Horizontal Vertical 4 150 at 50 to 500st 115 at 600st 0 2 140 330 SS7R Ball screw 800 12 Horizontal 15 600 at 50 to 500st 470 at 600st 0 3 Vertical 440 0 2 6 Horizontal 8 250 at 50 to 500st 230 at 600st 0 3 Vertical 0 2 3 Horizontal Vertical 4 105 0 2 SS8C Ball screw 800 20 Horizontal 25 666 at 50 to 800st 625 at 900st 515...

Page 784: ... 200st 237 at 250st 175 at 300st 75 284 2 5 Horizontal 4 125 at 50 to 200st 118 at 250st 87 at 300st 150 358 Vertical 114 at 50 to 250st 87 at 300st RA6C RGS6C RGD6C Ball screw 800 16 Horizontal 20 450 0 2 75 240 20 Vertical 400 8 Horizontal Vertical 10 210 130 470 4 Horizontal Vertical 5 130 300 800 RA8C RA8R Ball screw 800 10 Horizontal Vertical 13 RA8C 300 RA8R 200 0 2 286 1000 10 5 Horizontal ...

Page 785: ...00 25 Both Ends 125 Both Ends 5 GRHB 2 5 100 60 Both Ends 200 Both Ends 5 GRST 1 05 5 34 Standard Type 15 Both Ends 40 Both Ends 5 2 27 5 75 High Speed Type 7 5 Both Ends 20 Both Ends 5 GR3SS 2 5 5 40 7 Both Ends 22 Both Ends 5 GR3SM 3 5 50 30 Both Ends 102 Both Ends 5 GR3LS 12 5 deg s 200 deg s 5 Both Ends 18 Both Ends 20 deg s GR3LM 12 5 deg s 200 deg s 15 Both Ends 51 Both Ends 20 deg s RCP2CR ...

Page 786: ...idual operation 900 In individual operation 600 In simultaneous operation 0 7 With no load torque 0 3 With load torque T axis Rotation 35P Deceleration ratio 20 22 In individual operation 1200 In individual operation 600 In simultaneous operation 0 7 With no load torque 0 3 With load torque Note 1 As the wrist unit has the B axis and T axis interlocked with each other inside when operating the axe...

Page 787: ...0 20 Only for SA5C Horizontal 25 1000 at 50 to 600st 910 at 650st 790 at 700st 690 at 750st 610 at 800st 0 3 Vertical 800 at 50 to 650st 790 at 700st 690 at 750st 610 at 800st 0 2 12 Horizontal 15 600 at 50 to 550st 570 at 600st 490 at 650st 425 at 700st 370 at 750st 330 at 800st 0 3 Vertical 0 2 6 Horizontal 8 300 at 50 to 550st 285 at 600st 245 at 650st 210 at 700st 185 at 750st 165 at 800st 0 3...

Page 788: ...48 4 Horizontal 4 200 0 3 Vertical 0 2 2 Horizontal 2 100 0 3 Vertical 0 2 1 Horizontal 1 50 0 2 Vertical Lead screw Available to Select Only in Standard Type 4 Horizontal Vertical 4 200 0 2 2 2 100 1 1 50 Standard RN4NA RP4NA GS4NA GD4NA Cleanroom Dust and drip proof RN4NB RP4NB GS4NB GD4NB Ball screw 20 1048 6 Horizontal 6 270 at 30st 300 at 50st 0 3 Vertical 220 at 30st 300 at 50st 0 2 4 Horizo...

Page 789: ...rizontal 6 270 at 30st 300 at 50st 0 3 Vertical 220 at 30st 300 at 50st 0 2 4 Horizontal 4 200 0 3 Vertical 0 2 2 Horizontal Vertical 2 100 0 2 Lead screw 6 Horizontal Vertical 6 220 at 30st 300 at 50st 0 2 4 4 200 2 2 100 TA4C TA4R Ball screw 10 800 6 Horizontal 8 300 0 3 Vertical 0 2 4 Horizontal 5 200 0 3 Vertical 0 2 2 Horizontal Vertical 3 100 0 2 TA5C TA5R Ball screw 20 800 10 Horizontal 13 ...

