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IAI SCON-CB-F, Instruction Manual

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SCON-CB Series Controller 

Instruction Manual

 

Fifth Edition

CB-F 

Standard Type 

LC 

PLC Feature Equipped Type 

CGB-F  Safety Category Complied Type 
LCG 

Safety Categories Complying 

PLC Feature Equipped Type 

 

Summary of Contents for SCON-CB-F

Page 1: ...SCON CB Series Controller Instruction Manual Fifth Edition CB F Standard Type LC PLC Feature Equipped Type CGB F Safety Category Complied Type LCG Safety Categories Complying PLC Feature Equipped Type ...

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Page 3: ...s of products and trademarks of each company shown in the sentences are registered trademarks Please Read Before Use Thank you for purchasing our product This Instruction Manual describes all necessary information items to operate this product safely such as the operation procedure structure and maintenance procedure Before the operation read this manual carefully and fully understand it to operat...

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Page 5: ...IP EtherNet IP ME0278 ⅶ EtherCAT EtherCAT ME0273 ⅷ PROFINET IO PROFINET IO ME0333 ⅸ MECHATROLINK Ⅲ MECHATROLINK Ⅲ ME0317 ⅹ RCON Connection RCON System ME0384 Teaching Tool PC Software PC Software ME0155 Teaching BOX ⅰ TB 01 Touch Panel Teaching ME0324 ⅱ TB 02 Touch Panel Teaching ME0355 ⅲ TB 03 Data Setter ME0376 Note 1 CC Link DeviceNet PROFIBUS DP CompoNet MECHATROLINK Ⅰ Ⅱ EtherNet IP EtherCAT P...

Page 6: ...ontrol function to reduce vibration caused by actuator Chapter 6 Power Saving Function Auto Servo motor OFF Function In this chapter explains how the power consumption can be saved 267 Chapter 7 Absolute Reset and Absolute Battery In this chapter explains the procedures for absolute reset and replacement of battery 269 Chapter 8 Parameter In this chapter explains about the controller settings 277 ...

Page 7: ...t Interface Excluding Type for 3000W and above LC Type and Feeldbus Type 34 1 5 Options 34 1 5 1 Pulse Conveter AK 04 34 1 5 2 Pulse Conveter JM 08 35 1 5 3 Regenerative Unit Option 36 1 5 4 Brake Box RCB 110 RA13 0 38 1 5 5 Loadcell Excluding RCS3 RA15R and RCS3 RA20R 39 1 6 Installation and Storage Environment 40 1 7 Noise Elimination and Mounting Method 41 Chapter 2 Wiring 45 2 1 Positioner Mod...

Page 8: ...control mode 153 3 2 2 Control of Input Signal 160 3 2 3 Operation Ready and Auxiliary Signals Common to Patterns 0 to 7 160 3 2 4 Operation with the Position No Input Operations of PIO Patterns 0 to 3 and 6 172 3 2 5 Direct Position Specification Solenoid Value Mode 1 Operations of PIO Patterns 4 or 7 196 3 2 6 Direct Position Specification Solenoid Value Mode 2 Operations of PIO Patterns 5 213 3...

Page 9: ...ist 334 Chapter 10 Appendix 347 10 1 Way to Set Multiple Controllers with 1 Teaching Tool 347 10 1 1 Connecting Example 347 10 1 2 Detailed Connection Diagram of Communication Lines 348 10 1 3 Axis No Setting 349 10 1 4 Handling of e CON Connector How to Connect 350 10 1 5 SIO Converter 351 10 1 6 Communications Cable 353 10 1 7 External Dimension 353 10 2 Conformity to Safety Category 354 10 3 Ma...

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Page 11: ...re is included includes the following instruction manuals RC PC software Refer to Instruction Manuals related to this product which are provided on the 1 1 3 DVD 1 SCON CB LC Instruction Manual this manual PLC Feature Equipped Type 2 RC PC Software Instruction Manual ME0155 Ladder Edit Program LC LDS 01 3 Touch Panel Teaching Instruction Manual ME0324 For Field Network Type 4 LC Ladder Programing ...

Page 12: ... Encoder Type Earth Terminal Grounding resistance at 100Ω or less Copper Wire Connect to a ground cable with diameter 2mm 2 AWG14 or more Connect the ground line together to the main unit using the fixing screw Type Name 1 CB CGB select from positioner and pulse train 2 LC LCG Ladder control I O Type 1 NP PN For PIO control 2 For others dedicated for field network control MODEL SCON CB 100I NP 5 2...

Page 13: ...rew fixed type Install in the orientation shown in the figure below for heat radiation For 3000W type Brake Box Regeneration Unit Air Flow Fan 10mm or more 100mm or more 50mm or more 50mm or more 100mm or more 30mm or more 50mm or more 50mm or more 50mm or more 50mm or more 10mm or more 150mm or more Air Flow Air Flow 150mm or more 100mm or more 50mm or more 30mm or more 50mm or more 30mm or more ...

Page 14: ...d network type CB SC REU010 Regenerative Resistor Unit REU 2 option Required depending on usage condition Refer to 1 5 3 Regenerative Unit CB ST REU010 Power Source Single Phase 100V AC or 200V AC Power Supply Connector Absolute Battery for Absolute Type PLC Note1 Power Source for I O Control Note1 Flat Cable Accessories PC Software option Note1 Power Supply for Brake It is necessary when actuator...

Page 15: ...ate an alarm if it hits to the mechanical end or peripherals when the servo is turned ON Also in case the actuator is installed in vertical orientation turning on and off the servo at the same spot may cause a slight drop by the self gravity Pay attention not to pinch your finger or damage a work piece Caution Pay attention not to pinch your finger or damage a work piece by dropping the actuator w...

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Page 17: ...ant safety parts of machinery Safety device etc Do not use the product outside the specifications Failure to do so may considerably shorten the life of the product Do not use it in any of the following environments 1 Location where there is any inflammable gas inflammable object or explosive 2 Place with potential exposure to radiation 3 Location with the ambient temperature or relative humidity e...

Page 18: ...the safety factor of the hook in such factors as shear strength Do not get on the load that is hung on a crane Do not leave a load hung up with a crane Do not stand under the load that is hung up with a crane 3 Storage and Preservation The storage and preservation environment conforms to the installation environment However especially give consideration to the prevention of condensation Store the ...

Page 19: ...seness Failure to do so may cause a fire electric shock or malfunction of the product Never cut and or reconnect the cables supplied with the product for the purpose of extending or shortening the cable length Failure to do so may cause the product to malfunction or cause fire 4 Installation and Start 3 Grounding The grounding operation should be performed to prevent an electric shock or electrost...

Page 20: ... to secure safety Do not insert a finger or object in the openings in the product Failure to do so may cause an injury electric shock damage to the product or fire When releasing the brake on a vertically oriented actuator exercise precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity 5 Teaching When the work is carried out with 2 or more persons make it c...

Page 21: ...minal block or any of the various setting switches in the power ON mode Failure to do so may result in an electric shock or malfunction 7 Automatic Operation Check before starting the automatic operation or rebooting after operation stop that there is nobody in the safety protection fence Before starting automatic operation make sure that all peripheral equipment is in an automatic operation ready...

Page 22: ...sult in a damage to the product When releasing the brake on a vertically oriented actuator exercise precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity The slider or rod may get misaligned OFF the stop position if the servo is turned OFF Be careful not to get injured or damaged due to an unnecessary operation Pay attention not to lose the cover or untigh...

Page 23: ...he product is not handled correctly will result in death or serious injury Danger Warning This indicates a potentially hazardous situation which if the product is not handled correctly could result in death or serious injury Warning Caution This indicates a potentially hazardous situation which if the product is not handled correctly may result in minor injury or property damage Caution Notice Thi...

Page 24: ... can be performed by using the parameter No 25 PIO pattern selection Refer to Chapter 3 Operation and Chapter 8 I O Parameter The PIO pattern is set to 0 Standard Type when the unit is delivered Set the operation pattern setting to the logic that suits to your use after the power is turned on 4 Clock Setting in Calendar Function There may be a case that Alarm Code 069 Real Time Clock Vibration Sto...

Page 25: ... Refer to 3 2 3 3 or 3 3 2 5 Servo ON This parameter is set to 0 Enable at delivery Have the setting that suits to the desirable control logic 2 Pause Signal STP The input signal of the pause signal STP is always ON considering the safety Therefore in general the actuator would not operate if this signal is not ON It is available to make this signal to Disable if this signal is undesirable It is s...

Page 26: ...r scan time for the timer setting to conduct the reading process on the PLC side safely Operation Image Also if one tries to read the signal that is being re written by the other the signal may be read wrongly Make sure to read the signal after the rewriting is complete It is recommended to have more than 2 scan periods to wait Make sure not to have the output side to change the output until the o...

Page 27: ... facts as the safety demand level and frequency of drive cutoff Please use it in limitation to the way to use as described below Do not expect reliability of the drive cutoff relay Anything can do as long as driving source can be cut off Take around 5 times a day as a reference to turn ON OFF the drive cutoff relay Thermistor type which the resistance gets high and restrains in rush current in low...

Page 28: ...he SCON controller is provided The overload protection works at 115 of the whole load current of the servomotor as the criteria 3 Short Circuit Current Rating SCCR This product is to be used with a power supply of 5 000Arms or lower The available maximum voltage is as shown below 200V system products 240V AC 100V system products 120V AC 4 Branch Circuit Protection Integral solid state short circui...

Page 29: ...o connect with an external regenerative unit 5 System I O Connector SYS I O Refer to 2 5 2 Wiring for Emergency Stop Circuit System I O This connector is used to connect with the emergency stop switch Caution In this manual each type of CB CGB is stated as CB In this manual each type of LC LCG is stated as LC 9 CB CGB Type Connector for Pulse Train Control Note 1 CB CGB Type Multi function connect...

Page 30: ...he controller Changing the setting after the power on is invalid Caution Note duplicate axis number setting which causes a communication error alarm code 30C no connection axis error to occur and disables normal communication 8 Status Indicator LEDs PWR SV ALM EMG Following show the controller operation status Illuminating OFF Δ Illuminating or OFF LED PWR Green SV Green ALM Orange EMG Red Operati...

Page 31: ...r SIO Refer to 2 5 8 SIO Connector Connection The SIO connector is used to connect the controller with a teaching tool such as PC software or a gateway unit through a proper communication cable 13 Brake Release Switch BK RLS NOM For the actuator equipped with a brake the switch is used to release the brake forcibly Warning Always set the switch to NOM in normal operation The brake would not work e...

Page 32: ... 3 Actuator Emergency Stop Circuit System I O Connector It is a connector to connecting the operation mode stop switch of the actuator 2 Power Supply Connector 7 Regenerative Unit Connector 6 Motor Connector 3 System I O Connector 5 Piano Switch Not to use 1 FG Grounding Terminal 12 PIO Connector 11 Multi Function Connector 14 SIO Connector 13 Operation Mode Setting Switch 15 Brake Release Switch ...

Page 33: ...7 Regenerative Unit Connector RB Refer to 2 2 3 6 Circuit of Regenerative Units It is a connector to connecting regenerative unit 8 Internal Regenerative Resistor Valid Connector Short circuit cable is connected at delivery Caution Make sure to use the unit in the condition that the short circuit cable is connected Use the unit without this connected may damage the device 9 Charge Status Display L...

Page 34: ... as PC software through a proper communication cable 15 Brake Release Switch BK RLS NOM For the actuator equipped with a brake the switch is used to release the brake control 16 Motor Power Supply Connector BK PWR 2 2 3 2 Brake Power Supply Circuit For the actuator equipped with a brake the connector supplies the power 24V DC to release the brake 17 Encoder Connector PG Refer to 2 2 3 4 Motor Enco...

Page 35: ...is restricted For CC Link 1 station 1 time Remote device station For those other than CC Link Input 8 bytes output 8 bytes Master SCON Master SCON RX00 0F Not to Use RY00 0F Not to Use PLC Word SCON PLC Word SCON RX10 1F Not to Use RY10 1F Not to Use Input 0 Y000 00F Output 0 X000 00F RWr0 Y000 00F RWw0 X000 00F Input 1 Y010 01F Output 1 X010 01F RWr1 Y010 01F RWw1 X010 01F Input 2 Y020 02F Output...

Page 36: ... M2340 M2339 M2338 M2337 M2336 Signal Name of Complete Position Number PM512 PM256 PM128 PM64 PM32 PM16 PM8 PM4 PM2 PM1 Status Signal M2367 M2366 M2365 M2364 M2363 M2362 M2361 M2360 M2359 M2358 M2357 M2356 M2355 M2354 M2353 M2352 Status Signal Name EMGS PWR ZONE2 ZONE1 PZONE MODES WEND RMDS BALM PSFL SV ALM MOVE HEND PEND Example of SCON output side Assignment b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b...

Page 37: ... defines the home position and items in are for the home reversed type option Caution There are some actuators that are not applicable to the origin reversed type Check further on the catalog or the Instruction Manual of the actuator 1 Rod Type 2 Slider Type 3 Table Type Flat Type 4 Arm Type ...

Page 38: ... Rotary Type 300 Rotation Specification 360 Rotation Specification 360 Rotation Specification For Multiple Rotation Type with the origin reversed type the directions of and are the other way around Finger Attachment 300 0 ...

Page 39: ...m I O Connector For 750W Type FMC1 5 4 ST 3 5 Supplier Phoenix Contact 4 System I O Connector For 3000W Type FMC1 5 6 ST 3 5 Supplier Phoenix Contact Applicable Cable Size 1 25 to 0 5mm2 AWG16 to 20 5 Brake Power Supply Connector MC1 5 2 ST 3 5 Supplier Phoenix Contact Applicable Cable Size 1 25 to 0 5mm2 AWG16 to 20 AC Power Supply Connector For 750W Type MSTB2 5 6 STF 5 08 Supplier Phoenix Conta...

Page 40: ... LCG 10 Connection Cable Between RCON and SCON or Between SCON and SCON CB RE CTL002 0 2m Enclosed for SCON CB CGB RCON Connection Type 11 Safety Guide Shown in the figure is an image 12 First Step Guide Shown in the figure is an image 13 Instruction Manual DVD Shown in the figure is an image ...

Page 41: ...nstruction Manuals Related to this Product which are Contained in the Instruction Manual DVD No Name Manual No 1 SCON CB CGB LC LCG Controller Instruction Manual ME0340 2 RCON System Instruction Manual ME0384 3 PC Software RCM 101 MW RCM 101 USB Instruction Manual ME0155 4 Data Setter TB 03 Position Controller ELECYLINDER Wired Link Instruction Manual ME0376 5 Touch Panel Teaching TB 02 02D Applic...

Page 42: ...00 400W 30R 30W for RS 600 600W 60 60W 750 750W 100 100W 750S RCS2 RA13R 100S 100W LSA with Loadcell 150 150W 3000 3000W 200 200W 3300 3300W Encoder Type WAI Battery less Absolute Incremental A Absolute G Spurious Absolute Option Not Indication Standard Type HA High Accel Decel Type I Index Absolute Type DD M Multi Rotation Absolute Type DD Identification for IAI use only There is no identificatio...

Page 43: ...solute Serial Encoder Battery less Absolute Encoder Actuator Cable Length MAX 20m Serial Communication Interface RS485 1CH based on Modbus Protocol RTU ASCII Speed 9 6 to 230 4Kbps Control available with serial communication in the modes other than the pulse train PIO Type Signal I O dedicated for 24V DC selected from NPN PNP Input 16 points max output 16 points max External Interface Field Networ...

Page 44: ... freeze Surrounding environment Refer to 1 6 Installation and Storage Environment Surrounding storage temperature 20 to 70 C should be no condensation or freeze Surrounding storage humidity 85 RH or less should be no condensation or freeze Vibration Resistance Frequency 10 to 57Hz Amplitude 0 035mm Continuous 0 075 Intermittently Frequency 57 to 150Hz Acceleration 4 9m s 2 Continuous 9 8m s 2 Cont...

Page 45: ... Direct Drive Motor 1 2 3 Selection of Circuit Interrupter For the selection of the circuit breaker perform it according to the following items 3 times of the rated current flows to the controller during the acceleration deceleration Select an interrupter that does not trip with this value of current If a trip occurs select an interrupter that possesses the rated current of one grade higher Check ...

Page 46: ...revention of fire and protection of human Leak current varies depending on the capacity of connected motor cable length and the surrounding environment Measure the leak current at the point where a ground fault circuit interrupter is to be installed when leakage protection is conducted Use the harmonic type for inverter for the ground fault circuit interrupter ...

Page 47: ...e Encoder Type It is not necessary when using Pulse Train Control because it does not comply with it 200 5 φ4 2 29 min80 1 3 2 SCON CB CGB LC LCG 400W to 750W In Absolute Battery Attachment Absolute Encoder Type It is not necessary when using Pulse Train Control because it does not comply with it Fan 72 121 min80 43 184 5 194 200 5 φ4 2 4 2 ...

Page 48: ...1 Specifications Check 32 1 3 3 SCON CGB 3000W and above ...

Page 49: ...nsulation Insulation with Photocoupler NPN P24 680Ω 5 6kΩ Controller Internal Power Source Input Terminal External Power Supply 24V DC 10 10Ω N P24 Controller Internal Power Source Output Terminal External Power Supply 24V DC 10 Load PNP 680Ω 5 6kΩ N Controller Internal Power Source Input Terminal External Power Supply 24V DC 10 Controller P24 10Ω N Internal Power Source Output Terminal External P...

Page 50: ...n the open collector mode Item Specification Input Power Supply 24V DC 10 MAX 50mA Input Pulse O C Collector current MAX 12mA Input Frequency 200KHz or less Output Pulse Differential output equivalent to 26C31 MAX 10mA Mass 10g or less excluding cable connector Accessories 37104 3122 000FL e CON Connector 2 Units Cover Color YW Applicable wire AWG No 24 to 26 Less than 0 14 to 0 3mm 2 finished O D...

Page 51: ...ector current MAX 25mA Mass 10g or less excluding cable connector Accessories 37104 3122 000FL e CON Connector 2 Units Applicable wire AWG No 24 to 26 Less than 0 14 to 0 3mm2 finished O D φ1 0 to 1 2mm External Dimensions Caution 1 Use the pulse converter in the ambient temperature range between 0 C to 40 C 2 The temperature increase of about 30 C occurs during operation Accordingly neither insta...

Page 52: ...attachment standard type REU 1 Screw attachment small type RESU 1 Model 2nd unit or later DIN rail attachment small type RESUD 1 Regenerative resistor unit connection cable Model code CB ST REU010 1m enclosed Specification REU 1 REU 2 RESU 1 RESU 2 RESUD 1 RESUD 2 Body Size mm W34 H195 D126 W34 H154 D106 5 W34 H158 D115 Body Mass Approx 0 9kg Approx 0 4kg Internal Regenerative Resistor 235 Ω 80W A...

Page 53: ...t attempt to install the unit near a flammable object Do not attempt to touch them It is recommended that the cables to be used should possess high performance in the heat resistance Also pay attention to have the cables not to touch the external regenerative resistor units The unit is equipped with a built in temperature sensor Establish the circuit constructed to cut off the power source when th...

Page 54: ...connection Short circuit of pin No 1 and 2 of this connector releases the brake compulsorily Same as the brake release switch ON controller unit it is possible to release the brake Do not keep the compulsory release condition while in automatic operation Connected Equipment Brake Release Switch Connector on Cable Side Please prepare separately XAP 02V 1 Contact BXA 001T P0 6 JST Switch Rating 30V ...

Page 55: ...he rated capacity of the loadcell Specifications Item Specification Loadcell System Strain Gauge Rated Capacity N 200 600 2000 6000 20000 Allowable Oberload Note 1 R C 200 200 200 200 Lordcell Accuracy R C 1 0 1 0 1 0 Ambient temperature range C 0 to 40 Dielectric strength voltage V DC50 Installation Drawing When installed to RCS2 RA13R Check the Instruction Manual for details of how to attach and...

Page 56: ...xposed to direct sunlight Location where the product may come in contact with water oil or chemical droplets Environment that blocks the air vent Refer to 1 7 Noise Elimination and Mounting Method When using the product in any of the locations specified below provide a sufficient shield Location subject to electrostatic noise Location where high electrical or magnetic field is present Location wit...

Page 57: ...lves magnet switches and relays Measure Install a Surge absorber parallel with the coil 2 DC solenoid valves magnet switches and relays Measure Mount the windings and diodes in parallel Select a diode built in type for the DC relay Controller Do not share the ground wire with or connect to other equipment Ground each controller Earth Terminal Use a copper wire cable with its width 2 0mm 2 AWG14 or...

Page 58: ... factors to keep the ambient temperature around the controller below 40 C Please fan to make the ambient temperature even For Controller for Motors of up to 750W 150mm or more Air Flow Brake Box Regeneration Unit Air Flow Fan 10mm or more 100mm or more 50mm or more 50mm or more 100mm or more 30mm or more 50mm or more 50mm or more 50mm or more 50mm or more 10mm or more ...

Page 59: ...1 Specifications Check 43 For Controller for Motors of 3000W and above 30mm or more 50mm or more 30mm or more 50mm or more 100mm or more 150mm or more Air Flow ...

Page 60: ...1 Specifications Check 44 ...

Page 61: ...C REU010 CB ST REU010 FG Connection Terminal 24V DC 24V DC Power Source Single Phase 100V AC or 200V AC Power Source for I O Control Note1 LED Display Changeover Switch Brake Release Switch If using RCS2 RA13R or NS Type for the actuator and the option shown in the table is applied the wiring between the actuator and the controller will differ from the basic wiring layout Shown in the table is the...

Page 62: ... option Brake Box CB RCS2 PLA010 enclosed to Brake Box NS Actuators with Brake RCS2 RA13R with Brake 2 RCS2 RA13R Equipped with no Brake with Loadcell RCS2 RA13R with Loadcell CB RCS2 PLLA Absolute Battery for Absolute Type 3 RCS2 RA13R Equipped with Brake and Loadcell 24V DC Absolute Battery for Absolute Type Power Supply for Brake Connect to back side Brake Box RCB 110 RA13 0 CB LDC CTL JY CB RC...

Page 63: ... binary code Zone signal output None PIO Pattern 4 4 Solenoid Valve Mode 1 7 point type Number of positioning points 7 points Position command Individual number signal ON Zone signal output 1 1 point Position zone signal output 2 1 point PIO Pattern 5 5 Solenoid Valve Mode 2 3 point type Number of positioning points 3 points Position command Individual number signal ON Completion signal Signal equ...

Page 64: ... CSTR PWRT CSTR CSTR 19A IN14 RES RES RES RES 20A Input IN15 SON SON SON SON 1B OUT0 PM1 PM1 PM1 PM1 2B OUT1 PM2 PM2 PM2 PM2 3B OUT2 PM4 PM4 PM4 PM4 4B OUT3 PM8 PM8 PM8 PM8 5B OUT4 PM16 PM16 PM16 PM16 6B OUT5 PM32 PM32 PM32 PM32 7B OUT6 MOVE MOVE PM64 PM64 8B OUT7 ZONE1 MODES PM128 PM128 9B OUT8 Note1 PZONE ZONE2 PZONE ZONE1 PZONE ZONE1 PM256 10B OUT9 RMDS RMDS RMDS RMDS 11B OUT10 HEND HEND HEND H...

Page 65: ...ES RES RES RES 20A Input IN15 SON SON SON SON 1B OUT0 PE0 LS0 PM1 PE0 2B OUT1 PE1 LS1 TRQS PM2 PE1 3B OUT2 PE2 LS2 Note2 PM4 PE2 4B OUT3 PE3 PM8 PE3 5B OUT4 PE4 PM16 PE4 6B OUT5 PE5 TRQS TRQS 7B OUT6 PE6 LOAD LOAD 8B OUT7 ZONE1 ZONE1 CEND CEND 9B OUT8 Note1 PZONE ZONE2 PZONE ZONE2 PZONE ZONE1 PZONE ZONE1 10B OUT9 RMDS RMDS RMDS RMDS 11B OUT10 HEND HEND HEND HEND 12B OUT11 PEND PEND PEND 13B OUT12 ...

Page 66: ... this signal is OFF 3 2 3 HOME Home return The controller will perform home return operation when this signal is turned ON 3 2 3 MODE Teaching mode The operating mode will change to the teaching mode when this signal is turned ON The mode will not be switched over unless CSTR JOG and JOG are all OFF and the actuator operation is stopped 3 2 4 JISL Jog inching selector Jog Operation can be performe...

Page 67: ... by the input of the mode signal and will turn OFF when the mode changes to the normal mode 3 2 4 WEND Writing Complete It is OFF during the teaching mode and turns ON when the writing by PWRT Signal is complete It turns OFF when PWRT Signal turns OFF 3 2 4 PE0 to PE6 Current Position Number In the electromagnetic valve mode this signal will turn ON when the actuator completes moving to the target...

Page 68: ...ower Supply L1 L2 L1 L2 L1C L2C SCON Power Supply Input Connector Note The power voltage of the controller 100V AC or 200V AC cannot be changed 2 Brake Power Supply Circuit Note Supply 24V DC if the used actuator is equipped with a brake Brake Power Supply Connector BK PWR 24V DC 0V SCON Grounding resistance at 100Ω or less Grounding Class D ...

Page 69: ...aking the emergency stop input EMG on the equipment and teaching tool activated Circuit Example Wiring Image Wiring conducted at delivery Teaching Tool Connection Detection Circuit Contact opens when connected External Emergency Stop Switch SCON Emergency Stop Switch of Teaching Tool SIO Connector System I O Connector Dedicate d for emergen cy stop circuit Drive Cutoff Circuit System I O Connector...

Page 70: ... between S1 and S2 terminals even if a teaching tool is removed The controller on CB LC type automatically identifies that a teaching tool was inserted Short circuit is made between S1 and S2 terminals inside the controller once connection is detected Note 4 Since there is no motor power cutoff relay in CGB LCG type make sure to establish a cutoff relay externally Motor Power Cutoff Relay Motor po...

Page 71: ...1C L2C Note 4 Note 1 The power rating of the motor power off relay turning ON OFF with contact CR1 is 24V DC and 10mA or less Note 2 Connect such as a connector to L1 L2 terminals when cutting off the motor power source externally CB LC type are equipped with the drive cutoff relay mounted inside the controller Note 3 CGB LCG type are not equipped with a relay to enable to automatically identify a...

Page 72: ... equipped with LS CB X2 PLA For RCS2 CB RCS2 PA For RCS2 RT RA13R CB RCS2 PLA For RCS3 equipped with loadcell CB RCS2 PLDA For RCS3 equipped with loadcell robot cable CB RCS2 PLDA RB For RCS2 RA13R equipped with loadcell CB RCS2 PLLA For RCS2 RA13R equipped with loadcell robot cable CB RCS2 PLLA RB Note 2 Applicable Motor Cable types cable length Example 030 3m Actuator Type Cable For Linear excep...

Page 73: ...ctor 24V DC 0V NS Type RCS2 RA13R Example RCS2 RA13R BK 24V DC 0V CB RCC MA CB RCS2 PLA PWR Brake Power Supply Connector CONTROLLER2 Encoder Input Connector ACTUATOR2 Encoder Connector Encoder Connector Motor Connector Equipped with brake 3 Connection when RCS2 RA13R with loadcell with no brake SCON RCS2 RA13R Equipped with loadcell MOT Motor Connector Brake Power Supply Connector PG Encoder Conne...

Page 74: ...it Switch Connector ACTUATOR1 Encoder Output Connector 24V DC 0V RCS2 RA13R Equipped with brake and loadcell BK 24V DC 0V CB RCS2 PLA PWR CONTROLLER2 Encoder Input Connector ACTUATOR2 Encoder Connector MOT Motor Connector Brake Power Supply Connector PG Encoder Connector CB RCC MA CB RCS2 PLLA CB LDC CTL JY only when force control is used CB LDC CTL Cable in the cable track 2 1 3 ...

Page 75: ...leted Position No 4 Command Position No 8 BL 1 6A PC8 PM32 6B BL 3 Completed Position No 8 Command Position No 16 PL 1 7A PC16 MOVE 7B PL 3 Completed Position No 16 Command Position No 32 GY 1 8A PC32 ZONE1 8B GY 3 Completed Position No 32 Brake Control Release WT 1 9A BKRL 9B WT 3 Moving Operation Mode Changeover BK 1 10A RMOD RMDS 10B BK 3 Zone Home Return BR 2 11A HOME HEND 11B BR 4 Pause RD 2 ...

Page 76: ... Status Home Return Teaching Mode Jog inching Changeover Jog Move 11A HOME HEND 11B Pause 12A STP PEND WEND 12B Operating Mode Status Manual Mode 13A CSTR PWRT SV 13B Home Return Completion Reset 14A RES EMGS 14B Position Writing Completion Servo ON 15A SON ALM BALM 15B Servo ON Status 16A 16B Emergency Stop Status 17A N 17B Alarm 18A N 18B Absolute Battery Voltage Drop Warning Output 19A 19B 20A ...

Page 77: ... Control Release 9A BKRL 9B Operation Mode Changeover 10A RMOD RMDS 10B Home Return 11A HOME HEND 11B Pause 12A STP PEND 12B Start 13A CSTR SV 13B Reset 14A RES EMGS 14B Servo ON 15A SON ALM BALM 15B 16A 16B 17A N 17B 18A N 18B 19A 19B 20A 20B SCON PIO Connector Operating Mode Status Manual Mode Home Return Completion Position Completion Servo ON Status Emergency Stop Status Alarm Absolute Battery...

Page 78: ... Position No 128 Completed Position No 256 9A BKRL 9B 10A RMOD RMDS 10B 11A HOME HEND 11B 12A STP PEND 12B 13A CSTR SV 13B 14A RES EMGS 14B 15A SON ALM BALM 15B 16A 16B 17A N 17B 18A N 18B 19A 19B 20A 20B SCON PIO Connector Brake Control Release Operation Mode Changeover Home Return Pause Start Reset Servo ON Operating Mode Status Manual Mode Home Return Completion Position Completion Servo ON Sta...

Page 79: ...RES EMGS 14B 15A SON ALM BALM 15B 16A 16B 17A N 17B 18A N 18B 19A 19B 20A 20B SCON PIO Connector BR 1 RD 1 OR 1 YW 1 GN 1 BL 1 PL 1 GY 1 WT 1 BK 1 BR 2 RD 2 OR 2 YW 2 GN 2 BL 2 PL 2 GY 2 WT 2 BK 2 BR 3 RD 3 OR 3 YW 3 GN 3 BL 3 PL 3 GY 3 WT 3 BK 3 BR 4 RD 4 OR 4 YW 4 GN 4 BL 4 PL 4 GY 4 WT 4 BK 4 Brake Control Release Operation Mode Changeover Home Return Pause Reset Servo ON Zone Operating Mode St...

Page 80: ... N 18B 19A 19B 20A 20B SCON PIO Connector Alarm Servo ON Status Emergency Stop Status Absolute Battery Voltage Drop Warning Output Zone Operating Mode Status Manual Mode Home Return Completion Brake Control Release Operation Mode Changeover BR 1 RD 1 OR 1 YW 1 GN 1 BL 1 PL 1 GY 1 WT 1 BK 1 BR 2 RD 2 OR 2 YW 2 GN 2 BL 2 PL 2 GY 2 WT 2 BK 2 BR 3 RD 3 OR 3 GN 3 BL 3 PL 3 GY 3 WT 3 BK 3 BR 4 RD 4 OR 4...

Page 81: ...OME HEND 11B 12A STP PEND 12B 13A CSTR SV 13B 14A RES EMGS 14B 15A SON ALM BALM 15B 16A 16B 17A N 17B 18A N 18B 19A 19B 20A 20B SCON PIO Connector BR 1 RD 1 OR 1 YW 1 GN 1 BL 1 PL 1 GY 1 WT 1 BK 1 BR 2 RD 2 OR 2 YW 2 GN 2 BL 2 PL 2 GY 2 WT 2 BK 2 BR 3 RD 3 OR 3 YW 3 GN 3 BL 3 PL 3 GY 3 WT 3 BK 3 BR 4 RD 4 OR 4 YW 4 GN 4 BL 4 PL 4 GY 4 WT 4 BK 4 Brake Control Release Operation Mode Changeover Home ...

Page 82: ...t Signal 2 Start Signal 1 Loadcell Calibration Command Brake Control Release Operation Mode Changeover Home Return Pause Reset Servo ON Torque Level Status Load Judgment Output Loadcell Calibration Complete Operating Mode Status Manual Mode Home Return Completion Position Completion Servo ON Status Emergency Stop Status Alarm Absolute Battery Voltage Drop Warning Output BR 1 RD 1 OR 1 YW 1 GN 1 BL...

Page 83: ...ng 67 6 Regenerative Units Circuit SCON RB Regenerative Units Connector Regenerative Units REU2 RESU 2 RESUD 2 Regenerative Units REU1 RESU 1 RESUD 1 CB SC REU010 CB ST RB IN RB OUT RB IN RB OUT REU010 2 1 3 ...

Page 84: ...ULSE Pulse Train Control Connector Grounding resistance at 100Ω or less Cable clamping SCON A phase feedback pulse B phase feedback pulse Z phase feedback pulse 13 14 0V COM 0V 0V Host Unit Note Note Pulse Converter JM 08 Option SCON 7 8 9 10 11 12 13 14 CB SC PIOS 0V PULSE AFB AFB BFB BFB ZFB ZFB 0V 0V 1 2 3 4 1 2 3 4 1 0V 24V DC 24V DC 24V DC 24V PP 2 0V PP 3 PP NP 4 NP NP 1 24V PP 2 0V PP 3 PP ...

Page 85: ...gram Teaching Tool Power Cutoff Breaker As SCON CGB for 3000 to 3300W does not have the drive cutoff circuit make sure to establish cutoff externally Caution Make sure to turn the power to the controller OFF when inserting or removing the connector that connects the PC software or touch panel teaching to the controller Inserting or removing the connector while the power is turned ON causes a contr...

Page 86: ...56 points Position command binary code Position zone signal output 2 1 point PIO Pattern 3 3 512 point mode Number of positioning points 512 point type Number of positioning points 512 points Position command binary code Zone signal output None PIO Pattern 4 4 Solenoid Valve Mode 1 7 point type Number of positioning points 7 points Position command Individual number signal ON Zone signal output 1 ...

Page 87: ... CSTR PWRT CSTR CSTR 19A IN14 RES RES RES RES 20A Input IN15 SON SON SON SON 1B OUT0 PM1 PM1 PM1 PM1 2B OUT1 PM2 PM2 PM2 PM2 3B OUT2 PM4 PM4 PM4 PM4 4B OUT3 PM8 PM8 PM8 PM8 5B OUT4 PM16 PM16 PM16 PM16 6B OUT5 PM32 PM32 PM32 PM32 7B OUT6 MOVE MOVE PM64 PM64 8B OUT7 ZONE1 MODES PM128 PM128 9B OUT8 Note1 PZONE ZONE2 PZONE ZONE1 PZONE ZONE1 PM256 10B OUT9 RMDS RMDS RMDS RMDS 11B OUT10 HEND HEND HEND H...

Page 88: ...15 SON SON 1B OUT0 PE0 LS0 2B OUT1 PE1 LS1 TRQS 3B OUT2 PE2 LS2 Note2 4B OUT3 PE3 5B OUT4 PE4 6B OUT5 PE5 7B OUT6 PE6 8B OUT7 ZONE1 ZONE1 9B OUT8 Note1 PZONE ZONE2 PZONE ZONE2 10B OUT9 RMDS RMDS 11B OUT10 HEND HEND 12B OUT11 PEND 13B OUT12 SV SV 14B OUT13 EMGS EMGS 15B OUT14 ALM ALM 16B Output OUT15 BALM BALM 17B 18B 19B 0V N 20B 0V N Note Shown in after the signal names above tell the functions p...

Page 89: ...The servo remains ON while this signal is ON or OFF while this signal is OFF 3 2 3 HOME Home return The controller will perform home return operation when this signal is turned ON 3 2 3 MODE Teaching mode The operating mode will change to the teaching mode when this signal is turned ON The mode will not be switched over unless CSTR JOG and JOG are all OFF and the actuator operation is stopped 3 2 ...

Page 90: ...hile the servo is ON 3 2 3 EMGS Emergency Stop Output This signal remains ON while the controller is under the emergency stop reset condition and turns OFF when the emergency stop condition is enabled Regardless of alarms 3 2 3 MODES Teaching Mode Output This signal will turn ON while the teaching mode is enabled by the input of the mode signal and will turn OFF when the mode changes to the normal...

Page 91: ...When using an actuator equipped with a brake supply 24V DC to the controller and the actuator Brake Power Supply Connector Type Cable Side SCON MC1 5 2 ST 3 5 Phoenix Contact RCS3 RA15 RA20 MC1 5 3 STF 3 5 Phoenix Contact DC24V 0V 1 BK 2 BK Brake Power Supply Connector RCS3 RA15 or RA20 3 BK 2 BK 1 FG Brake Power Supply Connector SCON ...

Page 92: ...plying external motor power at emergency stop input 2 Example for Wiring for Equivalent to Safety Category 4 Reference Make the emergency stop input EMG of the device valid and have a trial drive of the actuator Example of a Circuit Image of Wiring External Emergency Stop Switch System I O Connector SCON SIO Connector PC Software 2 2 3 SIO Connector System I O Connector Dedicated for Emergency Sto...