Page 790: ...50st 380 at 500st 0 3 0 8 Note 2 3 4 Note 1 200 at 50 to 450st 190 at 500st 0 2 Standard SA5D Ball screw 20 Incremental 800 Note 3 12 Horizontal Vertical 15 800 at 50 to 450st 760 at 500st 0 3 6 8 400 at 50 to 450st 380 at 500st 0 3 3 4 200 at 50 to 450st 190 at 500st 0 2 Standard SA5R Ball screw 20 Incremental 800 Battery less Absolute 16384 12 Horizontal Vertical 15 Note 1 800 at 50 to 450st 760...

Page 791: ... Dust and drip proof type Standard Dust and drip proof RA3C Ball screw 20 800 10 Horizontal Vertical 13 500 0 3 1 0 Note 2 5 7 250 0 3 1 0 Note 2 2 5 4 125 0 2 Standard RGS3C RGD3C Ball screw 20 800 10 Horizontal Vertical 13 500 0 3 1 0 Note 2 5 7 250 0 3 1 0 Note 2 2 5 4 125 0 2 Standard Dust and drip proof RA3D RA3R Standard RGS3D RGD3D RGD3R Ball screw 20 800 10 Horizontal Vertical 13 500 0 3 5...

Page 792: ...ertical 13 330 0 2 5 7 165 A5R Ball screw 20 800 12 Horizontal Vertical 15 400 0 2 6 8 200 A6R Ball screw 30 800 12 Horizontal Vertical 15 400 0 2 6 8 200 Note 3 Connection is available only with Incremental Type RCL Series Actuator series Type Feed screw Motor output W No of encoder pulses Lead mm Mounting direction Minimum speed mm s Maximum speed mm s Maximum acceleration deceleration G Minimum...

Page 793: ... series Type Feed screw Motor output W No of encoder pulses Lead mm Mounting direction Minimum speed mm s Maximum speed mm s Maximum acceleration deceleration G Minimum push force N Maximum push force N Rated push speed mm s RCD RA1DA Lead screw 3 480 2 Horizontal Vertical 5 300 1 0 41 2 6 5 GRSNA 480 Horizontal Vertical 67 2 1 10 Both Ends ...

Page 794: ... SA4C 1 2 SA4R 1 5 300 at 50 to 450st 275 at 500st 1 2 5 150 at 50 to 450st 135 at 500st 0 7 SA6C SA6R 100 16384 30 Horizontal Vertical 1600 at 50 to 550st 1450 at 600st 1260 at 650st 1100 at 700st 970 at 750st 860 at 800st SA6C 1 2 SA6R 1 20 1200 at 50 to 500st 1130 at 550st 970 at 600st 840 at 650st 735 at 700st 650 at 750st 575 at 800st SA6C 1 2 SA6R 1 12 720 at 50 to 500st 620 at 550st 535 at ...

Page 795: ... at 750st 760 at 800st SA7C 1 2 SA7R 1 16 1000 at 50 to 500st 965 at 550st 830 at 600st 720 at 650st 635 at 700st 560 at 750st 500 at 800st SA7C 1 2 SA7R 1 8 500 at 50 to 500st 475 at 550st 410 at 600st 355 at 650st 315 at 700st 275 at 750st 245 at 800st 1 4 240 at 50 to 500st 235 at 550st 205 at 600st 175 at 650st 155 at 700st 135 at 750st 120 at 800st 0 7 SA8C 400 16384 48 Horizontal 2200 at 50 ...

Page 796: ...0st 440 at 1100st 1 2 10 600 at 50 to 600st 540 at 650st 480 at 700st 430 at 750st 385 at 800st 345 at 850st 310 at 900st 285 at 950st 260 at 1000st 235 at 1050st 220 at 1100st 1 5 300 at 50 to 600st 270 at 650st 240 at 700st 215 at 750st 190 at 800st 175 at 850st 155 at 900st 140 at 950st 130 at 1000st 120 at 1050st 110 at 1100st 0 7 SA8R 400 16384 48 Horizontal 2100 at 50 to 750st 1950 at 800st ...

Page 797: ...st 430 at 750st 385 at 800st 345 at 850st 310 at 900st 285 at 950st 260 at 1000st 235 at 1050st 220 at 1100st 1 5 300 at 50 to 600st 270 at 650st 240 at 700st 215 at 750st 190 at 800st 175 at 850st 155 at 900st 140 at 950st 130 at 1000st 120 at 1050st 110 at 1100st 0 7 Cleanroom type RCS4CR Slider type SA4C 60 16384 16 Horizontal Vertical 960 at 50 to 450st 875 at 500st 1 2 10 600 at 50 to 450st 5...