Page 93: ...connected externally The rating is 30V DC and 200mA or less Refer to 2 6 2 for detail Note 4 Connect the temperature sensor contact when external regenerative resistor units are connected 2 2 3 Contact Output for Drive Cutoff Note 3 Circuit for Stop PC Software Cable or Dummy plug SIO connector System I O connector Emergency stop circuit exclusive use 24V Emergency stop switch Short circuit in PC ...

Page 94: ...it Connection System I O Connector 24V 24V 2 SGA 3 SGB 13 RTS 14 CTS R Y 9 EMG 1 12 EMG 1 6 EMG 2 5 EMG 2 23 ENB 1 24 ENB 1 25 ENB 2 22 ENB 2 7 DC24V 26 DC24V 1 EMG1 2 EMG1 3 EMG2 4 EMG2 5 EMGIN 6 EMGOUT 7 ENB1 8 ENB1 9 ENB2 10 ENB2 11 ENBIN 12 ENBOUT 1 SG RCB LB TGS TP Emergency Stop Switch Emergency Stop Switch Enable Switch Enable Switch Shell TP Connector Reset Switch 24V 24V Rectifier DC Bus ...

Page 95: ...for details 1 Connecting the single axis robots SCON Note 1 Applicable Connection Cable Model Codes Cable Length Example 030 3m Actuator Series Name Cable RCS3 RA15 RA20 CB RCS3 PLA RB robot cable Note 2 Applicable Motor Cable Model Codes Cable Length Example 030 3m Actuator Series Name Cable RCS3 RA15 RA20 CB RCS3 MA RB robot cable 2 2 3 PG Encoder Connector MOT Motor Connector Encoder Cable Note...

Page 96: ...leted Position No 4 Command Position No 8 BL 1 6A PC8 PM32 6B BL 3 Completed Position No 8 Command Position No 16 PL 1 7A PC16 MOVE 7B PL 3 Completed Position No 16 Command Position No 32 GY 1 8A PC32 ZONE1 8B GY 3 Completed Position No 32 Brake Control Release WT 1 9A BKRL 9B WT 3 Moving Operation Mode Changeover BK 1 10A RMOD RMDS 10B BK 3 Zone Home Return BR 2 11A HOME HEND 11B BR 4 Pause RD 2 ...

Page 97: ... Status Home Return Teaching Mode Jog inching Changeover Jog Move 11A HOME HEND 11B Pause 12A STP PEND WEND 12B Operating Mode Status Manual Mode 13A CSTR PWRT SV 13B Home Return Completion Reset 14A RES EMGS 14B Position Writing Completion Servo ON 15A SON ALM BALM 15B Servo ON Status 16A 16B Emergency Stop Status 17A N 17B Alarm 18A N 18B Absolute Battery Voltage Drop Warning Output 19A 19B 20A ...

Page 98: ... Control Release 9A BKRL 9B Operation Mode Changeover 10A RMOD RMDS 10B Home Return 11A HOME HEND 11B Pause 12A STP PEND 12B Start 13A CSTR SV 13B Reset 14A RES EMGS 14B Servo ON 15A SON ALM BALM 15B 16A 16B 17A N 17B 18A N 18B 19A 19B 20A 20B SCON PIO Connector Operating Mode Status Manual Mode Home Return Completion Position Completion Servo ON Status Emergency Stop Status Alarm Absolute Battery...

Page 99: ... Position No 128 Completed Position No 256 9A BKRL 9B 10A RMOD RMDS 10B 11A HOME HEND 11B 12A STP PEND 12B 13A CSTR SV 13B 14A RES EMGS 14B 15A SON ALM BALM 15B 16A 16B 17A N 17B 18A N 18B 19A 19B 20A 20B SCON PIO Connector Brake Control Release Operation Mode Changeover Home Return Pause Start Reset Servo ON Operating Mode Status Manual Mode Home Return Completion Position Completion Servo ON Sta...

Page 100: ...RES EMGS 14B 15A SON ALM BALM 15B 16A 16B 17A N 17B 18A N 18B 19A 19B 20A 20B SCON PIO Connector BR 1 RD 1 OR 1 YW 1 GN 1 BL 1 PL 1 GY 1 WT 1 BK 1 BR 2 RD 2 OR 2 YW 2 GN 2 BL 2 PL 2 GY 2 WT 2 BK 2 BR 3 RD 3 OR 3 YW 3 GN 3 BL 3 PL 3 GY 3 WT 3 BK 3 BR 4 RD 4 OR 4 YW 4 GN 4 BL 4 PL 4 GY 4 WT 4 BK 4 Brake Control Release Operation Mode Changeover Home Return Pause Reset Servo ON Zone Operating Mode St...

Page 101: ... N 18B 19A 19B 20A 20B SCON PIO Connector Alarm Servo ON Status Emergency Stop Status Absolute Battery Voltage Drop Warning Output Zone Operating Mode Status Manual Mode Home Return Completion Brake Control Release Operation Mode Changeover BR 1 RD 1 OR 1 YW 1 GN 1 BL 1 PL 1 GY 1 WT 1 BK 1 BR 2 RD 2 OR 2 YW 2 GN 2 BL 2 PL 2 GY 2 WT 2 BK 2 BR 3 RD 3 OR 3 GN 3 BL 3 PL 3 GY 3 WT 3 BK 3 BR 4 RD 4 OR 4...

Page 102: ...2 3 RB RB RB RB TM1 TM2 RB RB TM1 TM2 1台目 2台目 駆動源遮断回路 SCON CB大型 Refer to 3 Actuator Emergency Stop Circuit in this chapter for connection of temperature sensor contact TM1 and 2 CON Regenerative Unit Connector RESU 35T RESU 35T 1 st Unit 2 nd Unit ...

Page 103: ... with Line Receiver Note Connect cable also to 0V if there is 0V COM on the host unit 2 When Host Inputting Feedback Pulse with Open Collector It is necessary to pulse converter JM 08 Option Caution Use the same power source for the positioning unit of the host and JM 08 2 2 3 ...

Page 104: ...PLC is open collector output 24V DC 24V DC Cable CB SC PIOS Option Cable CB SC PIOS Option Power Supply for Brake It is necessary when actuator with brake PC Software option Note1 Power Source Single Phase 100V AC or 200V AC Power Source for I O Control Note1 If using RCS2 RA13R or NS Type for the actuator and the option shown in the table is applied the wiring between the actuator and the control...

Page 105: ...no Loadcell or NS Actuators with Brake 24V DC Absolute Battery for Absolute Type Power Supply for Brake NS Actuators with Brake For LS option Connect to back side For LS option Brake Box CB RCS2 PLA010 enclosed to Brake Box RCS2 RA13R with Brake 2 3 1 ...

Page 106: ...n mode PIO pattern 1 3 3 2 14A IN9 NC Not used 15A IN10 NC Not used 16A IN11 NC Not used 17A IN12 NC Not used 18A IN13 NC Not used 19A IN14 NC Not used 20A Input IN15 NC Not used 1B OUT0 PWR System Ready This signal turns ON if SCON is controllable after main power ON 3 3 2 2B OUT1 SV Servo ON Status This signal will remain ON while the servo is ON 3 3 2 3B OUT2 INP Position Complete Turned ON whe...

Page 107: ...unction Description Relevant Sections 17B NC Not used 18B NC Not used 19B 0V N Power Supply Power Supply for I O 0V 20B 0V N Power Supply Power Supply for I O 0V Signal with expresses the signal of active low It is ON when the power is applied to the controller and turns OFF when the signal is output 2 3 2 ...

Page 108: ...ower Supply L1 L2 L1 L2 L1C L2C SCON Power Supply Input Connector Note The power voltage of the controller 100V AC or 200V AC cannot be changed 2 Brake Power Supply Circuit Brake Power Supply Connector BK PWR 24V DC 0V SCON Note Supply 24V DC if the used actuator is equipped with a brake Grounding resistance at 100Ω or less Grounding Class D ...

Page 109: ...aking the emergency stop input EMG on the equipment and teaching tool activated Circuit Example Wiring Image Wiring conducted at delivery Teaching Tool Connection Detection Circuit Contact opens when connected External Emergency Stop Switch SCON Emergency Stop Switch of Teaching Tool SIO Connector System I O Connector System I O Connector SCON Touch Panel Teaching etc The emergency stop switch is ...

Page 110: ... O connector does not get short circuited between S1 and S2 terminals even if a teaching tool is removed The controller on CB LC type automatically identifies that a teaching tool was inserted Short circuit is made between S1 and S2 terminals inside the controller once connection is detected Note 4 Since there is no motor power cutoff relay in CGB LCG type make sure to establish a cutoff relay ext...

Page 111: ...1C L2C Note 4 Note 1 The power rating of the motor power off relay turning ON OFF with contact CR1 is 24V DC and 10mA or less Note 2 Connect such as a connector to L1 L2 terminals when cutting off the motor power source externally CB LC type are equipped with the drive cutoff relay mounted inside the controller Note 3 CGB LCG type are not equipped with a relay to enable to automatically identify a...

Page 112: ...e Motor Cable types cable length Example 030 3m Actuator Type Cable For Linear except for Large Type CB X MA For Large Type Linear CB XMC MA For Single Axis Robot Connection CB RCC MA For Single Axis Robot Connection robot cable CB RCC MA RB For ISWA CB XEU MA 2 Connection of RCS2 RA13R actuator equipped with brake or NS type equipped with brake PG Encoder Connector MOT Motor Connector Encoder cab...

Page 113: ...ear GY 1 8A DCLR 8B GY 3 Brake Control Release Compulsory Stop Torque Limit Select WT 1 9A BKRL ZONE1 ZONE2 9B WT 3 Operation Mode Datum Position Movement Commnad Datum Position Movement Complete BK 1 10A RMOD RSTR RMDS REND 10B BK 3 Zone 2 Zone 1 Home Return BR 2 11A ALM1 ALM2 ALM4 ALM8 11B BR 4 RD 2 12A 12B RD 4 Operating Mode Status Emergency Stop Status OR 2 13A 13B OR 4 Home Return Completion...

Page 114: ... Unit is Open Collector System AK 04 option is required for pulse train input JM 08 option is required for pulse train output 1 2 3 4 5 6 7 8 9 10 11 12 13 14 0V Host Unit SCON NC NC PP PP NP NP 0V 0V Cable Clamp 0V 24V DC Pulse Command Pulse Converter AK 04 option 1 2 3 4 1 2 3 4 1 1 2 2 4 3 3 4 1 1 2 2 4 3 3 4 AFB AFB BFB BFB ZFB ZFB PULSE Connector for Pulse Train Control CB SC PIOS A Phase Fee...

Page 115: ...ng 99 7 Regenerative Units Circuit SCON RB Regenerative Units Connector Regenerative Units REU2 RESU 2 RESUD 2 Regenerative Units REU1 RESU 1 RESUD 1 CB SC REU010 CB ST RB IN RB OUT RB IN RB OUT REU010 2 3 3 ...

Page 116: ... to turn the power to the controller OFF when inserting or removing the connector that connects the PC software or touch panel teaching Inserting or removing the connector while the power is turned ON causes a controller failure Power Supply for Brake It is necessary when actuator with brake Regenerative Resistor Unit REU 2 option Required depending on usage condition Refer to 1 5 3 Regenerative U...

Page 117: ...S option Brake Box CB RCS2 PLA010 enclosed to Brake Box NS Actuators with Brake RCS2 RA13R with Brake 2 RCS2 RA13R Equipped with no Brake with Loadcell RCS2 RA13R with Loadcell CB RCS2 PLLA Absolute Battery for Absolute Type 3 RCS2 RA13R Equipped with Brake and Loadcell 24V DC Absolute Battery for Absolute Type Power Supply for Brake Connect to back side Brake Box RCB 110 RA13 0 CB LDC CTL JY CB R...

Page 118: ...05 11A IN6 X006 12A IN7 X007 13A IN8 X008 14A IN9 X009 15A IN10 X00A 16A IN11 X00B 17A IN12 X00C 18A IN13 X00D 19A IN14 X00E 20A General Input IN15 X00F They are 24V general purposed input terminals Assign to the built in ladder and use them if necessary 1B OUT0 Y000 2B OUT1 Y001 3B OUT2 Y002 4B OUT3 Y003 5B OUT4 Y004 6B OUT5 Y005 7B OUT6 Y006 8B OUT7 Y007 9B OUT8 Y008 10B OUT9 Y009 11B OUT10 Y00A...

Page 119: ...Power Supply L1 L2 L1 L2 L1C L2C SCON Power Supply Input Connector Note The power voltage of the controller 100V AC or 200V AC cannot be changed 2 Brake Power Supply Circuit Note Supply 24V DC if the used actuator is equipped with a brake Brake Power Supply Connector BK PWR 24V DC 0V SCON Grounding resistance at 100Ω or less Grounding Class D ...

Page 120: ... making the emergency stop input EMG on the equipment and teaching tool activated Circuit Example Wiring Image System I O Connector SCON Touch Panel Teaching etc The emergency stop switch is activated SIO Connector Drive Cutoff Circuit Emergency Stop Switch of Teaching Tool SCON SIO Connector System I O Connector Dedicated for emergency stop circuit Wiring conducted at delivery Teaching Tool Conne...

Page 121: ...wiring layout It does not get short circuited between S1 and S2 terminals even if not connected The controller on CB LC Types automatically identifies that a teaching tool was inserted When there is nothing plugged in S1 and S2 are short circuited inside the controller Note 4 Since there is no motor power cutoff relay in CGB LCG Types make sure to establish a cutoff relay externally Motor Power Cu...

Page 122: ... AC200V EMG EMG L1 L2 L1C L2C Note 4 Note 1 The power rating of the motor power off relay turning ON OFF with contact CR1 is 24V DC and 10mA or less Note 2 Connect such as a connector to L1 L2 terminals when cutting off the motor power source externally CB LC Types are equipped with the drive cutoff relay mounted inside the controller Note 3 CGB LCG Types are not equipped with a relay to enable to...

Page 123: ... PLLA RB Note 2 Applicable Motor Cable types cable length Example 030 3m Actuator Type Cable For Linear except for Large Type CB X MA For Large Type Linear CB XMC MA For Single Axis Robot Connection CB RCC MA For Single Axis Robot Connection robot cable CB RCC MA RB For ISWA CB XEU MA 2 Connection of RCS2 RA13R actuator equipped with brake or NS type equipped with brake SCON PG MOT Brake Box RCB 1...

Page 124: ...X004 X005 X006 X007 X008 X009 X00A X00B X00C X00D X00E X00F Y000 Y001 Y002 Y003 Y004 Y005 Y006 Y007 Y008 Y009 Y00A Y00B Y00C Y00D Y00E Y00F 3B 4A 4B 5A 5B 6A 6B 7A 7B 8A 8B 9A 9B 10A 10B 11A 11B 12A 12B 13A 13B 14A 14B 15A 15B 16A 16B 17A N 17B 18A N 18B 19A 19B 20A 20B PIO Connector BR 1 RD 1 OR 1 YW 1 GN 1 BL 1 PL 1 GY 1 WT 1 BK 1 BR 2 RD 2 OR 2 YW 2 GN 2 BL 2 PL 2 GY 2 WT 2 BK 2 BR 3 RD 3 OR 3 ...

Page 125: ...ng 109 6 Regenerative Units Circuit SCON RB Regenerative Units Connector Regenerative Units REU2 RESU 2 RESUD 2 Regenerative Units REU1 RESU 1 RESUD 1 CB SC REU010 CB ST RB IN RB OUT RB IN RB OUT REU010 2 4 3 ...

Page 126: ...hen Host Inputting Feedback Pulse with Line Receiver 2 When Host Inputting Feedback Pulse with Open Collector It is necessary to pulse converter JM 08 Option Caution Use the same power source for the positioning unit of the host and JM 08 2 4 3 ...

Page 127: ... Model Supplier Position to attach NAC 10 472 Note COSEL 1 Noise Filter NF2010A UP Note SOSHIN ELECTRIC CO LTD Attach in range of 300mm or less from controller 2 Clamp Filter ZCAT3035 1330 TDK Attach as close as possible to controller 3 Surge Protector R A V 781BWZ 2A Okaya ELECTRIC CO LTD Attach at the input terminal of noise filter Note It is the model code when one unit of noise filter is conne...

Page 128: ... Note 1 of the controller should be in the range of the allowable current of the noise filter Allowable Current of Noise Filter Rated Current Amperage of Connected Controller Note 1 Rated Current Amperage of SCON Motor Current Amperage Control Current Amperage As the rated current amperage differs depending on the connected actuator motor it is required to check in the section of 1 2 2 Current Amp...

Page 129: ...e terminal screw with using such as a slotted screwdriver The inlet closes and affixes the wire 4 Connect all the wires in the same manner and insert the enclosed connector to the power connector Power Supply Connector PWR Pin No Signal Name Contents Applicable cable diameter 1 L1 2 L2 Motor AC power input 2 0mm2 AWG14 3 L1C 4 L2C Control AC power input 0 75mm2 AWG18 5 NC Unconnected 6 PE Protecti...

Page 130: ...osen the terminal screw with using such as a slotted screwdriver to open up the inlet 2 Reveal the sheath for 7mm on the cable that satisfies the cable diameter complies the specification shown in the table below and put it in the inlet 3 Tighten the terminal screw with using such as a slotted screwdriver The inlet closes and affixes the wire 4 Connect all the wires in the same manner and insert t...

Page 131: ...rake box RCB 110 RA13 0 connected Refer to Section 1 5 4 for details of the brake box Supply 24V DC and 1A max as the power supply for the brake box 24V 0V 24VIN 0V 24V 0V The way to layout wires on the connector enclosed in the brake box MC1 5 2 STF 3 5 Phoenix Contact is the same as that described in 3 2 5 1 ...

Page 132: ... a teaching tool was inserted When there is nothing plugged in S1 and S2 are short circuited inside the controller Note 2 Construct the circuit considering the safety category of the whole equipment Note 3 Make sure to construct the emergency stop circuit using the built in 24V EMG Terminal output for EMG Terminal Note 4 There is no motor power cutoff relay in CGB LCG type Refer to Chapter 10 for ...

Page 133: ...l screw with using such as a slotted screwdriver The inlet closes and affixes the wire 4 Connect all the wires in the same manner and insert the enclosed connector to the power connector System I O Connector Pin No Signal Name Contents Applicable cable diameter 1 S1 Operation Stop Switch Contact 2 S2 Operation Stop Switch Contact 3 EMG Operation Stop Dedicated Power Output 4 EMG Operation Stop Inp...

Page 134: ...ng Image Attach a clamp filter to the motor cable if necessary considering the noise environment Parts Name Model Supplier Position to attach 1 Clamp Filter ZCAT3035 1330 TDK Near SCON Near Actuator Caution For Absolute Type remove the absolute battery connector from the controller before connecting the encoder cable MOT Motor Connector Motor Cable Encoder Cable PG Encoder Connector Control Box SC...