Page 798: ...5 at 650st 100 at 700st 85 at 750st 75 at 800st 0 7 SA7C 200 16384 24 Horizontal Vertical 1500 at 50 to 500st 1440 at 550st 1240 at 600st 1095 at 650st 965 at 700st 850 at 750st 760 at 800st 1 2 16 1000 at 50 to 500st 965 at 550st 830 at 600st 720 at 650st 635 at 700st 560 at 750st 500 at 800st 1 2 8 500 at 50 to 500st 475 at 550st 410 at 600st 355 at 650st 315 at 700st 275 at 750st 245 at 800st 1...

Page 799: ... 800st 175 at 850st 155 at 900st 140 at 950st 130 at 1000st 120 at 1050st 110 at 1100st 0 7 RCS4 Wide slider type WSA10C WSA10R 60 16384 16 Horizontal 960 at 50 to 350st 930 at 400st 775 at 450st 660 at 500st WSA10C 1 2 WSA10R 1 10 Horizontal Vertical 600 at 50 to 350st 590 at 400st 490 at 450st 415 at 500st WSA10C 1 2 WSA10R 1 5 300 at 50 to 350st 290 at 400st 245 at 450st 205 at 500st 1 2 5 150 ...

Page 800: ...st 230 at 600st 200 at 650st 175 at 700st 155 at 750st 140 at 800st 1 3 180 at 50 to 450st 150 at 500st 130 at 550st 115 at 600st 100 at 650st 85 at 700st 75 at 750st 70 at 800st 0 7 WSA14C WSA14R 200 16384 36 Horizontal WSA14C 1800 at 50 to 550st 1590 at 600st 1400 at 650st 1240 at 700st 1110 at 750st 990 at 800st WSA14C 1 2 WSA14R 1 WSA14R 1710 at 50 to 550st 1590 at 600st 1400 at 650st 1240 at ...

Page 801: ... 500st 200 at 550st 170 at 600st 150 at 650st 135 at 700st 120 at 750st 105 at 800st 0 7 WSA16C WSA16R 400 16384 30 Horizontal Vertical 1800 at 50 to 550st 1680 at 600st 1480 at 650st 1320 at 700st 1180 at 750st 1060 at 800st 960 at 850st 870 at 900st 790 at 950st 730 at 1000st 670 at 1050st 620 at 1100st WSA16C 1 2 WSA16R 1 20 1200 at 50 to 550st 1120 at 600st 990 at 650st 880 at 700st 780 at 750...

Page 802: ...ontal 960 at 50 to 350st 930 at 400st 775 at 450st 660 at 500st 1 2 10 Horizontal Vertical 600 at 50 to 350st 590 at 400st 490 at 450st 415 at 500st 1 2 5 300 at 50 to 350st 290 at 400st 245 at 450st 205 at 500st 1 2 5 150 at 50 to 350st 145 at 400st 120 at 450st 100 at 500st 0 7 WSA12C 100 16384 20 Horizontal Vertical 1200 at 50 to 450st 1130 at 500st 970 at 550st 840 at 600st 740 at 650st 650 at...

Page 803: ... at 500st 790 at 550st 690 at 600st 610 at 650st 550 at 700st 490 at 750st 440 at 800st 1 2 8 480 at 50 to 450st 460 at 500st 400 at 550st 350 at 600st 305 at 650st 270 at 700st 240 at 750st 215 at 800st 1 4 240 at 50 to 450st 230 at 500st 200 at 550st 170 at 600st 150 at 650st 135 at 700st 120 at 750st 105 at 800st 0 7 WSA16C 400 16384 20 Horizontal Vertical 1200 at 50 to 550st 1120 at 600st 990 ...

Page 804: ...RA4R 60 16384 16 Horizontal Vertical 800 RA4C 1 2 RA4R 1 10 500 RA4C 1 2 RA4R 1 5 250 1 2 5 125 0 7 RA6C RA6R 100 16384 20 Horizontal Vertical 1000 RA6C 1 2 RA6R 1 12 600 RA6C 1 2 RA6R 1 6 300 1 3 150 0 7 RA7C RA7R 200 16384 24 Horizontal Vertical 1200 RA7C 1 2 RA7R 1 16 800 RA7C 1 2 RA7R 1 8 400 1 4 200 0 7 RA8C RA8R 400 16384 20 Horizontal Vertical 1000 RA8C 1 2 RA8R 1 10 500 1 5 250 0 7 RCS4 Ra...