Page 135: ...rence Input Phase V 5 Z Phase Z Difference Input Phase W 6 Z Phase Z Difference Input Phase W 7 SRD Send Receive Difference Pulse Magnetic Pole Changeover 8 SRD Send Receive Difference Pulse Magnetic Pole Changeover 9 LC_SRD Loadcell Communication 10 LC_SRD Loadcell Communication 11 NC Unconnected 12 E24V Sensor Power Output 13 0V 24V Power Supply GND 14 BAT Backup Battery Power Supply 15 BAT Batt...

Page 136: ... 3 8A GY 1 8B GY 3 9A WT 1 9B WT 3 10A BK 1 10B BK 3 11A BR 2 11B BR 4 12A RD 2 12B RD 4 13A OR 2 13B OR 4 14A YW 2 14B YW 4 15A GN 2 15B GN 4 16A BL 2 16B BL 4 17A PL 2 17B PL 4 18A GY 2 18B GY 4 19A WT 2 19B WT 4 20A BK 2 Flat Cable A Press Welding AWG28 20B BK 4 Flat Cable B Press Welding AWG28 Wiring Method Conduct the connection of I O to the controller is to be carried out using the dedicate...

Page 137: ...2mm 2 or cable enclosed in the connected unit host side 2 Solder to the connector directly Pay attention not to have short circuit with a terminal next to it by having pretinning and so on Have the cable as short as possible in order to avoid influence of noise 1 2 3 4 5 6 PP PP NP NP 7 AFB AFB 8 BFB 9 BFB 10 ZFB 11 ZFB 12 GND 13 0 2mm 2 AWG24 GND 14 Wiring Color Signal Name No Shield is connected...

Page 138: ...04 2 Use the pulse converter in the ambient temperature range between 0ºC and 40ºC 3 The temperature increase of about 30ºC occurs during operation Accordingly neither install several pulse converters in close contact nor install them within a duct Do not install the pulse converter near other heating devices 4 If more than one pulse converters are installed set a pulse converter apart from anothe...

Page 139: ...about 30ºC occurs during operation Accordingly neither install several pulse converters in close contact nor install them within a duct Do not install the pulse converter near other heating devices 4 If more than one pulse converters are installed set a pulse converter apart from another by 10mm or more 5 Make the wiring between the host controller PLC etc and JM 08 as short as possible Long one i...

Page 140: ...114 3000PE 3M Controller Side 10214 52A2PL 3M Pin No Signal name Items Applicable cable diameter 1 2 Not used 3 SD 4 SD SIO communication line for display device For display of each data 5 6 Not used 7 AFB Feedback pulse A 8 AFB Feedback pulse A 9 BFB Feedback pulse B 10 BFB Feedback pulse B 11 ZFB Feedback pulse Z 12 ZFB Feedback pulse Z 13 GND 0V For feedback pulse 14 GND 0V For SIO communicatio...

Page 141: ...or open collector MAX 2m Note There is no connector equipped on the host controller PLC etc side Make an appropriate treatment that suits the host controller PLC etc Also to prevent the noise influence as much as possible make the cable as short as possible 1 2 3 4 5 6 7 AFB AFB SD SD 8 BFB 9 BFB 10 ZFB 11 ZFB 12 GND 13 0 2mm 2 AWG24 GND 14 Wiring Color Signal Name No Shield is connected to the ca...

Page 142: ... in the ambient temperature range between 0 C to 40 C 3 The temperature increase of about 30 C occurs during operation Accordingly neither install several pulse converters in close contact nor install them within a duct Do not install the pulse converter near other heating devices 4 If more than one pulse converters are installed set a pulse converter apart from another by 10mm or more 5 Make the ...

Page 143: ...s Applicable cable diameter RB Regeneration Resistor Motor drive DC voltage RB Regeneration Resistor PE Ground Terminal Dedicated cable is enclosed to regenerative unit Reference number of connectable unit Excluding RCS2 RA13R Reference number of connectable unit RCS2 RA13R Motor Output Connectable Number of Regenerative Units to 100W Note Not Required 101 to 400W 1 Horizontal Mount Vertical Mount...

Page 144: ...ive unit than referred in the table for the number of connected units are required if the operation duty is higher than 50 The maximum quantity of the external regenerative units that can be connected is as stated below Less than 400W 2 units 400W or more 4 units Never attempt to connect more than described above since it may cause a malfunction 3 1 3 1 1 2 3 RB PE RB RB PE RB KIV 1 0mm2 AWG17 3 2...

Page 145: ...GB Teaching Tool Signal 3 5V Teaching Tool Power Supply 4 ENB Enable Signal Input 5 EMGA Emergency Stop Signal A 6 24V Power Supply for Teaching Tool 7 0V 0V 8 EMGB Emergency Stop Signal B Shell 0V 0V Cable dedicated for IAI products Caution If the controller is connected with a teaching tool set the operation mode setting switch to MANU Removing the teaching pendant while the power is ON causes a...

Page 146: ...Parts Name Model Supplier Reference 1 Circuit Breaker For Three Phase 2 Leakage Breaker Three Phase for Inverter 3 Surge Absorber R A V 781BXZ 4 Okaya Electric Industries Co Ltd 4 Noise Filter TAC 20 683 COSEL 5 Electromagnetic Contactor For Three Phase 6 Clamp Filter ZCAT3035 1330 TDK 7 Power Supply Cable for Control Power Supply AWG18 8 Power Supply Cable for Motor Power Supply AWG12 9 Ground Ca...

Page 147: ...Tighten the terminal screw with using such as a slotted screwdriver The inlet closes and affixes the wire 4 Connect all the wires in the same manner and insert the enclosed connector to the power connector Power supply connector PWR Pin No Signal name Items Applicable cable diameter 1 L1C 2 L2C Control power AC input 0 75mm2 AWG18 3 L1 4 L2 5 L3 Motor power AC input 3 3mm2 AWG12 6 PE Protective gr...

Page 148: ...slotted screwdriver to open up the inlet 2 Reveal the sheath for 7mm controller side and 10mm actuator side on the cable that satisfies the cable diameter complies the specification shown in the table below and put it in the inlet 3 Tighten the terminal screw with using such as a slotted screwdriver The inlet closes and affixes the wire 4 Connect all the wires in the same manner and insert the enc...

Page 149: ... No Signal name Items Applicable cable diameter FG Frame ground 0V 24V DC ground 24V 24V DC power input 1 25 to 0 5mm2 AWG16 to 20 2 6 1 FG 0V 24V FG 0V 24V 1 Loosen the screw with a slotted screwdriver 2 Insert wire 3 Tighten the screw with a slotted screwdriver ...

Page 150: ...whole equipment Note 3 Make sure to construct the emergency stop circuit using the built in 24V EMG Terminal output for EMG Terminal Note 4 As it is not equipped with the built in motor drive cutoff relay it is necessary to establish external drive cutoff For the SDN terminal Drive cutoff contact output SDN1 SDN2 It is the contact output to control the drive cutoff device connected externally Conf...

Page 151: ...ses and affixes the wire 4 Connect all the wires in the same manner and insert the enclosed connector to the power connector Enclosed Part Pin Number and Signal Name 1 Push in a slotted screwdriver to the protruded area 3 Plug in the enclosed connector to the power connector on the controller side 2 Insert wire Protruded Area Wire Inlet 1 S1 2 S2 3 EMG 4 EMG 5 SDN1 6 SDN2 System I O connector Pin ...

Page 152: ...o the MOT connector Connect the encoder cable to the PG connector Image of wiring Caution For Absolute Type remove the absolute battery connector from the controller before connecting the encoder cable MOT Motor Connector Motor Cable Encoder Cable PG Encoder Connector ...

Page 153: ...e Input Phase V 5 Z Phase Z Difference Input Phase W 6 Z Phase Z Difference Input Phase W 7 SRD Send Receive Difference Pulse Magnetic Pole Changeover 8 SRD Send Receive Difference Pulse Magnetic Pole Changeover 9 LC_SRD Loadcell Communication 10 LC_SRD Loadcell Communication 11 NC Unconnected 12 E24V Sensor Power Output 13 0V 24V Power Supply GND 14 BAT Backup Battery Power Supply 15 BAT Battery ...

Page 154: ...B BR 4 12A RD 2 12B RD 4 13A OR 2 13B OR 4 14A YW 2 14B YW 4 15A GN 2 15B GN 4 16A BL 2 16B BL 4 17A PL 2 17B PL 4 18A GY 2 18B GY 4 19A WT 2 19B WT 4 20A BK 2 Flat Cable A Press Welding AWG28 20B BK 4 Flat Cable B Press Welding AWG28 Wiring Method Conduct the connection of I O to the controller is to be carried out using the dedicated I O cable Cable length is to be indicated in the controller mo...

Page 155: ... MF I F Cable Side 10114 3000PE 3M Controller Side 10214 52A2PL 3M Pin No Signal name Items Applicable cable diameter 1 2 Not used 3 SD 4 SD SIO communication line for display device For display of each data 5 6 Not used 7 AFB Feedback pulse A 8 AFB Feedback pulse A 9 BFB Feedback pulse B 10 BFB Feedback pulse B 11 ZFB Feedback pulse Z 12 ZFB Feedback pulse Z 13 GND 0V For feedback pulse 14 GND 0V...

Page 156: ...or open collector MAX 2m Note There is no connector equipped on the host controller PLC etc side Make an appropriate treatment that suits the host controller PLC etc Also to prevent the noise influence as much as possible make the cable as short as possible 1 2 3 4 5 6 7 AFB AFB SD SD 8 BFB 9 BFB 10 ZFB 11 ZFB 12 GND 13 0 2mm 2 AWG24 GND 14 Wiring Color Signal Name No Shield is connected to the ca...

Page 157: ...t Do not install the pulse converter near other heating devices 4 If more than one pulse converters are installed set a pulse converter apart from another by 10mm or more 5 Make the wiring between the host controller PLC etc and JM 08 as short as possible Long wires make it easy to pick up noise Also make the wiring between JM 08 to SCON controller as short as possible Place JM 08 close to the hos...

Page 158: ... adjust the operational conditions such as to make the standby duration longer or to make the velocity lower Caution 1 Connecting three regenerative unit or more will cause malfunction 2 Do not attempt to touch the regenerative units during use as the temperature gets very high 3 Do not install them near a flammable object 4 It is recommended to use cables with high heat resistance performance Als...

Page 159: ...Connected to External Regenerative Unit on Controller Side Item Items and Model Connector Name External Regenerative Unit Connector RB Cable Side GIC2 5 2 STF 7 62 Controller Side GIC2 5 2 GF 7 62 Pin No Signal name Items Applicable cable diameter RB Regenerative Resistor RB Regenerative Resistor 0 75mm2 AWG18 Use copper conductive wires with rated voltage at 600V or more and temperature rating at...

Page 160: ...nal 3 5V Power supply for teaching tool 4 ENB Enable signal input 5 EMGA Emergency stop signal A 6 24V Power supply for teaching tool 7 0V 0V 8 EMGB Emergency stop signal B Shell 0V 0V Dedicated connection cables provided by us Caution If the controller is connected with a teaching device set the operation mode setting switch to MANU Removing the SIO connector while the power is ON causes a transi...

Page 161: ...heral devices such as PIO and field network first in case they are installed 2 Supply control power 3 Supply motor drive power Power supply for peripheral devices Control power supply Motor Driving Power Controller Condition Initialization Self Diagnosis Normal Operation Condition Note Supply control power and motor power at the same time or control power first Supply motor drive power within 1sec...

Page 162: ...ode Completion Signal Signal Signal Edit Position Table of controller Actuator Controller Teaching Pendant or PC software Position Number Start Signal PLC Enter a data including position velocity acceleration or deceleration etc No G 0 1 100 00 0 30 0 30 2 200 00 0 30 0 30 100 00 200 00 Acceleration Deceleration Velocity mm mm s G Position Operation Ready Registration of Position Data Example of R...

Page 163: ...he controller Operation Example for Parameters PIO Patterns 0 at Delivery Procedure 1 Input the position number at which positioning is desired to be performed in the binary data PC1 to PC32 from a tool such as the host controller and then turn the start signal CSTR ON Procedure 2 The actuator is placed at the proper coordinate value destination according to the positioning information in the spec...

Page 164: ...ding to the movement amount of the actuator to the controller from a tool such as the host controller positioning unit Procedure 3 The controller calculates the movement amount by multiplying the electronic gear ratio to the number of the pulse input to the controller Operation made in the movement amount from the current position The speed fluctuates in response to the speed of the pulse frequenc...

Page 165: ...e and settings of clocks and calendars Example Soft Stroke Limit Set a proper operation range for definition of the stroke end prevention of interferences with peripherals and safety Zone Output Set to require signal outputs in an arbitral position zone within the operation zone Parameters should be set to meet the use of the controller prior to operation Once set they may not set every operation ...

Page 166: ...rce Sensor Mode 1 2 cannot be used in types for 3000W and above This Operational PIO Pattern cannot be switched over after the system is finished to be established or during the actuator operation Choose the optimum pattern beforehand considering the system operation specifications and prepare the cables and sequence design Caution SW2 is for manufacturer s tuning use only Keep it OFF while in use...

Page 167: ...ving feed Home return signal input Pause Δ 1 Jog moving signal Teaching signal input Current Position Writing Brake release signal input Moving Signal Output Zone signal output Position zone signal output Position detection feedback pulse output Major functions Vibration Control 1 The pause signal is not provided Refer to 3 2 4 8 2 Tensile operation is not allowed Reference Zone signal output sign...

Page 168: ... The output signal is set to ON while the actuator is entered within the zone defined by the coordinate values set in the position table Position detection feedback pulse output Feedback pulses sent out from the encoder can be subject to differential output Refer to Section 3 3 Operation in Pulse Train Control Mode Only for Types up to 750W for details Vibration Control Vibrations of the load inst...

Page 169: ... 2deg mm s deg s 100 100deg s Note that the notation is mm on the screen of the teaching tool such as PC software 1 Position No It is the number commanded by PLC in operation command Caution Do not use position No 0 if available positions remains enough At the first servo ON after power ON the completed position No output is 0 even if the actuator is not located at position No 0 The actuator enter...

Page 170: ...r to be shortened extremely 2 If shocks and or vibrations appear on the actuator and or the work lower the acceleration and or the deceleration In such cases do not continue the use of the actuator otherwise the product life may be shortened extremely fast 3 If the carriage weight is extremely lighter than the rating carriage weight acceleration deceleration larger than their rating values to shor...

Page 171: ...ng Force N Max Pressing Current Limit Base thrust in pressing operation using force sensor Converted thrust at rating motor output in pressing operation using force sensor Actuator Max pressing force N Max pressing current limit Base thrust in pressing operation using force sensor N RCS3 RA4R 200 100 200 RCS3 RA6R 600 100 600 RCS3 RA7R 1200 100 1200 RCS3 RA8R 2000 100 2000 RCS3 RA10R 6000 100 6000...

Page 172: ... turned ON If the actuator passes any of the positioning bands in the operation by another position number or manual operation in the servo off state the relevant LS signal is always turned ON No Position mm Velocity mm s Accele ration G Decele ration G Pressing Thresh old Positioning width mm Zone mm Zone mm Acceleration Deceleration mode Incre mental Gain set Stop mode 0 0 00 250 00 0 20 0 20 0 ...

Page 173: ...he rotary actuator It will be the trapezoid control even if S shaped acceleration deceleration control is indicated 3 Do not use S shaped acceleration deceleration control if the setting of the acceleration time or the deceleration time exceeds 2 seconds It will be the trapezoid control 4 Do not pause on the move during acceleration or deceleration It will change the speed acceleration and may cau...

Page 174: ...ng By utilizing Off Board Tuning Function Note 1 in the PC software the setting close to the optimum can be obtained Note 1 Refer to Section 10 Appendix Connectable Actuators for the applicable models It may require the setting of the gain set dedicated for the home return operation in the case this function is used to have the high speed setting or the setting to apply a transported weight more t...

Page 175: ... types of vibrations Four parameters are defined for a single vibration to form a single set In the position table parameter sets are defined to correspond to position numbers for which vibrations must be suppressed Refer to Chapter 5 Vibration Suppress Control Function Option for details Setting Vibration suppress frequency Natural frequency Parameter No 0 Normal position control no vibration sup...

Page 176: ...nd 6 3 2 3 Operation Ready and Auxiliary Signals Common to Patterns 0 to 7 1 Emergency stop status EMGS Output PIO signal EMGS Common to Patterns 0 to 7 Available Unavailable 1 Emergency Stop Status EMGS is usually turned on and is turned off when 2 1 3 4 is open between EMG and EMG emergency stop condition or not connected 2 It turns back ON if the emergency stop condition is released and the cir...

Page 177: ...the RMOD signal and the corresponding output states of the RMDS signal Note 1 For the details of the link connection refer to 10 1 Way to Set Multiple Controllers with 1 Teaching Tool Selected or set to ON Unselected or set to OFF Condition Status PIO Operation Invalid Note 2 Teaching tool such as PC software PIO Operation Allowed Note 2 AUTO Switches ON front panel MANU PIO Input RMOD PIO Output ...

Page 178: ...e operated while the SV signal remains OFF If the SON signal is turned OFF under operation of the actuator the actuator is decelerated and stopped with the forced stop torque After the stop the servo OFF occurs to enter the motor into the free running state The brake option is of release in excitation type Therefore making the excitation on will release the brake while making it off will lock the ...

Page 179: ...c home return The HOME signal is caught at the rising edge ON edge to start the home return At completion of the home return home return completion signal HEND is turned ON The home return complete signal HEND is kept on unless the memory of origin point is lost for a reason During the home return operation positioning completion signal PEND and moving signal MOVE are set to OFF and ON respectivel...

Page 180: ...ection 8 2 18 when a change to Parameter No 22 Home Return Offset Level is required Note 1 It moves for the offset amount after the encoder Z phase is detected Actuator Movement for Spurious Absolute Type 1 With HOME Signal ON the actuator moves towards the home return direction set in Parameter No 5 at 3mm s fixed 2 Move back and forth in approximately 16mm to confirm the current position 3 Home ...

Page 181: ...offset level after the detection of phase Z Caution Make sure to refer to Section 8 2 18 when a change to Parameter No 22 Home Return Offset Level is required Operation of Actuator of Gripper Type 1 If the HOME signal is turned ON the actuator moves toward the mechanical end at the home return speed 20mm s 2 The actuator is turned at the mechanical end and stopped at the home position The rotation...

Page 182: ...e output signal is turned ON at the position set by the proper parameter 2 Position zone signal PZONE The output signal is turned ON at the position set in the position table The feature can play a role as the sensor for judging whether the completion position is good or not at completion of pressing setting the continuous operation zone in pitch feed or interlocking operations of other units in t...