Page 805: ...70 at 300st 820 at 350st 650 at 400st 520 at 450st 430 at 500st 360 at 550st 310 at 600st 260 at 650st 230 at 700st 1 2 10 550 at 50 to 250st 520 at 300st 400 at 350st 310 at 400st 250 at 450st 210 at 500st 180 at 550st 150 at 600st 130 at 650st 110 at 700st 1 5 275 at 50 to 250st 250 at 300st 190 at 350st 150 at 400st 120 at 450st 100 at 500st 80 at 550st 70 at 600st 60 at 650st 55 at 700st 0 7 R...

Page 806: ...adial cylinder WRA10C WRA10R 60 16384 16 Horizontal 800 at 50 to 450st 770 at 500st WRA10C 1 2 WRA10R 1 10 Horizontal Vertical 600 at 50 to 400st 580 at 450st 490 at 500st WRA10C 1 2 WRA10R 1 5 300 at 50 to 400st 290 at 450st 240 at 500st 1 2 5 150 at 50 to 400st 145 at 450st 120 at 500st 0 7 WRA12C WRA12R 100 16384 20 Horizontal Vertical 1000 WRA12C 1 2 WRA12R 1 12 720 WRA12C 1 2 WRA12R 1 6 360 1...

Page 807: ...50st 195 at 500st 165 at 550st 145 at 600st 125 at 650st 110 at 700st 100 at 750st 90 at 800st 1 5 250 at 50 to 250st 210 at 300st 170 at 350st 130 at 400st 115 at 450st 95 at 500st 80 at 550st 70 at 600st 60 at 650st 55 at 700st 50 at 750st 45 at 800st 0 7 RCS4 Table type TA4C Single Block Type 60 16384 16 Horizontal Vertical 900 1 2 10 600 1 2 5 300 1 2 5 150 0 7 TA4C Double Block Type 60 16384 ...

Page 808: ...gle Block Type 60 16384 16 Horizontal Vertical 800 1 10 600 1 5 300 1 2 5 150 0 7 TA4R Double Block Type 60 16384 10 Horizontal Vertical 600 1 5 300 1 2 5 150 0 7 TA6R Single Block Type 100 16384 20 Horizontal Vertical 1000 1 12 720 1 6 360 1 3 180 0 7 TA6R Double Block Type 100 16384 12 Horizontal Vertical 720 at 45 to 270st 575 at 320st 1 6 360 at 45 to 270st 285 at 320st 1 3 180 at 45 to 270st ...

Page 809: ...1100st Horizontal 1 Vertical 0 7 20 1200 at 50 to 650st 1070 at 700st 940 at 750st 840 at 800st 750 at 850st 670 at 900st 610 at 950st 550 at 1000st 500 at 1050st 460 at 1100st 0 7 10 600 at 50 to 650st 530 at 700st 470 at 750st 410 at 800st 370 at 850st 340 at 900st 310 at 950st 270 at 1000st 250 at 1050st 230 at 1100st 0 5 5 Only for 100W 300 at 50 to 650st 260 at 700st 230 at 750st 200 at 800st...

Page 810: ...st 345 at 850st 310 at 900st 280 at 950st 255 at 1000st 0 5 5 Only for 100W 300 at 50 to 600st 275 at 650st 240 at 700st 215 at 750st 190 at 800st 170 at 850st 150 at 900st 140 at 950st 125 at 1000st 0 3 Cleanroom type RCS3CR RCS3PCR Slider type SA8C 100 150 16384 30 Horizontal Vertical 1800 at 50 to 650st 1510 at 700st 1340 at 750st 1190 at 800st 1070 at 850st 960 at 900st 870 at 950st 790 at 100...

Page 811: ... 0 3 SS8C 100 150 16384 30 Horizontal Vertical 1800 at 50 to 600st 1660 at 650st 1460 at 700st 1295 at 750st 1155 at 800st 1035 at 850st 935 at 900st 850 at 950st 775 at 1000st Horizontal 1 Vertical 0 7 20 1200 at 50 to 600st 1105 at 650st 970 at 700st 860 at 750st 770 at 800st 690 at 850st 625 at 900st 565 at 950st 515 at 1000st 0 7 10 600 at 50 to 600st 550 at 650st 485 at 700st 430 at 750st 385...

Page 812: ...t 50 to 600st 370 at 650st 320 at 700st 285 at 750st 240 at 800st 0 3 High Accel Deceleration Type 0 8 4 200 at 50 to 600st 185 at 650st 160 at 700st 140 at 750st 120 at 800st 0 2 SA7R 60 16384 16 Horizontal Vertical 800 at 50 to 600st 745 at 650st 640 at 700st 575 at 750st 480 at 800st 0 3 8 400 at 50 to 600st 370 at 650st 320 at 700st 285 at 750st 240 at 800st 0 3 4 200 at 50 to 600st 185 at 650...

Page 813: ... 310 at 900st 255 at 1000st 0 3 RCS2 Rod Type RA5C 60 16384 16 Horizontal Vertical 800 at 50 to 250st 755 at 300st 0 3 8 400 at 50 to 250st 377 at 300st 0 3 4 200 at 50 to 250st 188 at 300st 0 2 100 16 800 at 50 to 250st 755 at 300st 0 3 High Accel Deceleration Type 1 8 400 at 50 to 250st 377 at 300st 0 3 High Accel Deceleration Type 1 4 200 at 50 to 250st 188 at 300st 0 2 RGS5C RGD5C 60 16384 16 ...

Page 814: ...0 to 250st 505 at 300st 0 15 6 300 at 50 to 250st 250 at 300st 0 1 3 150 at 50 to 250st 125 at 300st 0 05 100 12 600 at 50 to 250st 505 at 300st 0 2 6 300 at 50 to 250st 250 at 300st 0 1 SRA7BD SRGS7BD SRGD7BD 60 3072 16 Horizontal Vertical 800 0 35 8 400 0 25 4 200 0 15 100 150 16 800 0 4 8 400 0 3 4 200 0 2 RA13R 750 16384 2 5 Horizontal Vertical 85 at 50st 120 at 100st 125 at 150 to 200st 0 02 ...

Page 815: ...CS2 Gripper type GR8 60 16384 Deceleration ratio 1 5 400 0 3 RCS2 Flat type F5D 60 100 16384 16 Horizontal Vertical 800 0 3 8 400 0 3 4 200 0 2 RCS2 Rotary type RT6 60 16384 Deceleration ratio 1 18 500 deg s RT6R 60 16384 Deceleration ratio 1 18 500 deg s RT7R 60 16384 Deceleration ratio 1 4 500 deg s RTC10L 60 16384 Deceleration ratio 1 15 1200 deg s 0 3 Deceleration ratio 1 24 750 deg s RTC12L 1...

Page 816: ...SB 131072 36 1100 at 100st 1425 at 150st 1700 at 200st 1925 at 250st 2075 at 300st 2125 at 350st 2160 at 400 to 550st 2000 at 600st 1740 at 650st 1520 at 700st 1340 at 750st 1190 at 800st 1065 at 850st 960 at 900st 865 at 950st 790 at 1000st 721 at 1050st 660 at 1100st Horizontal 2 Vertical 1 6 SXL 60 Battery less Absolute 131072 Incremental 16384 16 Horizontal Vertical 960 at 130 to 580st 655 at ...

Page 817: ...0 1200 at 100 to 700st 860 at 800st 695 at 900st 570 at 1000st 460 at 1100st Horizontal 1 2 Vertical 1 10 600 at 100 to 700st 430 at 800st 345 at 900st 280 at 1000st 230 at 1100st Horizontal 0 7 Vertical 0 6 5 300 at 100 to 700st 215 at 800st 170 at 900st 140 at 1000st 115 at 1100st Horizontal 0 5 Vertical 0 4 400 Only for ISB 131072 48 1025 at 100st 1325 at 150st 1575 at 200st 1825 at 250st 2025 ...

Page 818: ...st 1 2 20 1200 at 120 to 670st 860 at 770st 695 at 870st 570 at 970st 460 at 1070st Horizontal 1 2 Vertical 1 10 600 at 120 to 670st 430 at 770st 345 at 870st 280 at 970st 230 at 1070st Horizontal 0 7 Vertical 0 6 5 300 at 120 to 670st 215 at 770st 170 at 870st 140 at 970st 115 at 1070st Horizontal 0 5 Vertical 0 4 400 Only for ISB 131072 48 1325 at 120st 1575 at 170st 1825 at 220st 2025 at 270st ...