Page 183: ... set for the positive side of the zone and that for the negative side 1 Value set for positive side value set for negative side Output signal turn ON in the range from the value on negative side to that on positive side and turns OFF out of the range 2 Value set for positive side value set for negative side Output signal turn OFF in the range from the value on positive side to that on negative sid...

Page 184: ...sed The action is taken at the rising edge ON edge 3 The alarm reset should be done after the cause of the alarm is confirmed and removed If alarm reset and restart are repeated many times without removal of the cause a severe failure such as motor burnout may occur Note 1 Check the 9 4 Alarm List for details of alarms Caution Reset signal RES has two features or alarm reset under occurrence of an...

Page 185: ... 3 Move command during servo OFF 080 Position command in incomplete home return 082 Absolute position move command when home return is not yet completed 083 Movement command during home return operation 084 Position No error during movement 085 Move command while pulse train input is effective 086 Move command during loadcell calibration 087 Position command data error 0A3 Command deceleration err...

Page 186: ...xceeding torque allowing continuous pressing 0C4 Illegal control system transition command 0C5 Mismatching torque current force feedback 0C6 Motor Power Source voltage excessive 0D2 Motor power supply voltage low 0D3 Belt breaking sensor detected 0D7 Overload 0E0 Driver logic error 0F0 z z 13 Spurious absolute error 0B3 Encoder send error 0E4 Encoder receipt error 0E5 Encoder count error 0E6 A B a...

Page 187: ...tion with the brake remaining released is extremely dangerous The slider or rod may drop to cause people to be injured and or the actuator the work and or the machine to be damaged 9 Battery Alarm BALM Output PIO signal BALM Common to Patterns 0 to 7 1 Battery alarm BALM is set to ON in the normal absolute battery voltage or for an actuator of incremental encoder specification 2 BALM is turned OFF...

Page 188: ...bration and initialization of parameters are required Refer to 3 2 7 Pressing Operation Using Force Sensor Operation Ready The control methods of positioning pitch feed and pressing are the same as those described before 1 Positioning Basic PC1 to PC CSTR PM1 to PM PEND MOVE LOAD TRQS Input Output PIO signal PC1 to PC CSTR PM1 to PM PEND MOVE LOAD TRQS PIO pattern 0 PC1 to 32 PM1 to 32 PIO pattern...

Page 189: ...ning complete signal is not turned ON at the completion of positioning 3 When the positioning is completed the positioning complete position numbers are output from complete position No PM1 to PM with binary data and also positioning complete signal PEND is turned ON 4 The moving signal MOVE turns ON at the same time as the operation starts and turns OFF once the positioning complete signal PEND t...

Page 190: ...as that specified in the stop complete position number PEND is turned OFF once but moving signal MOVE is not turned ON Therefore use PEND to turn CSTR OFF 4 MOVE is turned ON as soon as PEND is turned OFF and turned ON as soon as PEND is turned ON Accordingly with a large positioning width being set MOVE may be turned OFF while the actuator is moved Binary data ON z OFF Command position No PC256 P...

Page 191: ...alid the actuator can be moved only in a single direction Operation Examples Position No Position 1 0 2 90 3 180 4 270 Enter position data assuming 1 1mm Example 1 2 is assumed as 1 2 For operation in the order of positions 1 2 3 4 1 the actuator is moved differently whether the shortcut selection is valid or invalid y When shortcut selection is invalid y When shortcut selection is valid Position ...

Page 192: ...ilarly positioning is repeated in the order of position No 3 1 2 3 4 Because the normal positioning always gives position data specified last the highest priority the actuator can be rotated continuously 3 If the speeds in position No 1 to 4 are set to be the same the actuator can be rotated at the same speed Then the actuator is stopped at the positioning set in position No 4 The number of rotati...

Page 193: ... position The value is set to 100mm in the example Thus for position No 2 positioning complete signal PEND is turned ON at the position before the target position by 100mm 2 Set the positioning to the target position at the second speed in position No 3 3 Start position No 2 Then start position No 3 successively when PEND in position No 2 is turned ON In normal positioning position data specified ...

Page 194: ...table indicates the pitch Set the pitch relative moving distance incremental moving distance in column Position 3 If the operation command is issued the actuator moves from the current stop position by Position in the position table To perform continuous movement repeat the operation The relative movement amount is calculated in mm Therefore there will be no cumulative tolerable error in repeated ...

Page 195: ...s continuously by the distance based on the number of starts In such a case cancel the remaining moving distance by turning reset signal RES to ON in the pause state or take interlock so that the start signal is not turned ON during pause 5 At software limit stroke end in pitch feed the actuator is decelerated to be stopped and positioning complete output PEND is output 6 MOVE turns ON at the same...

Page 196: ...h is assumed as pressing operation distance 2 The actuator moves at the setting speed and rating torque to the position of the coordinate set in Position in the similar way as normal positioning Then the operation changes to pressing The moving distance in pressing is the value set in Positioning width The pressing is performed with the torque current limit value set in percent in Pressing of PIO ...

Page 197: ...on Ready Calibration of Loadcell Note 1 Set the period taken from entering the position number to turning CSTR ON to 6ms or longer Because 6ms timer process on the PLC is also entered to the controller positioning at another position may occur Take the PLC scan time into account Note 2 The Completed Position No output is set to 0 during movement of the actuator T1 6ms Note 1 PM1 to PM 0 Note 2 PM1...

Page 198: ...mit pressing Miss pressing occurs when the actuator moves by the pressing moving distance set in Positioning width Completed Position No PM1 to PM keep turned on until the next movement command is made even if the work piece gets moved and pushed backward or goes further forward once they are turned on at the pressing operation complete 4 Do not make control of changing to pressing on the way of n...

Page 199: ...g condition against the pressing force set in percent by Pressing in the position table pressing complete signal PEND is turned ON This occurs even if the actuator does not stop z Condition Accumulated time in which pressing force enters within the range between force judgment margin and force judgment margin 255ms Parameter No 6 Current Time Pressing Operation start Approach end Pressing start 20...

Page 200: ... judgment margin side and force judgment margin side are set to 150 4 and 4 respectively Setup pressing value 4900 N 150 7350 N and Force judgment margin and 4900 N 4 196 N Hence the pressing complete judging range is between 7154 to 7546 N Adjustment It is recommended to check the condition of the pressing force caused in pressing operation Connect the PC software and read the current load value ...

Page 201: ... pressing operation If it is confirmed the condition is improved by this make a correction in Parameter No 34 to the value set in the position data and set back the velocity in the position data 2 It is the feature installed in the PC software Refer to PC software Instruction Manual ME0155 provided separately for details Note 1 If the velocity set in the position data is lower than the pressing ve...

Page 202: ...esponsiveness of Control System High Response Low 1950 3900 7800 15600 31200 62400 RA8R At delivery from factory Rigidity of pressing target Hard Rigidity Soft 2100 4200 8400 16800 33600 67200 2400 4800 9600 19200 38400 76800 2700 5400 10800 21600 43200 86400 3000 6000 12000 24000 48000 96000 3300 6600 13200 26400 52800 105600 3600 7200 14400 28800 57600 115200 Responsiveness of Control System Hig...

Page 203: ... 36000 72000 144000 288000 576000 Responsiveness of Control System High Response Low 19500 39000 78000 156000 312000 624000 Procedure 3 In case the condition has not improved in Procedure 2 try to change the force control transition threshold Parameter No 173 When changing the setting increase or decrease gradually Note 3 referring to the following conditions Condition 1 When an overshoot is occur...

Page 204: ...dition At the same time load output judge LOAD signal also turns ON if it is in the position zone This signal turns OFF either when a movement command to another position is issued or the servo is turned OFF This signal is kept ON once it is turned ON until the next movement command z Condition Total time of pressing force to reach above threshold total time of pressing force to get below threshol...

Page 205: ...nsion operation The settings of Position and Positioning width show the tension start position and the tension quantity respectively Attach minus sign to the tension quantity Specify the upper limit of the torque required for tension in percent limited current value in Pressing The speed acceleration and deceleration are the conditions of positioning to the coordinate value 80mm set in Position 2 ...

Page 206: ...also after completion of the tension The work is drawn back or pulled further if the work is moved When the work is drawn back before the approach position alarm code 0DC Pressing Motion Range Over Error occurs to stop the work When the work is moved in the tension direction and the load current becomes less than the current limit value pressing in percent PEND is turned OFF Miss pressing occurs w...

Page 207: ...ly be changed in the pressing state The method of controlling multi step pressing is the same as that described in 4 Pressing operation 1 Set the weak pressing 30 in position No 2 and perform the pressing operation 2 If pressing complete signal PEND is turned ON start the pressing operation with pressing pressure 50 greater than the first pressure set in position No 3 The position data in position...

Page 208: ...operation 1 or inching operation 2 is performed by the jog input signal JISL signal OFF Jog operation JISL signal ON Inching operation 2 There are two jog input signals or JOG for operation in the positive direction and JOG for operation in the negative direction 1 Jog operation The actuator is moved while the jog input signal is set to ON JOG While JOG is set to ON the actuator is moved in the po...

Page 209: ... acceleration deceleration positioning width acceleration deceleration mode stop mode and vibration control No Other data is set to 0 Velocity Parameter No 8 Default speed Acceleration Parameter No 9 Default acceleration deceleration Deceleration Parameter No 9 Default acceleration deceleration Positioning width Parameter No 10 Default positioning width in position Acceleration deceleration mode P...

Page 210: ... before turning WEND signal ON disturbs the proper data writing 4 Writing processing with position table screen remaining open on a teaching tool such as PC cannot lead the data on the screen to be updated To update and confirm writing data take the following actions 1 PC software Left click the button 2 Teaching Pendant or Touch Panel Teaching Change to user adjustment screen input 4 in adjustmen...

Page 211: ...s the remaining movement to be canceled to interrupt the operation Caution 1 At occurrence of an alarm in the release level Note 1 RES can reset the alarm Cancel the remaining moving distance after confirmation that alarm signal ALM being ON in normal state and OFF at occurrence of an alarm is set to ON Note 1 Check the 9 4 Alarm List for details of alarms 2 Turning STP OFF with the actuator being...

Page 212: ...peration Using Force Sensor Operation Ready Calibration of Loadcell Positioning pressing and pitch feed are possible Their control methods are the same as those of other patterns 1 Positioning Basic ST1 to ST6 PE1 to PE6 PEND Position No Input Output 0 ST0 PE0 PEND 1 ST1 PE1 PEND 2 ST2 PE2 PEND 3 ST3 PE3 PEND 4 ST4 PE4 PEND 5 ST5 PE5 PEND 6 ST6 PE6 PEND Caution Speed change is not allowed during m...

Page 213: ...tion 2 Both the PE and PEND signals are set to ON in the positioning width zone Accordingly they may be turned ON under operation of the actuator if a large positioning width is set 3 Interlock should be taken so that two or more ST signals are set to ON simultaneously 1 Entering the ST signal of another position during positioning is invalid If the ST signal of another position is turned ON durin...

Page 214: ...olling pitch feed is the same as that described in 1 Positioning except the setting of the position table Repeat the positioning of a specific position No 2 For pitch feed the position set in the position table indicates the pitch Set the pitch relative moving distance incremental moving distance in column Position 3 If the operation command is issued the actuator moves from the current stop posit...

Page 215: ...g operated 2 Entering the ST signal of another position with the ST signal of the current position remaining ON after the completion of positioning allows the positioning to the other position to be executed 5 If Parameter No 27 Move command type is set to 0 factory setting turning ST OFF during positioning caused the operation to be interrupted 6 Note that when Parameter No 27 Move command type i...

Page 216: ... The moving distance in pressing is the value set in Positioning width The pressing is performed with the torque current limit value set in percent in Pressing of PIO patterns 4 being the upper limit Pressing operation using force sensor of PIO pattern 7 performs pressing by the pressing force set in percent of the base thrust in pressing operation using force sensor 1 1 Base thrust in pressing op...

Page 217: ...ator In movement of the work in the pressing direction PEND is turned OFF if the load current becomes lower than the current limit pressing Miss pressing occurs when the actuator moves by the pressing moving distance set in Positioning width Current Position No PE keeps turned on until the next movement command is made even if the work piece gets moved and pushed backward or goes further forward o...

Page 218: ...ondition against the pressing force set in percent by Pressing in the position table pressing complete signal PEND is turned ON This occurs even if the actuator does not stop z Condition Accumulated time in which pressing force enters within the range between force judgment margin and force judgment margin 255ms Parameter No 6 Current Time Pressing Operation start Approach end Pressing start 200ms...

Page 219: ... judgment margin side and force judgment margin side are set to 150 4 and 4 respectively Setup pressing value 4900 N 150 7350 N and Force judgment margin and 4900 N 4 196 N Hence the pressing complete judging range is between 7154 to 7546 N Adjustment It is recommended to check the condition of the pressing force caused in pressing operation Connect the PC software and read the current load value ...

Page 220: ... pressing operation If it is confirmed the condition is improved by this make a correction in Parameter No 34 to the value set in the position data and set back the velocity in the position data 2 It is the feature installed in the PC software Refer to PC software Instruction Manual ME0155 provided separately for details Note 1 If the velocity set in the position data is lower than the pressing ve...

Page 221: ...esponsiveness of Control System High Response Low 1950 3900 7800 15600 31200 62400 RA8R At delivery from factory Rigidity of pressing target Hard Rigidity Soft 2100 4200 8400 16800 33600 67200 2400 4800 9600 19200 38400 76800 2700 5400 10800 21600 43200 86400 3000 6000 12000 24000 48000 96000 3300 6600 13200 26400 52800 105600 3600 7200 14400 28800 57600 115200 Responsiveness of Control System Hig...

Page 222: ... 36000 72000 144000 288000 576000 Responsiveness of Control System High Response Low 19500 39000 78000 156000 312000 624000 Procedure 3 In case the condition has not improved in Procedure 2 try to change the force control transition threshold Parameter No 173 When changing the setting increase or decrease gradually Note 3 referring to the following conditions Condition 1 When an overshoot is occur...

Page 223: ...dition At the same time load output judge LOAD signal also turns ON if it is in the position zone This signal turns OFF either when a movement command to another position is issued or the servo is turned OFF This signal is kept ON once it is turned ON until the next movement command z Condition Total time of pressing force to reach above threshold total time of pressing force to get below threshol...

Page 224: ...ame as that described in 3 Pressing operation The control method is explained below by using the sample position table shown above 1 Position No 2 indicates the settings of tension operation The settings of Position and Positioning width show the tension start position and the tension quantity respectively Attach negative sign to the tension quantity Specify the upper limit of the torque required ...

Page 225: ...ordinate less than 30mm 80 50 in the above example located before the end position 30mm changes to the pressing operation from the current position to the tension end position Please note that it cannot be the tension operation to the point of 30mm after the positioning at the point of 80mm 3 The work is pulled also after completion of the tension The work is drawn back or pulled further if the wo...

Page 226: ...e same as that described in 3 Pressing operation 1 Set the weak pressing 30 in position No 2 and perform the pressing operation 2 If pressing complete signal PEND is turned ON start the pressing operation with pressing pressure 50 greater than the first pressure set in position No 3 In this particular operation turn ON ST3 after completion of ST2 and turn OFF ST2 when PEND is turned OFF In usual c...

Page 227: ...re an object is invaded into the moving direction of the actuator being moved 1 If pause signal STP is turned off during operation of the actuator the actuator is decelerated to a stop The deceleration is defined by the value set in the position table 2 During pause current position No PE and positioning complete signal PEND are not turned ON 3 If pause signal STP is returned to ON the actuator co...

Page 228: ... method for interlock in case where an object is invaded into the moving direction of the actuator being moved 1 If the ST signal is turned OFF during movement the actuator is paused The deceleration is the value set in the position table 2 Turning the ST signal OFF causes the positioning to be interrupted and deemed complete signal PEND to be turned ON 3 If the ST signal is turned ON again the re...

Page 229: ...l ST1 works as JOG By using this function move the actuator to a position at which home return can be done safely The speed of ST1 is the home return speed After the home return is fully prepared turn the ST0 signal ON to start the home return At the completion of the home return home return complete signal HEND is turned ON Turn the ST0 signal OFF if HEND is turned ON HEND remains ON unless the h...

Page 230: ...2 18 when a change to Parameter No 22 Home Return Offset Level is required Note 1 It moves for the offset amount after the encoder Z phase is detected Actuator Movement for Spurious Absolute Type 1 If ST0 Signal gets turned ON when the home return operation is incomplete the actuator moves towards the home return direction set in Parameter No 5 at 3mm s fixed 2 Move back and forth in approximately...

Page 231: ...eturn offset level after the detection of phase Z Caution Make sure to refer to Section 8 2 18 when a change to Parameter No 22 Home Return Offset Level is required Operation of actuator of gripper type 3 If ST0 Signal gets turned ON when the home return operation is incomplete the actuator moves toward the mechanical end at the home return speed 20mm s 4 The actuator is turned at the mechanical e...

Page 232: ...r passes any of the positioning widths in the operation by another position number or manual operation in the servo OFF state the relevant LS signal is always turned ON Caution Even though a cold start error is generated LS Signal would not turn OFF Home 0mm 70mm 150mm LS0 is ON 0 5mm LS1 is ON 70 10mm LS2 is ON 150 5mm No Position mm Velocity mm s Accele ration G Decele ration G Pressing Thresh o...

Page 233: ...actuator reaches the target position 2 At the completion of positioning position detection output LS of the specified position is turned ON 3 Position detection output LS is turned ON if the remaining moving distance enters into the positioning width LS is set to ON if the current position is located within the positioning width zone or OFF if the current position is located out of the positioning...

Page 234: ...so that two or more ST signals are set to ON simultaneously If two or more ST signals are input simultaneously they will be executed according to the following priorities ST0 ST1 ST2 Start signal ST1 PLC Controller Turned ON after entering into positioning width zone Target Position Position sensing output LS1 Controller PLC Start signal ST2 PLC Controller Position sensing output LS2 Controller PL...

Page 235: ...e value is set to 100mm in the example Thus for position No 1 position sensing signal LS1 is turned ON at the position before the target position by 100mm 2 Set the positioning to the target position at the second speed in position No 0 3 Then start position No 1 ST1 signal and use position sensing output signal LS1 of position No 1 to start position No 0 ST0 signal Since this pattern prioritizes ...

Page 236: ...roller PLC Start signal ST1 PLC Controller Position sensing Output LS1 Controller PLC Position sensing Output LS2 Controller PLC Target position of position No 0 and No 1 Start signal ST2 PLC Controller Set of positioning width of position No 1 to shift change start position Operation of actuator Stop at position No 2 Moving at speed of Position No 1 Moving at speed of position No 0 Completion of ...