Page 819: ...0 at 1450st 1050 at 1550st 900 at 1650st 825 at 1750st 750 at 1850st 675 at 1950st 0 4 20 1200 at 800 to 1100st 1100 at 1150st 1000 at 1250st 950 at 1350st 800 at 1450st 700 at 1550st 600 at 1650st 550 at 1750st 500 at 1850st 450 at 1950st 0 4 400 Only for ISB 131072 48 1700 at 800st 1750 at 850st 1800 at 900st 1850 at 950st 1900 at 1000st 1950 at 1050st 2000 at 1100st 2050 at 1150st 2100 at 1200s...

Page 820: ... at 1300st 1 2 20 1200 at 100 to 800st 920 at 900st 765 at 1000st 645 at 1100st 550 at 1200st 440 at 1300st Horizontal 1 2 Vertical 1 10 600 at 100 to 800st 460 at 900st 380 at 1000st 320 at 1100st 270 at 1200st 220 at 1300st Horizontal 0 7 Vertical 0 6 LXL 200 400 Battery less Absolute 131072 Incremental 16384 40 Horizontal Vertical 2400 at 120 to 770st 1840 at 870st 1530 at 970st 1290 at 1070st ...

Page 821: ... 680 at 2500st 0 4 200 400 20 Horizontal 1200 at 1000 to 1200st 1150 at 1300st 1000 at 1400st 950 at 1500st 830 at 1600st 740 at 1700st 650 at 1800st 590 at 1900st 540 at 2000st 490 at 2100st 460 at 2200st 410 at 2300st 370 at 2400st 340 at 2500st 0 4 LXUWX 400 Battery less Absolute 131072 Incremental 16384 40 Horizontal 2400 at 1000 to 1200st 2300 at 1300st 2000 at 1400st 1900 at 1500st 1660 at 1...

Page 822: ...0 at 100 900st 2260 at 1000st 1840 at 1100st 1570 at 1200st 1360 at 1300st Horizontal 1 2 Vertical 1 0 25 1250 at 100 900st 1130 at 1000st 920 at 1100st 785 at 1200st 680 at 1300st Horizontal 1 2 Vertical 1 0 10 600 at 100 800st 460 at 900st 380 at 1000st 320 at 1100st 270 at 1200st 235 at 1300st Horizontal 0 6 Vertical 0 5 10 High payload setting 600 at 100 800st 460 at 900st 380 at 1000st 320 at...

Page 823: ...t Horizontal 0 6 Vertical 0 5 5 250 at 100 to 600st 225 at 700st 180 at 800st 150 at 900st 125 at 1000st Horizontal 0 5 Vertical 0 3 200 16384 20 Horizontal Vertical 1000 at 100 to 600st 915 at 700st 735 at 800st 600 at 900st 500 at 1000st Horizontal 1 Vertical 0 8 10 500 at 100 to 600st 455 at 700st 365 at 800st 300 at 900st 250 at 1000st Horizontal 0 6 Vertical 0 5 MX 200 16384 20 Horizontal 100...

Page 824: ...tal 1 Vertical 0 8 10 500 at 100 to 700st 490 at 800st 400 at 900st 330 at 1000st 280 at 1100st 240 at 1200st 210 at 1300st Horizontal 0 6 Vertical 0 5 750 16384 50 Horizontal Vertical 2000 at 100 to 1000st 1780 at 1100st 1525 at 1200st 1320 at 1300st 1 25 1250 at 100 to 900st 1050 at 1000st 890 at 1100st 760 at 1200st 660 at 1300st Horizontal 1 Vertical 0 8 WX 600 16384 40 Horizontal 2000 at 900 ...

Page 825: ...orce N Maximum push force N Rated push speed mm s Cleanroom type ISDACR ISPDACR Slider type WX 750 16384 50 Horizontal 2000 at 900 to 1700st 1930 at 1800st 1740 at 1900st 1580 at 2000st 1440 at 2100st 1320 at 2200st 1210 at 2300st 1115 at 2400st 1035 at 2500st 0 3 25 1250 at 900 to 1500st 1200 at 1600st 1075 at 1700st 965 at 1800st 870 at 1900st 790 at 2000st 720 at 2100st 660 at 2200st 605 at 230...