Page 237: ... the moving direction of the actuator being moved 1 If the ST signal is turned OFF during movement the actuator is decelerated to a stop The deceleration is the value set in the position table 2 If the ST signal is turned ON again the remaining movement is continued The acceleration is the value set in the position table Befor operation Positioning complete state Operation Temp stop Cont Op Positi...

Page 238: ...ensor is carried out perform the setting and processing described below Caution The pressing operation using force sensor requires a dedicated loadcell and an actuator fit to the pressing operation using force sensor The actuator equipped with the loadcell cannot make tensile operation The tensile operation causes the loadcell to be damaged Caution The value to start calibration becomes 0 N in the...

Page 239: ...No 93 is set to 0 pressing by current limit is selected Settings of Parameter No 92 and 93 and pressing control Parameter No 92 Use of loadcell Parameter No 93 Selection of pressing control Pressing control 1 Control by force sensor Pressing by pressing operation using force sensor 1 Use of loadcell 0 Control by current limit Pressing by current limit 1 Control by force sensor Alarm 0A1 Parameter ...

Page 240: ...t conducted or the loadcell is not used the pressing force set in the position table mush be set as it becomes 3 000N 1 000N 2 000N Setting 3 000N in the position table causes pressing force of 4000N to be added to the work According to the graph in 10 5 2 RCS2 RA13R Pressing Specifications if the current limit to make the pressing force 3 000N is set to the position table 4 000N of pressing force...

Page 241: ...e period the calibration signal is ignored to cancel the calibration Note 2 The calibration time depends on Parameter No 119 Loadcell calibration time factory setting 10ms However if it is set to the automatic calibration at startup the time should be fixed to 10ms no matter what the parameter setting is If CLBR is turned OFF during the period before CEND is turned ON alarm 0E1 Loadcell calibratio...

Page 242: ... or perform an unexpected operation In Pulse Train Control Mode the operation is performed corresponding to the input pulse Input Pulse Value Moving distance Input pulse frequency Velocity Change in Input Pulse Frequency Velocity change and acceleration deceleration Do not use the actuator above the specifications for the commands of the movement amount acceleration and deceleration from the host ...

Page 243: ...tions 4 Position command primary filter function Soft start and stop can be achieved even when the actuator is operated in the command pulse input mode where acceleration and deceleration are not considered 5 Position detection feedback function Position detection data is output using differential pulse trains The current position can be read in real time Note 2 from the host controller Note 1 Up ...

Page 244: ... with the illumination of the PWR LED GN on the front face of the controller 2 Emergency stop status EMGS Output PIO signal EMGS 1 Emergency Stop Status EMGS is usually turned ON and is turned OFF when 2 3 3 3 Actuator emergency stop circuit System I O Connector is open between EMG and EMG emergency stop condition or not connected 2 It turns back ON if the emergency stop condition is cancelled and...

Page 245: ...ignal and the corresponding output states of the RMDS signal Note 1 For the details of the link connection refer to 10 1 Way to Set Multiple Controllers with 1 TeachingS Tool Selected or set to ON Condition Status PIO Operation Invalid Note 2 Teaching tool such as PC software PIO Operation Allowed Note 2 AUTO Switches on front panel MANU PIO Input RMOD PIO Output RMDS PIO valid PIO invalid z z z z...

Page 246: ...decelerated and stopped with the forced stop torque After the stop the servo OFF occurs to enter the motor into the free running state The brake option is of release in excitation type Therefore making the excitation on will release the brake while making it off will lock the brake At this time the function selected by the applicable parameter dynamic brake electromagnetic brake or deviation count...

Page 247: ...uator can be operated without using this function If this function is not used however management of position data will solely be dependent on the host controller monitoring soft stroke limit is effective in the home return complete status Therefore take the necessary measures to prevent an over stroke such as not sending pulse commands with travel distances exceeding the effective stroke or provi...

Page 248: ...detection of phase Z Caution Make sure to refer to Section 8 2 18 when a change to Parameter No 22 Home Return Offset Level is required 2 Multi Rotation Specification It is not available in the pulse train mode Operation of actuator of gripper type 1 If the HOME signal is turned ON the actuator moves toward the mechanical end at the home return speed 20mm s 2 The actuator is turned at the mechanic...

Page 249: ...ing values and signal output range The zone output range varies depending on the difference between the value set for the plus side of the zone and that for the minus side 1 Value set for plus side value set for minus side Output signal turn ON in the range from the value on negative side to that on positive side and turns OFF out of the range 2 Value set for plus side value set for minus side Out...

Page 250: ... to or higher than the operation release level occurs alarm output signals ALM 1 to 8 output the alarm information in the binary code format 2 The PLC can read the binary code of alarm signal ALM as the strobe signal to check the alarm information ON z OFF ALM ALM8 ALM4 ALM2 ALM1 Binary Code Description Alarm code is shown in z z z z Normal z z z z 2 Software reset during servo ON 090 z z z 3 Move...

Page 251: ...Pulse Error 0DA z z z 12 Motor Power Source Voltage Excessive 0D2 Motor power supply voltage low 0D3 Belt breaking sensor detected 0D7 Overload 0E0 Driver logic error 0F0 z z 13 Linear ABS Error 0B3 Encoder send error 0E4 Encoder Receipt Error 0E5 Encoder count error 0E6 A B and Z phase Wire Breaking 0E7 Battery less ABS Error 0EB Absolute Encoder Error Detection 2 0EE z z 14 CPU Error 0FA FPGA Er...

Page 252: ... 151 to 1 changes to the light failure alarm output and it turns OFF when a message level alarm is generated This signal will be ON as long as the message level alarm is not issued 12 Datum Position Movement RSTR REND Input Output PIO signal RSTR REND RSTR Signal is a command signal to move Note 1 to the datum position set at any point This command is processed at the startup ON edge and operation...

Page 253: ...actuator s catalog or the appendix in this Instruction Manual for the rated acceleration deceleration of each actuator The rotating direction of the motor is defined so that the counterclockwise direction as viewed from the end of the load shaft represents the forward direction PP PP NP NP PP PP NP NP PP PP NP NP PP PP NP NP PP PP NP NP PP PP NP NP High Low High Low Normal Rotation Pulse String No...

Page 254: ...l turn ON when the remaining travel pulses accumulated pulses on the deviation counter enters the positioning width When the servo is ON this signal turns ON when the accumulated pulses on the deviation counter are within the number of pulses set in Parameter No 10 Default positioning width This signal is OFF while the servo is OFF Caution 1 This signal will turn ON when the servo turns ON because...

Page 255: ...he actuator to move suddenly or run uncontrollably After turning TLR signal ON perform an operation in the reversed way to confirm TLR signal turns OFF After turning TLR signal ON perform an operation in the reversed way to confirm TLR signal turns OFF If the condition is difficult for the reversed movement turn the servo OFF or clear the deviation counter by turning DCLR ON 4 Deviation Counter Cl...

Page 256: ...home position Based on the communication cycle with the encoder this precision can be assured when the motor velocity is 100rpm or below AFB AFB BFB BFB AFB AFB BFB BFB AFB AFB BFB BFB AFB AFB BFB BFB AFB AFB BFB BFB AFB AFB BFB BFB ZFB ZFB High Low High Low Normal Rotation Pulse String Normal Rotation Pulse String Reverse Rotation Pulse String Reverse Rotation Pulse String The normal rotation pul...

Page 257: ... amount and calculate value for the electric gear setting by following the formula below Line Axis Unit Travel Distance Min Travel Distance Unit 1 0 1 0 01mm etc pulse Rotary Axis Unit Travel Distance Min Travel Distance Unit 1 0 1 0 01deg etc pulse Electronic Gear Formula In the case of Line Axis In the case of Rotary Axis Note 1 Number of encoder pulse of each actuator refer to catalog of each a...

Page 258: ...g models can not be rotated up to 9999 99 deg deceleration ratio Maximum rotation angle deg corresponding model 1 24 7679 99 RCS2 RTC8 RCS2 RTC10 1 30 6143 99 RCS2 RTC12 1 50 3685 1 100 1842 RS 30 RS 60 Multi rotation absolute High resolution type 2520 DD Motor Unit Travel Distance Travel distance per command pulse Do not set the minimum movement unit out of the encoder resolution ability If this ...

Page 259: ... movement command input IN8 Once reached the datum position the datum position movement complete output OUT13 will be output However it is necessary that the value is set in the range from soft limit negative side 0 15 to soft limit positive side 0 15 PP PP NP NP PP PP NP NP PP PP NP NP PP PP NP NP PP PP NP NP PP PP NP NP High Low High Low Normal Rotation Pulse String Normal Rotation Pulse String ...

Page 260: ...is also available in Positioner Mode 1 Setting Feedback Pulse Output Effective Set it if the feedback pulse is to be used No Name Symbol Unit Input Range Initial Value 68 Feedback Pulse Output FPIO 0 to 1 1 You can select whether to enable or disable the feedback pulse output 0 Enable 1 Disable Caution Make this setting invalid if the feedback pulse is not output ...

Page 261: ...ation pulse string shows the motor rotation amount in reverse direction Pulse Train Pulse Train Symbol Symbol The command pulse shows the motor rotation amount and the command symbol shows the rotation direction A B Phase Pulse String A B Phase Pulse String The A B Phase 4 fold Pulse with the phase difference of 90 shows the commands for the rotation amount and direction Command Pulse String Mode ...

Page 262: ...ack Pulse Parameter No 115 No 116 Set these parameters when the relation of the output pulse and the actuator movement are to be set freely These parameters are enabled when Parameter No 114 is set to 1 User Parameter No 115 116 Electronic Gear Feedback Pulse Numerator Denominator No Name Symbol Unit Input Range Initial Value For reference 115 Electronic gear numerator Feedback Pulse FNUM 1 to 999...

Page 263: ...N on the line axis have to satisfy the following relative formulas Also there are some limitations as follows when the controller version is earlier than V0005 Do not attempt to establish a setting that gives a condition that electronic gear numerator FNUM electronic gear denominator FDEN The formula is as shown above and the pulse output is based on the encoder pulse therefore evenly allocated fe...

Page 264: ...r than the set value after the command pulse input stop If the set value is 100msec the stabilizing time would be approximately 300msec Pulse Train Velocity 2 Torque Limit No Name Symbol Unit Input Range Initial Value 57 Torque Limit TQLM 0 to 70 70 Set a desired torque limit used in the torque limit input signal TL which is an external input signal Set a desired torque as a percentage of the rate...

Page 265: ...e Initial Value 61 Torque limit command input FPIO 0 to 1 0 Torque control of the motor with the value set in Parameter No 57 Torque Control Value can be performed with PIO TL Signal ON from the host system In this parameter a choice can be made from using disable TL Signal Torque Limiting Signal and not using enable the signal 0 Disable 1 Enable 7 Pulse count direction No Name Symbol Unit Input R...

Page 266: ...3 Operation 250 ...

Page 267: ... to ME0221 of separate volume Note 1 EtherCAT Refer to ME0273 of separate volume Note 1 EtherNet IP Refer to ME0278 of separate volume Note 1 PROFINET IO Allows actuator to be controlled through I O communication using control signals similar to PIO or numerical data communication Refer to ME0333 of separate volume Note 1 MECHATROLINK Ⅲ Synchronized control on multiple actuators is available with ...

Page 268: ...ing Layout of Field Network for Field Network Type Follow the instruction manual of the master unit and PLC consists of each field network for the details of how to perform connections 1 DeviceNet Type 2 CC Link Type 3 PROFIBUS DP Type ...

Page 269: ...Type 6 EtherNet IP Type Terminater JEPMC W6022 Master unit SCON MECHATROLINK Cable JEPMC W6002 JEPMC W6003 SCON SCON SCON Even though communication power is not necessary to be supplied to SCON there should be no problem if communication power is supplied ...

Page 270: ...4 Field Network 254 7 EtherCAT Type 8 PROFINET IO Type 9 MECHATROLINK Ⅲ Type Master side Other slave PCON MECHATROLINK Ⅲ Type ...

Page 271: ... figure below for wiring Connection between RCON extension unit and SCON Controller and between SCON Controllers should be established with the same connection cables CB RE CTL Refer to 4 2 7 1 C in SCON Controller has IN on lower end and OUT on upper end Pay attention not to connect other way around It is necessary to connect the terminal connector RCON EXT TR Refer to 4 2 7 2 at the terminal Not...

Page 272: ... should be switched over on the operation mode setting switch in RCON gateway unit 12 14 SIO Connector A teaching tool should be connected via SIO connector on RCON gateway unit TP adapter RCB LB TGS should also be connected to the gateway unit 10 Status Indicator LEDs 9 Charge Status Display LED 8 Internal Regenerative Resistor Valid Connector 7 Regenerative Unit Connector 6 Motor Connector 5 Pia...

Page 273: ...z Toggle Signal Unit Link Confirmation Signal STOP Signal Enable Signal Not Connected Gateway Reset Signal Frame Ground Not Connected Pin Assignment on RCON Connector IN end Pin Pin No No Signal Signal Description Description Name Name IN OUT IN OUT 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 24V 0V DRV_DY DRV_RA DRV_DZ DRV_RB AM_SD AM_SD ACT_PULSE ACT_PULSE SYNC_PULSE SYNC_PULSE RTC_1Hz CO...

Page 274: ...ly Module 4 2 7 Related Parts 1 Connection Cable Between RCON and SCON Between SCON and SCON Model Code CB RE CTL expresses cable length if 0 2m expressed as 002 Max Cable Length 3 0m 3 0m max between devices Standard Cable Length 0 2m Equivalent to minimum distance between SCON and SCON One piece of CB RE CTL002 enclosed in SCON CB CGB RCON Connection Type 2 Terminal Connector Terminal resistor c...

Page 275: ...number of axes gateway error could occur Setting Item of Gateway Parameters Refer to 3 9 Gateway Parameter Setting Tool in RCON Instruction Manual Value ms Category Name Initial Value Input Range GW Parameters 3 Standby Time for Initial Internal Communication 0 0 to 65535 Power Supply Sequence SCON Power Supply AC100 200V Total Frame Communication Initial Communication Configuration Communication ...

Page 276: ...4 Field Network 260 ...

Page 277: ...by the operation For a single moving command position data only a single parameter can be set Note Before this function can be used you must read the cautions described on the next page Functional Operation The figure below shows an example in which two actuators are subject to 2 axis combination Actuator A is moved to cause actuator B corresponding to a joint to be vibrated Measure the vibrations...

Page 278: ... mechanical angle 20Hz Example 2 Linear Actuator For lead length 50mm and operation speed 100mm s Frequency of mechanical angle 20Hz Frequency of electric angle same as frequency of mechanical angle 20Hz 2 When a higher speed response is required for the vibration control than the set speed control response the speed response is not able to catch up with the vibration control Vibration suppress co...

Page 279: ...sis tool stored in the PC Software Yes Measurement of Natural frequency Measure the Natural frequency by any of the following methods Use of PC software installation tool Refer to the Instruction Manual of the PC software Use of measuring instrument such as vibration meter or acceleration pickup Calculation from video image data Yes Setting of vibration suppress control See next page Set the measu...

Page 280: ...t 1 2 Parameter No 97 98 101 102 105 and 106 Do not change 2 Natural Frequency 1 1000Hz Parameter No 99 103 and 107 Set the natural frequency of the load measured It can be input directly to the parameter from the frequency analysis tool for anti vibration control included in the PC software if the tool is already used Refer to the Instruction Manual of the PC software Set the specific frequency o...

Page 281: ... control function cannot be used in pressing operation No Position mm Velocity mm s Accele ration G Decele ration G Pressing Thresh old Positioning width mm Zone mm Zone mm Acceleration Deceleration mode Incre mental Gain set Stop mode Vibration suppress No 0 1 0 00 50 00 0 01 0 01 0 0 0 10 0 00 0 00 0 0 0 0 0 2 50 00 50 00 0 01 0 01 0 0 0 10 0 00 0 00 0 0 0 0 1 3 50 00 50 00 0 01 0 01 50 0 0 10 0...

Page 282: ...5 Vibration Suppress Control Function 266 ...

Page 283: ... the base point Caution This function is ineffective for pressing Do not use It becomes effective at completion of positioning In pressing the function becomes effective only when miss pressing occurs the status at the completion of operation without pressing is the same as that at the completion of positioning No retaining torque is provided in automatic servo off The actuator can move with an ex...

Page 284: ...c servo OFF Value set in Parameter No 39 Content of PEND signal PEND PM1 to M PE 0 Positioning Completion Signal OFF OFF OFF 1 In position Signal ON ON ON Note The SV on the front panel blinks green during the automatic servo OFF For Parameter No 39 0 Operation of actuator Positioning operation Automatic servo OFF standby Servo OFF Positioning operation Servo Condition ON ON OFF ON Completed Posit...

Page 285: ...PIO Each of the absolute reset procedures is described below 1 Absolute Reset Procedure from Teaching Tool 1 Connect the controller with the actuator Refer to Chapters 1 and 2 2 Connect the absolute battery Enclosed battery if starting up for the first time new battery if replacing to the absolute battery connecting connector on the front panel of the controller Refer to 7 2 3 Connect the teaching...

Page 286: ...ute Battery 270 2 For Teaching Pendant TB 02 TB 03 Press Alarm reset Press Trial Operation on the Menu 1 screen Press Jog inching on Test run screen Touch Servo to turn the servo ON and touch Homing in Jog inching screen 1 2 3 4 ...

Page 287: ...Absolute Battery 271 3 For Teaching Pendant TB 01 Press Reset Alm Press Trial Operation on the Menu 1 screen Press Jog_Inching on Trial Operation screen Touch SV OFF to turn the servo ON and touch HOME in Jog screen 1 2 3 4 ...

Page 288: ...vo ON Signal SON Servo ON Status SV Positioning Completion Signal PEND Home Return Procedures 5 Home Return Completion Signal HEND Home Return Operation Pause is canceled Movement Start Mechanical End Home Position Create a position table via operation using teaching pendant or PC Note 1 Turn ON 24V power supply for PIO and 24V power supply for brake if the actuator is equipped with a brake prior ...

Page 289: ... signal OFF Check the condition including other alarm causes 6 Turn the home return signal HOME ST0 signal in case of PIO pattern 5 and reset signals RES OFF 7 Turn the servo on signal SON ON 8 Wait until the servo on status SV turns ON 9 Turn the home return signal HOME ST0 signal in case of PIO pattern 5 ON with ON edge The home return operation is started 10 When the homing completion signal HE...

Page 290: ...ut power supply to controller Reference for battery replacing timing Note 1 Ambient temperature 40 C 4 years after use if 50 of time with power supply to controller Output of voltage drop alert signal BALM 3 1V Reference value Output of Alarm output ALM 2 5V Reference value 7 days if the controller is operated continuously at 20 C Error detection 1 Warning Reference for time suspended after alert ...