Page 826: ...4 10 Horizontal 500 at 100 to 600st 455 at 700st 365 at 800st 300 at 900st 250 at 1000st 0 3 5 250 at 100 to 600st 225 at 700st 180 at 800st 150 at 900st 125 at 1000st 0 15 200 16384 20 Horizontal 1000 at 100 to 600st 915 at 700st 735 at 800st 600 at 900st 500 at 1000st 0 3 10 500 at 100 to 600st 455 at 700st 365 at 800st 300 at 900st 250 at 1000st 0 3 L 200 16384 20 Horizontal 1000 at 100 to 700s...

Page 827: ...0 at 950st 790 at 1000st 730 at 1050st 670 at 1100st 1 2 20 1200 at 100 to 600st 1120 at 650st 990 at 700st 880 at 750st 780 at 800st 710 at 850st 640 at 900st 580 at 950st 530 at 1000st 480 at 1050st 440 at 1100st 1 10 600 at 100 to 600st 560 at 650st 490 at 700st 440 at 750st 390 at 800st 350 at 850st 320 at 900st 290 at 950st 260 at 1000st 240 at 1050st 220 at 1100st Horizontal 0 7 Vertical 0 6...

Page 828: ...60 at 1000st 600 at 1050st 560 at 1100st 510 at 1150st 480 at 1200st 440 at 1250st 410 at 1300st 1 10 600 at 100 to 700st 530 at 750st 480 at 800st 430 at 850st 390 at 900st 360 at 950st 330 at 1000st 300 at 1050st 280 at 1100st 250 at 1150st 240 at 1200st 220 at 1250st 200 at 1300st Horizontal 0 7 Vertical 0 6 LXM Note 750 16384 50 Horizontal Vertical 2500 at 100 to 900st 2320 at 1000st 1950 at 1...

Page 829: ...20 at 1000st 660 at 1050st 610 at 1100st 1 2 20 1100 at 100 to 550st 1090 at 600st 970 at 650st 860 at 700st 770 at 750st 690 at 800st 630 at 850st 570 at 900st 520 at 950st 480 at 1000st 440 at 1050st 400 at 1100st 1 10 600 at 100 to 550st 540 at 600st 480 at 650st 430 at 700st 380 at 750st 340 at 800st 310 at 850st 280 at 900st 260 at 950st 240 at 1000st 220 at 1050st 200 at 1100st Horizontal 0 ...

Page 830: ...t 1000st 550 at 1050st 500 at 1100st 470 at 1150st 440 at 1200st 410 at 1250st 380 at 1300st 1 10 600 at 100 to 600st 580 at 650st 520 at 700st 470 at 750st 420 at 800st 380 at 850st 350 at 900st 320 at 950st 290 at 1000st 270 at 1050st 250 at 1100st 230 at 1150st 220 at 1200st 200 at 1250st 190 at 1300st Horizontal 0 7 Vertical 0 6 L Note 750 16384 50 Horizontal Vertical 1600 at 100 to 1100st 155...

Page 831: ...mum push force N Rated push speed mm s IF SA 60 100 16384 35 Horizontal 1750 0 3 MA 200 400 16384 35 Horizontal 1750 0 3 IFA SA 100 131072 Equivalent to 28 Horizontal 2000 2 0 MA 200 400 131072 Equivalent to 42 Horizontal 3000 2 0 FS NM 60 100 16384 25 Horizontal 1250 0 3 WM 100 200 16384 25 Horizontal 1250 0 3 LM 400 16384 25 Horizontal 1250 1 HM 400 16384 40 Horizontal 2000 0 3 RS 60 60 16384 Ge...

Page 832: ...zontal 720 0 8 SZMS SZMM 60 Incremental 2400 12 Vertical 600 0 7 MXMS MXMM 200 16384 30 Horizontal 1800 1 20 1200 0 8 MXMXS 200 16384 30 Horizontal 1800 0 3 20 1200 0 3 MZMS MZMM 200 16384 20 Vertical 1000 0 5 LXMS LXMM 400 16384 40 Horizontal 2400 1 20 1300 1 LXMXS 400 16384 40 Horizontal 2400 0 3 20 1300 0 3 LZMS LZMM 400 16384 20 Vertical 1000 0 8 NSA MXMS MXMM 200 131072 30 Horizontal 1800 0 5...

Page 833: ...ontal 2500 3 S10SS S10SM 200 90000 90 Horizontal 2500 3 S10HS S10HM 200S 90000 90 Horizontal 2500 3 H8SS H8SM H8HS H8HM 200 50000 50 Horizontal 2500 3 N10SS N10SM 100S 50000 50 Horizontal 2500 3 L15SS L15SM 200 50000 50 Horizontal 2500 3 N15SS N15SM N15HS N15HM 200S 50000 50 Horizontal 2500 3 N19SS N19SM 300S 72000 72 Horizontal 2500 3 W21SS W21SM 400 45000 45 Horizontal 2500 3 LSAS N10SS N10SM 10...

Page 834: ...200 1048576 Deceleration ratio 1 1 1800 deg s LH18S LH18CS 600 131072 Deceleration ratio 1 1 1440 deg s LH18P LH18CP 600 1048576 Deceleration ratio 1 1 1440 deg s DDA CR Including cleanroom type Note LT18CS 200 131072 Deceleration ratio 1 1 Horizontal Vertical 1800 deg s 9 99 LT18CP 1048576 LH18CS 600 131072 1440 deg s 9 99 LH18CP 1048576 Dust and drip proof type DDW Note LH18CS 600 131072 Deceler...

Page 835: ...2 Scope of the Warranty 14 1 14 3 Honoring the Warranty 14 1 14 4 Limited Liability 14 2 14 5 Conformance with Applicable Standards Regulations etc and Application Conditions 14 2 14 6 Other Items Excluded from Warranty 14 2 RSEL Chapter 14 ...

Page 836: ... 4 The breakdown or malfunction in question was caused by a specification defect malfunction or poor product quality Note that breakdowns due to any of the following reasons are excluded from the scope of warranty 1 Anything other than our product 2 Modification or repair performed by a party other than IAI unless approved by IAI 3 Anything that could not be easily predicted with the level of scie...

Page 837: ...h require a high level of safety Accordingly as a rule our product cannot be used in these applications Contact IAI if you must use our product for any of these applications 1 Medical equipment used to maintain control or otherwise affect human life or physical health 2 Mechanisms and machinery designed for the purpose of moving or transporting people vehicles railway facilities aviation facilitie...

Page 838: ...Chapter 14 Warranty 14 Warranty 14 3 ME0392 4C ...

Page 839: ... 3 Noise countermeasures and mounting method correction made in Circuit Diagram for 200V Type 2 1 Change made to title 2 2 Selection of Power supply capacity and Leakage Breaker contents added 2 2 2 Limitation in Unit connection restrictions changed in Example 13 for 200V system motor power supply 3 1 1 Overview change made to diagram in example for connection 3 1 4 Part names Functions 9 External...

Page 840: ...Use of Each Network and Parameter added 6 5 Example of Connectivity Setting added 9 1 Multi Slider Excess Approaching Detection Collision Prevention Feature added 10 3 SCON and Detail page added Parameter No 144 145 146 195 196 added 10 3 2 Details of Driver Unit Parameter added 10 6 Parameter Configuration Advanced Use added 11 3 Error List contents revised 11 4 Alarm Codes of Driver Unit added G...

Page 841: ...cess how to replace fan unit deleted instruction how to attach added 3 8 2 Description changed for unit layout restrictions 4 4 1 Recommended model code added for rod terminal ferrule terminal 4 7 Brake box option added 5 3 Driver configuration changed to axis setting 9 1 Correction made to parameters 9 2 Parameter setting added for PSA 24 communication monitoring 9 4 Change made to destination fo...

Page 842: ...oftware enclosed cables etc added 6 3 4 Change made to parameter names 13 2 1 Change made and added to actuator specifications Edition 4C 8 2 2 Note added for 6 absolute reset 11 3 Error numbers No 107 4B2 4B3 4B4 and 646 deleted from Error List 13 2 ISB WXM WXMX and IFA added in Connectable Actuators List ...

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Summary of Contents for R-unit RSEL

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IAI R-unit RSEL, Instruction Manual, Page: 440 / 844

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Summary of Contents for R-unit RSEL

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