Page 291: ...e signals of active low After the power is supplied to the controller they are usually on and turned OFF when an error is detected Replace the battery before alarm is generated due to the lamp display by BALM signal of PLC If the alarm is generated it will be necessary to absolute reset after the battery replacement Normal 3 6V 3 1V 2 5V Warning occurred Alarm occurred Absolute reset not required ...

Page 292: ...stalled in the battery holder Caution To replace the old absolute battery with a new one with the controller power being OFF complete the replacement within 15 minutes from the removal of the old battery The absolute data may get lost if it exceeds 15 minutes Removal Attachment Disconnect the connector and pull out the battery Put battery into battery holder Plug in connector to absolute battery c...

Page 293: ...l be activated after they are edited written to the flash FeRAM then either software reset or reboot of the power It will not be active only with writing on the teaching tool Warning Parameter setting has great influences on operations of the controller Incorrect parameter setting may not only cause malfunction or failure of the controller to occur but also people and assets to be exposed to risk ...

Page 294: ...rvo gain number PLGO 0 to 31 In accordance with actuator Note2 8 2 5 8 3 8 B Default speed VCMD mm s deg s 1 to Actuator s max speed Rated actuator speed Note2 8 2 6 9 B Default acceleration deceleration ACMD G 0 01 to actuator s max acceleration deceleration Rated actuator s acceleration deceleration Note2 8 2 7 10 B Default positioning width INP mm deg 0 01 to 999 99 0 10 8 2 8 13 C Current limi...

Page 295: ... 00 0 1 8 2 36 49 B PIO inch distance 2 IOD2 mm deg 0 01 to 1 00 0 1 8 2 36 50 C Load output judgment time period LDWT msec 0 to 9999 255 8 2 37 52 B Default acceleration deceleration mode CTLF 0 to 2 0 Trapezoid 8 2 38 53 B Default stop mode CTLF 0 to 3 0 Not Applicable 8 2 39 54 C Current control width number CLPF 0 to 15 In accordance with actuator Note2 8 2 40 55 B Position command primary fil...

Page 296: ...olume Separate volume 86 A Field bus baud rate Note4 FBRS 0 to 4 Separate volume Separate volume 87 E Network type Note4 NTYP 0 to 8 Separate volume Separate volume 88 D Software limit margin SLMA mm deg 0 to 9999 99 In accordance with actuator Note2 8 2 71 89 D Allowable time of exceeding torque allowing continuous pressing PSCT sec 0 to 300 In accordance with actuator Note2 8 2 72 90 C Field I O...

Page 297: ...B Selecting used feedback pulse gear ratio FPIO 0 Not Applicable 1 Use 0 8 2 85 115 B Electronic gear numerator Feedback Pulse FNUM 1 to 99999999 Note 5 125 8 2 86 116 B Electronic gear denominator Feedback Pulse FDEN 1 to 99999999 Note 5 2048 8 2 86 117 B Automatic loadcell calibration at start FFRC 0 Does not perform 1 Perform 1 8 2 87 118 B Pressing operation without completion of loadcell cali...

Page 298: ... to 100 100 8 2 113 147 B Total Movement count threshold TMCT Times 0 to 999999999 0 Disabled 8 2 114 148 B Total Operated distance threshold ODOT m 0 to 999999999 0 Disabled 8 2 115 149 B Zone output changeover FPIO 0 Not to change 1 To change 0 8 2 116 150 A Linear absolute home preset value LAPS mm 9999 99 to 9999 99 In accordance with actuator Note2 8 2 117 151 B Light error alarm output selec...

Page 299: ... 9999 99 to 9999 99 Actual stroke on side These parameters are used set the zone in which zone signal ZONE1 or ZONE2 turns ON in a mode other than PIO patterns 1 to 3 ZONE2 is valid only in the pulse train control mode The minimum setting unit is 0 01mm deg If a specific value is set to both zone setting and zone setting the zone signal is not output A setting sample is shown below Example of when...

Page 300: ...egative side 0 3 Approx 0 3mm Approx 0 3mm Soft limits set in the parameter Effective stroke Allowable jogging inching range after home return 0 2mm 0 2mm The operational range for jog and inching after the home return is 0 2mm less than the set value Alarm Code 0D9 Soft Limit Over Error will be generated when the set value exceeded the value 0 when shipped out set in Parameter No 88 Software Limi...

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

Page 302: ... the acceleration deceleration often used 8 Default positioning width in position Parameter No 10 No Name Symbol Unit Input Range Default factory setting 10 Default positioning width INP mm deg 0 01 to 999 99 0 10 When a target position is set in an unregistered position table the setting in this parameter is automatically written in the applicable position number When the remaining moving distanc...

Page 303: ... input signal 12 SIO communication speed Parameter No 16 No Name Symbol Unit Input Range Default factory setting 16 SIO communication speed BRSL bps 9600 to 230400 38400 Set the SIO baud rate for the startup Set an appropriate value in accordance with the communication speed of the host One of 9600 14400 19200 28800 38400 76800 115200 and 230400 bps can be selected as the communication speed Cauti...

Page 304: ...er No 20 No Name Symbol Unit Input Range Default factory setting 20 Creep sensor input polarity AIOF 0 to 2 In accordance with actuator Even though the movement speed for most of the actuators at the home return is 20mm 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 ...

Page 305: ...g cases 1 Want to match the actuator home position and the mechanical origin of the system 2 Want to set a new home after reversing the factory set home direction 3 Want to eliminate a slight deviation from the previous home position generated after replacing the actuator Adjustment Process 1 Homing execution 2 Offset check 3 Parameter setting change 4 If setting a number close to a multiple of th...

Page 306: ...oint type Number of positioning points 512 Position command Binary code Zone signal output None PIO pattern 4 4 Solenoid valve mode 1 7 point type Number of positioning points 7 Position command Individual No signal ON Zone signal output 1 point Position zone signal output 1 point PIO pattern 5 5 Solenoid valve mode 2 3 point type Number of positioning points 3 Position command Individual No signa...

Page 307: ...T6 or ST0 to ST2 if PIO Pattern 5 when PIO Pattern 4 Electromagnetic Valve Mode 1 7 point type PIO Pattern 5 Electromagnetic Valve Mode 2 3 point type and PIO Pattern 7 Pressing Operation Using Force Sensor Mode 2 Electromagnetic Valve Mode Set Value Input method Description 0 Level The actuator starts moving when the input signal turns ON When the signal turns OFF during movement the actuator wil...

Page 308: ...system When the set value is high over shoot When the set value is low Velocity Time 24 Velocity Loop Integral Gain Parameter No 32 No Name Symbol Unit Input Range Default factory setting 32 Velocity Loop Integral Gain VLPT 1 to 9999999 In accordance with actuator Any machine produces frictions This parameter is intended to cope with deviation generated by external causes including frictions Incre...

Page 309: ...s done considering the actuator type when the product is delivered Refer to 10 5 List of Specifications of Connectable Actuators If a change to the setting is required make sure to have the setting below the maximum pressing velocity of the actuator Setting it fast may disable to obtain the specified pressing force Also when setting at a low velocity take 5mm s as the minimum Velocity Press Veloci...

Page 310: ...he servo is OFF Setting Signal Type During Servo ON positioning complete During Servo OFF 0 PEND It will not turn OFF even if the current position is out of the range of the positioning width Turns OFF in any case 1 INP Note1 Turns ON when the current position is in the positioning width and OFF when out of it AUTO Turns ON when the current position is in the positioning width Parameter No 10 and ...

Page 311: ...ification SIVM times 0 to 10 0 Use this parameter to set the silent interval no communication time by the time taken for communication of 3 5 characters or longer before command data transmission when the controller is operated via serial communication This parameter need not be changed when a teaching tool such as PC software is used If 0 is set no multiplier is applied 34 Velocity override Param...

Page 312: ... taken to judging whether torque level status signal TRQS is ON If the command torque exceeds the value set in Threshold of position data for the time set by this parameter during pressing operation torque level status signal TRQS is turned ON Refer to 3 2 4 4 or 3 2 5 3 Pressing Operation for the details of the pressing operation 38 Default acceleration deceleration mode Parameter No 52 No Name S...

Page 313: ... No 55 No Name Symbol Unit Input Range Default factory setting 55 Position command primary filter time constant PLPF msec 0 0 to 100 0 0 0 Use this in the case to set the value in Acceleration Deceleration box in the position table to 2 1 step delay filter or in the case that there is no acceleration deceleration function the host controller in Pulse Train Control Mode The primary delay filter is ...

Page 314: ...ashed line shown in the image below 10 Sine curve swing width 0 1 Solid line shown in the image below Velocity Time Setting 10 Setting 50 Setting 100 0 within 2 seconds Caution 3 Caution 1 If the S motion is specified in acceleration deceleration mode executing position command or direct value command while the actuator is moving causes an actuator to move along the trapezoid pattern To change a s...

Page 315: ...usively used for the pulse train control mode Refer to 3 3 6 Parameter Settings Required for Advanced Operations 49 Command Pulse Input Mode Parameter No 63 This parameter is exclusively used for the pulse train control mode Refer to 3 3 4 Settings of Basic Parameters Required for Operation 50 Command Pulse Input Mode Polarity Parameter No 64 This parameter is exclusively used for the pulse train ...

Page 316: ... The gain adjustment of position speed and current loop in feedback control can directly change the response of the servo control system Thus improper adjustment may cause the control system to be unstable and further vibrations and or noises to occur On the other hand since this parameter only changes the speed command value and does not relate with the servo loop it neither makes the control sys...

Page 317: ... type and the length of the encoder relay cable Normally this parameter need not be changed If you have changed the length of the encoder relay cable after the shipment the value of the parameter may be changed If you wish to change this parameter always consult us in advance If the setting is not optimum it may cause an operation error of the actuator or malfunction of the encoder 60 PIO Power Su...

Page 318: ... Default factory setting 76 Belt breaking sensor input polarity AIOF 0 to 2 In accordance with actuator Set the sensor input polarity for Alarm Code 0D7 Belt Break Detection for Ultra High Thrust Type RCS2 RA13R Parameter No Set Value not used 0 Input is a contact 1 76 Input is b contact 2 63 Ball Screw Lead Length Parameter No 77 No Name Symbol Unit Input Range Default factory setting 77 Ball Scr...

Page 319: ...er No 78 is set to Rotary Axis and the index mode is selected the current value indication is fixed to 0 to 359 99 When the index mode is selected the short course control is enabled Set Value Description 0 Normal Mode 1 Index Mode The index mode cannot be specified for actuators of absolute specification Note With the rotational axes RS 30 60 and RCS2 RTC8L RTC8HL RTC10 RTC12L DD Motor the factor...

Page 320: ...he relevant Instruction Manual of each field bus 68 Fieldbus Node Address Parameter No 85 This parameter is exclusively used for the controller of field bus specification Check the relevant Instruction Manual of each field bus 69 Fieldbus baud rate Parameter No 86 This parameter is exclusively used for the controller of field bus specification Check the relevant Instruction Manual of each field bu...

Page 321: ...for the controller of field bus specification Check the relevant Instruction Manual of each field bus 74 Current limit value at stopping due to miss pressing Parameter No 91 No Name Symbol Unit Input Range Default factory setting 91 Current limit value at stopping due to miss pressing FSTP 0 Current limit value during movement 1 Current limit value during pressing 0 This parameter defines the rest...

Page 322: ...ard actuator 1 Force sensor pressing For the actuator with the loadcell Refer to 3 2 7 Pressing Operation Using Force Sensor Operation Ready Use of loadcell Parameter No 92 Selection of pressing control this parameter Force sensor pressing Pressing by current limit conventional method 0 Does not use 1 Use 1 Force sensor pressing 0 Pressing by current limit Selection of pressing control this parame...

Page 323: ...he actuator and is as shown in the table below RA13R RA10R At delivery from factory Rigidity of pressing target Hard Rigidity Soft 1050 2100 4200 8400 16800 33600 1200 2400 4800 9600 19200 38400 1350 2700 5400 10800 21600 43200 1500 3000 6000 12000 24000 48000 1650 3300 6600 13200 26400 52800 1800 3600 7200 14400 28800 57600 Responsiveness of Control System High Response Low 1950 3900 7800 15600 3...

Page 324: ...00 28000 56000 112000 224000 8000 16000 32000 64000 128000 256000 9000 18000 36000 72000 144000 288000 10000 20000 40000 80000 160000 320000 11000 22000 44000 88000 176000 352000 12000 24000 48000 96000 192000 384000 Responsiveness of Control System High Response Low 13000 26000 52000 104000 208000 416000 RA4R Rigidity of pressing target Hard Rigidity Soft 10500 21000 42000 84000 168000 336000 120...

Page 325: ... Notch filter gain 104 Damping characteristic coefficient 1 105 Damping characteristic coefficient 2 106 Natural frequency 107 Parameter set 3 Notch filter gain 108 Refer to Chapter 5 Vibration Suppress Control Function Option for details 80 Default vibration suppress No Parameter No 109 This parameter is exclusively used for vibration suppress control Refer to Chapter 5 Vibration Suppress Control...

Page 326: ...e alarm list counts the time passed since the power is supplied to the controller counted as 0 second The time data retainable duration with no power supply to the controller is approximately 10 days Set Value Description 0 Not Applicable 1 Use 83 Monitoring mode Parameter No 112 No Name Symbol Unit Input Range Default factory setting 112 Monitoring mode FMNT 0 Does not use 1 Monitor function 1 2 ...

Page 327: ...No Name Symbol Unit Input Range Default factory setting 114 Selecting used feedback pulse gear ratio FPIO 0 Not Applicable 1 Use 0 Refer to 3 3 5 Output Settings of Feedback Pulse when using the product with Pulse Train Control Mode Feedback pulse is available for the output also other than Pulse Train Control Mode In this case select 1 Set Value Description 0 Outputs feedback pulses using the ele...

Page 328: ...rce sensor Set Value Description 0 Disables pressing operation if loadcell calibration is not completed yet initial value 1 Enables pressing operation if loadcell calibration is not completed yet Refer to 3 2 7 Pressing Operation Using Force Sensor Operation Ready 89 Loadcell calibration time Parameter No 119 No Name Symbol Unit Input Range Default factory setting 119 Loadcell calibration time CLB...

Page 329: ...to description of Parameter No 7 97 Feed forward gain 2 Parameter No 127 This parameter defines the feed forward gain of the position control system Refer to description of Parameter No 71 98 Speed Loop Proportional Gain 2 Parameter No 128 This parameter determines the response of the speed control loop Refer to description of Parameter No 31 99 Speed Loop Integral Gain 2 Parameter No 129 This par...

Page 330: ...he torque command Refer to description of Parameter No 33 107 Current control width number 3 Parameter No 137 This parameter defines the control width of the current control system Refer to description of Parameter No 54 108 Servo gain switchover time constant Parameter No 138 No Name Symbol Unit Input Range Default factory setting 138 Servo gain switchover time constant GCFT ms 10 to 2000 10 When...

Page 331: ...etween 0 and ball screw lead length the value of this parameter is 0 00 Also when a value other than 0 00 is set in this parameter home return complete position cannot be 0 00 and it gets to the positon of home position this parameter For the actuator of incremental specification always set this parameter to 0 00 Setting example 1 With ball screw lead length 4mm and home return offset level 10mm s...

Page 332: ... Gateway DFGW 0 0 0 0 to 255 255 255 255 0 0 0 0 It is the parameter dedicated for Fieldbus EtherNet IP For details refer to Fieldbus Instruction Manual 113 Overload Level Ratio Parameter No 143 No Name Symbol Unit Input Range Default factory setting 143 Overload Level Ratio OLWL 50 to 100 100 With the motor thrust increase temperature of when an overload alarm gets generated being set as 100 the ...

Page 333: ...n alarm is generated when the total operation distance exceeds the value set to this parameter The judgment would not be made if the value is set to 0 116 Zone Output Changeover Parameter No 149 No Name Symbol Unit Input Range Default factory setting 149 Zone Output Changeover FPIO 0 Not to change 1 To change 0 When there is PZONE signal to the current PIO pattern or the Fieldbus Operation Mode an...

Page 334: ...efore changing the settings x Take the initial parameter at the delivery from our factory as the datum when giving a change to the settings x After having a change to the settings make sure to have an operation check with low speed x For the spurious absolute type actuator No 22 Home return Offset Value and No 139 Home Preset Value are invalid Slider 2 Slider 1 Slider 2 Slider 2 Slider 1 Slider 1 ...

Page 335: ...eter No 151 No Name Symbol Unit Input Range Default factory setting 151 Light Error Alarm Output Select FSTP 0 Battery Voltage Drop Warning Output 1 Output of battery voltage drop warning or message level alarm 0 It can be selected if an output is to be made when a message level alarm is generated as well as when the battery voltage drop error is occurred for the output condition of BALM signal No...

Page 336: ...blished for the band used as the force control Do not change the setting from the initial setting 122 Delay Time after Shutdown Release Parameter No 165 No Name Symbol Unit Input Range Default factory setting 165 Delay Time after Shutdown Release SDDT ms 0 to 10000 0 It is used in purpose to distribute the in rush current It is used to set the delay time from the driving power supply to shutdown c...

Page 337: ...rdinary movement to the force control movement considering loadcell load data is set Set a ratio with the rated capacity of the loadcell as 100 Conduct tuning with increase and decrease in 5 to 10 units 125 Force Gains 1 to 3 Parameter No 174 to176 Refer to 8 2 77 126 Regenerative Control Selection Parameter No 184 No Name Symbol Unit Input Range Default factory setting 184 Regenerative Control Se...

Page 338: ...n the actual use In such cases servo adjustment may be required This section describes the basic servo adjustment method Caution Rapid and excessive settings are dangerous They may devices including the actuator to be damaged and or people to be injured Take sufficient note on the setting Record settings during servo adjustment so that prior settings can always be recovered When a problem arises a...

Page 339: ...f the Parameter No 7 Servo gain number is too low it takes long time to finish the positioning Speed is uneven during the movement 3 Speed accuracy is not appropriate Increase the value of Parameter No 31 Speed loop proportional gain By setting a larger value the follow up ability to the speed command becomes better Setting too large value makes the mechanical components easy to vibrate As a refer...

Page 340: ...d gain Select a value in the range from 10 to 50 roughly The larger the setting value is the smaller the deviation is Then the response is improved Setting a large value may cause vibrations and or noises to occur Set the feed forward gain in order to improve the response of the actuator further after adjusting Parameter No 7 Servo gain number and Parameter No 31 Speed loop proportional gain Pulse...

Page 341: ...er to prevent electric shocks and disconnect the cables of measuring instruments to prevent accidental power connection due to sneak current path 9 Check the I O signals Using the host controller PLC etc or a teaching tool such as PC software check the presence of inconsistency in I O signal conditions 10 Check the noise elimination measures grounding installation of surge killer etc 11 Check the ...

Page 342: ...ol being connected and remove the cause by referring the alarm list Refer to 9 4 Alarm List The host controller PLC sends servo ON signal to the controller but SV LED does not go ON The host controller PLC cannot control PIO 24V DC I O PIO signal communication is disabled 1 24V DC power for PIO is not supplied 2 Poor contact of flat cable 3 The operation mode setting switch on the front panel is o...

Page 343: ...sing or parameter setting is incorrect 1 Servo OFF state 2 The pause signal is OFF 3 The pulse train type a parameter is selected incorrectly 4 The positive negative logic of pulse train a parameter is selected inversely 5 The unit moving distance per pulse which is a setting condition of electronic gear ratio a parameter is too small 1 Is the status display LED SV turned ON Refer to Name for Each...

Page 344: ...tment or mode selection 1 Emergency stop condition The status display LED EMG is ON It is not connected between EMG and 2 Servo OFF condition 3 In pause 1 Make a short circuit between EMG and Warning If the process of 1 is conducted put back the setting as soon as the adjustment work is finished Starting the operation without putting it back may cause a serious accident since the emergency stop is...

Page 345: ...on deceleration Overshoot during deceleration to stop The load inertia is large Decrease the setting of deceleration Refer to 9 3 Positioning of poor precision Uneven speed during movement Acceleration deceleration not smooth bad speed response Trace of poop precision Refer to 8 3 Servo Adjustment Note When the pulse train operation mode is selected first adjust pulse train commands In the case of...

Page 346: ...e actuator operates at the speed and acceleration deceleration based on the frequency of input pulses Check if the acceleration deceleration set in the host controller exceed the rating acceleration deceleration of the actuator 3 Noise can be misread as the pulse if it jumps into the pulse train Take proper measures against noise Refer to 1 7 Noise Elimination and Mounting Method Check the cable c...

Page 347: ...celeration deceleration 1 Decrease the settings of acceleration deceleration Set S shape acceleration deceleration Refer to 8 2 42 S motion rate 2 Use the vibration suppress control function Refer to Chapter 5 In the case of Pulse String Control Mode Situation Possible cause Check Treatment Vibrations of actuator or load Acceleration deceleration is set too high Decrease the setting of acceleratio...

Page 348: ...ll to change the send receive timing If the operation is performed properly the transmission cycle of the host is too fast Always check the response of SCON before next transmission If the controller is connected to ROBONET set the value or parameter No 17 to 2 Refer to the Instruction Manual of ROBONET separate volume If the controller is connected to each of field buses other than RS485 it is un...

Page 349: ...fter deceleration to stop Reset the alarm by the PIO or teaching tool Cold start ON Output Servo OFF after deceleration to stop Software reset or power reconnection by teaching tool Home return is required for any actuators of other than absolute specification Caution Reset each alarm after identifying and removing the cause If the cause of the alarm cannot be removed or when the alarm cannot be r...

Page 350: ...ded the value set in Parameter No 147 Total Movement Count Threshold 04F Exceeded operated distance threshold Cause The total number of the operation distance exceeded the value set in Parameter No 148 Total Operated Distance Threshold 068 SRAM access error Cause Servo monitor is not operated in the normal condition because of noise or malfunction of consisting parts Treatment 1 Take proper measur...

Page 351: ...erial communication in pulse train mode 087 Moving command during loadcell calibration Cause A move command was issued during loadcell calibration Treatment After confirming the loadcell calibration is completed with the calibration complete CEND signal and confirming CLBR Signal is turned OFF perform the movement command 090 Software reset during servo ON Cause A software reset command was issued...

Page 352: ...incremental feed 4 The vibration suppress control function and pressing operation cannot be used concurrently Provide setting so that either of the functions is effective 0A3 Position command data error Cause 1 The command value during direct numeric specification exceeded the maximum set value 2 Pressing operation was specified in the field bus specification while the vibration suppress function ...

Page 353: ...able actuator and the same problem happens again even after rebooting the power 0A9 Loadcell data error Cause The data acquired from loadcell at power on or software reset is incorrect Treatment 1 Effect of noise is suspected Check if there is a device radiating the noise and have a treatment to prevent receiving the noise 2 The loadcell may be faulty If the error keeps occurring even with the pow...

Page 354: ...ipped with origin sensor option except rotary actuator is not completed in normal condition 1 Work is interfering with peripheral equipment in the middle of home return 2 Large slide resistance of the actuator itself 3 Installation failure breakdown or disconnection of the home sensor Treatment In the case that the work does not interfere with anything the cause 2 or 3 is supposed In such case ple...

Page 355: ...an inappropriate absolute reset position 4 There is a mismatch between the sensor characteristics and the setting in Parameter No 19 Overrun sensor input polarity or the wiring layout is wrong 5 There is a mistake in the mating of the controller and actuator or the settings in Parameters No 3 and 4 Soft limit value and Parameter No 77 Ball screw limit length are not appropriate Treatment If 1 or 2...

Page 356: ...e load condition exceeding the specified range 2 High temperature around the controller 3 Load to the motor is high due to external force 4 A faulty part inside the controller Treatment 1 Revise the operation condition such as decreasing the acceleration deceleration speed 2 Lower the ambient temperature of the controller 3 Confirm that there is no error in the mechanical part assembly condition N...

Page 357: ...on deviation counter has overflowed 1 The speed dropped or the actuator stopped due to the effect of external force or overload 2 The excited phase detection operation following the power on is unstable 3 The power supply voltage dropped 4 Servo gain number is too small 5 There is a concern of malfunction in controller component IPM Treatment 1 This error occurs when the actuator cannot be operate...

Page 358: ...orted When the error occurs in operation of the actuator only Please contact IAI Caution Restart the operation after making sure to remove the cause If you cannot determine that the cause is removed completely wait for at least 30 minutes before turning on the power to prevent the motor coil from burning 0E1 Operation release Loadcell calibration error Cause 1 Calibration command is issued during ...

Page 359: ...ure or noise If the detail code in the error list of the teaching tool is 0001H 2 Effect of noise If the detail code in the error list of the teaching tool is 0002H 3 Malfunction of component communication part inside the actuator 4 A faulty part inside the controller communication part Treatment 1 Check if any wire breakage on a connector and the condition of wire connections 2 Interrupt the powe...

Page 360: ...ctor and the condition of wire connections Whichever action is taken under 1 or 2 an absolute reset must be performed If the cables are normal faulty encoder is suspected Please contact IAI 0EF Absolute encoder error detection 3 Absolute encoder is not detecting the position information properly ABS encoder overspeed error Cause This error occurs in such cases as the speed exceeded the tracing acc...

Page 361: ...Abnormal data was detected during the nonvolatile memory check after starting Cause Faulty nonvolatile memory Treatment When the error is caused even when the power is re input please contact IAI 0FA CPU error The CPU operation is not normal Cause 1 Faulty CPU 2 Malfunction due to noise Treatment When the error is caused even when the power is re input please contact IAI 0FB Cold start FPGA error ...

Page 362: ...9 Troubleshooting 346 ...

Page 363: ... 1 unit Instead of the e CON cable attached to the controller link cable a terminal block may be used In this configuration disconnect the e CON connector from the controller link cable 10 1 1 Connecting Example Shown below is an example of connection Teaching Pendant To be prepared by customer Cable included in PC software RCB CV MW CB RCA SIO CB SEL USB030 RCB CV USB CB RCA SIO PC Software Optio...

Page 364: ...ng Color GN e CON Connector Manufactured by 3 1473562 4 Cover Color OR Controller Link Cable CB RCB CTL002 YW OR BL YW OR BL SGA SGB GND SGA SGB GND A B SGA SGB 0V Shield Note 1 Apply a 2 pair shielded cable When connecting a cable other than recommended to A and B make sure to use a vinyl cable dedicated for control devices with the sheath outer diameter from 1 35 to 1 60mm Using cables with oute...

Page 365: ... 349 10 1 3 Axis No Setting Set an axis number by using the axis number setting switch on the front panel Caution The axis number must be unique Adjust the arrow to a desired position using a flathead screwdriver ...

Page 366: ...llel plier from the direction of grip it while checking the condition of press welding to make sure the press is in right angle and press it until it becomes completely flat to the housing If the inserting is not enough it may not be able to attach to the socket or may cause a contact failure 4 After finishing the press welding pull the cable lightly to confirm that won t come out Caution 1 e CON ...

Page 367: ...n applying the emergency stop switch of the teaching pendant to the emergency stop of the system obtain the signal from here 24V Positive side of the 24V DC power supply Power supply for the teaching pendant and conversion circuit 0V Negative side of the 24V DC power supply FG Frame ground Note 0V is connected to the pin No 7 GND on the communication connector for the controller Connection method ...

Page 368: ...C It is used when the operation is conducted with using SIO communication 4 Mini DIN 8 pin connector This connector is connected to PC software teaching pendant or touch panel teaching 5 PORT Switch The PORT switch is used to exchange enable disable of connector 4 Set the switch to ON if connector 4 is used or OFF if not used The switchover of valid invalid on the teaching pendant is held at the s...

Page 369: ...cations Cable 1 Controller Link Cable CB RCB CTL002 10 1 7 External Dimension Leg Element Bottom Side Leg Element Top Side Controller Side Mini DIN Connector YW OR BL 200mm e CON Connector 3 1473562 4 Housing Color OR Signal Signal ...

Page 370: ...can conform to up to safety category B to 4 ISO13849 1 by changing connections of system I O connectors Connection of TB02D TB 01D R and SCON CGB Controller Adaptor for the Teaching Pendant RCB LB TGS Controller Adaptor Connection Cable Model CB CON LB Touch Panel Teaching TB 02D or TB 01D R or CON PGAS Dummy Plug DP 4S Safety Circuit relay safety relay RCB LB TGS System I O Connector Front ENB is...

Page 371: ...ide MCDN1 5 6 G1 3 5P26THR Cable side FMC1 5 6 ST 3 5 Note 1 Lower side ENB side TP adapter side MCDN1 5 6 G1 3 5P26THR Phoenix Contact AWG24 to 16 0 2 to 1 25m 2 Pin No Signal name Description 1 EMG1 2 EMG1 Emergency stop contact 1 30V DC or less 100mA or less 3 EMG2 4 EMG2 Emergency stop contact 2 30V DC or less 100mA or less 5 EMGIN Emergency stop detection input Upper side EMG side 6 EMGOUT 24...

Page 372: ...e Lower side TP Adapter Side View 3 Connection of dummy plug of TP adapter When operating the controller with AUTO Mode make sure to connect the enclosed dummy plug DP 4 to TP Connector 4 Enable function If you are using the enable function set it to Enable using the controller parameter Parameter No 42 Enable function 0 Enable 1 Disable Default setting at shipment Enable function It is the functi...

Page 373: ...mmy plug DP 4S Connection Cable CB CON LB Controller SCON Enable SW SW Reset SW Emergency Stop 24V 24V 0V 0V RCB LB TGS Solenoid Contactor Motor Power Supply SCON 100V AC 200V AC Motor Power Supply ENBOUT ENBIN ENB2 ENB2 ENB1 ENB1 EMGOUT EMGIN EMG2 EMG2 EMG1 EMG1 12 11 10 9 8 7 6 5 4 3 2 1 L1 L2 ...

Page 374: ...mergency Stop 24V 24V Solenoid Contactor 100V AC 200V AC DC Bus L1 L2 E24V EMGSTR EMGRYRLS EMGSTR VP24 SCON TP Connection Detecting TP Detection T24V Output Bypass relay OPEN TP Not Detected T24V Not Output Bypass relay CLOSE TP Emergency Stop SW Enable SW Shell 1 2 3 13 14 9 12 6 5 23 24 25 22 7 26 12 11 10 9 8 7 6 5 4 3 2 1 External Emergency Stop Circuit Category 1 Motor Power Cutoff Relay Regu...

Page 375: ... 2 EMG1 1 EMG1 RCB LB TGS Motor Power Supply Motor Power Supply SCON 100V AC 200V AC L1 L2 12 11 10 9 8 7 6 5 4 3 2 1 24V Reset SW Emergency stop SW G9SA 301 OMRON 24V G9SA 301 OMRON 41 33 23 13 T32 T31 T12 T11 A2 A1 1 2 3 4 5 6 42 34 24 14 T22 T23 T21 PE B A 41 33 23 13 T32 T31 T12 T11 A2 A1 1 2 3 4 5 6 42 34 24 14 T22 T23 T21 PE B A 24V 24V Solenoid Contactor Solenoid Contactor Enable SW Enable ...

Page 376: ...N TP Connection Detecting TP Detection T24V Output Bypass relay OPEN TP Not Detected T24V Not Output Bypass relay CLOSE TP Emergency Stop SW Enable SW Shell 1 2 3 13 14 9 12 6 5 23 24 25 22 7 26 12 11 10 9 8 7 6 5 4 3 2 1 Motor Power Cutoff Relay Regulator RCB LB TGS SGA SGB EMGA T24V EMGB 1 2 3 4 5 6 7 8 9 5V Enable SW Enable SW Emergency Stop SW Reset SW Control Circuit Control Circuit 100V AC 2...

Page 377: ... Motor Power Supply Motor Power Supply SCON 100V AC 200V AC 12 11 10 9 8 7 6 5 4 3 2 1 Solenoid Contactor Solenoid Contactor Enable SW Reset SW Emergency Stop SW Emergency Stop SW For Category 4 insert Reset Switch as shown in the diagram For Category 3 layout the wiring without inserting Reset Switch For Category 4 make the connection of A and B open For category 3 make a short circuit between A ...

Page 378: ...put Bypass relay CLOSE TP Emergency Stop SW Enable SW Shell 1 2 3 13 14 9 12 6 5 23 24 25 22 7 26 Motor Power Cutoff Relay Regulator RCB LB TGS SGA SGB EMGA T24V EMGB 1 2 3 4 5 6 7 8 9 5V Reset SW Reset SW Emergency Stop SW Emergency Stop SW Reset SW Control Circuit Control Circuit Solenoid Contactor Solenoid Contactor External Emergency Stop Circuit category 4 For Category 4 insert Reset Switch a...

Page 379: ...10 Appendix 363 4 TP Adapter and Related Components 1 TP adapter external dimensions 25 3 65 2 2 φ3 5 45 56 48 8 5 2 75 50 5 RCB LB TGS ...

Page 380: ...or Signal No BR YW RD OR BL GN PL GY Shield BR YW RD OR BL GN PL GY Shield 8PIN MIN DIN Connector mold casting Contact Metal shell Housing A Housing B Cover MD SP2240 J S T Mfg 8 MD PS8T J S T Mfg MD PI8A J S T Mfg MD PI8B J S T Mfg MD PCC8T S2 J S T Mfg 8PIN MIN DIN Connector mold casting Contact Metal shell Housing A Housing B Cover MD SP2240 J S T Mfg 8 MD PS8T J S T Mfg MD PI8A J S T Mfg MD PI...

Page 381: ...y plug to the teaching pendant connecting connector Make sure to connect a dummy plug if the AUTO mode is specified Without the connection it will be the emergency stop condition Model DP 4S Plug HDR E26MAG1 Signal Short circuit processing DP 4S ...

Page 382: ... 3 2 Maintenance Information The times of actuator run and distance of operation can be summed up and recorded Note 1 in the controller Also a signal can by output Note 2 externally when the times and distance exceed the threshold By this signal notice can be available for the timing of grease supply or regular inspection Note 1 The contents recorded by PC Software Note 3 Modbus and Field Network ...

Page 383: ...eration Preparation End Alarm Emergency stop cancel display RC Start Display Pause Display RC Stop Display Home Return Display Zone 1 Display Position Zone Display Manual Mode Display Pause Start Servo ON Reset PLC S IN0 OUT0 C O N S C O N EMGRST START STOP HOLD HOME PM1 PM2 PM4 MOVE ZONE1 PZONE RMDS HEND PEND SV ALM IN1 OUT1 IN2 OUT2 IN3 OUT3 IN4 OUT4 IN5 OUT5 IN6 OUT6 IN7 OUT7 IN8 OUT8 IN9 OUT9 ...

Page 384: ...ircuit may only consist of SV However to go off the emergency stop release lamp immediately at external emergency stop it also includes EMGRST because EMGRST not only goes on the lamp but also performs the emergency stop processing of other circuits 005 012 IN1 OUT1 OUT1 IN13 IN2 IN0 OUT11 OUT1 OUT2 START RC Start RC Start Display STARTL RC Start Display STARTL RC Start Display PEND Point Position...

Page 385: ...e Aux 2 AUX2 Pause Aux 2 AUX2 Pause Aux 2 AUX3 Pause Cancel Pause Aux 1 a018 a023 Pause Aux 2 a017 b024 a026 Pause Cancel b019 a022 b028 Pause Display Pause b016 a021 a027 b032 a034 AUX3 Pause Cancel AUX3 Pause Cancel EMGRST Emergency Stop Cancel Waiting for Reset To make it easy to understand the circuit this circuit is designed to replace contact b input with contact a If the pause button is pus...

Page 386: ...ning moving distance 034 038 OUT3 OUT15 OUT2 IN15 OUT15 RES HOLDL Pause Display RES Reset STOPL RC Stop Display ALM Alarm Reset a038 Waiting for Reset b030 After 200 ms from reset input the Pause lamp goes off and the Pause signal is turned OFF Thus the reset signal remains ON for 200ms Due to no reset complete signal pause state is not cancelled until reset processing is completed Interlock Reset...

Page 387: ...Dispaly b047 Interlock This disables home return during continuous operation While the Home return signal is ON these repeat ON OFF at intervals of 200 ms Interlock Turns the Home return signal OFF at completion of home return It is set as it would not be able to home return again after the home return operation is complete unless Home Return Complete signal turns OFF Similar to the operation circ...

Page 388: ...081 a130 TIM4 TIM4 TIM4 200ms is set to TIM4 This is the timer to prevent the code reading error since the scanning is held independently by PLC and RC controller 7 Actuator Start Circuit If the Operation switch on the operation box is pushed the lamp of the Operation pushbutton switch described in 2 Operation and Stop Circuit goes on and at the same time the actuator starts successive positioning...

Page 389: ...itioning Complete Auxiliary Position 2 Positioning Start Position 1 Positioning Complete Position 1 Positioning Start Check Completed Position 1 IN13 OUT1 OUT1 If 1 is not pulsed 3 is reset with 4 turned ON and 2 is turned ON again Position 2 start signal If movement is completed the moving circuit is turned OFF Turned OFF at start of next positioning to position No 2 Because any of start moving o...

Page 390: ...liary Position 2 Positioning Start AUX12 Auxiliary Position 2 Positioning Start Auxiliary Position 2 Positioning Start STARTL RC Start Displa AUX12 AUX14 Position 2 Positioning Complete PEND Point Positioning Completion a102 a107 a111 Position 2 Positioning Start Check AUX13 Position 2 Positioning Start Check STARTL RC Start Displa AUX13 AUX5 AUX15 b108 a113 a117 Position 2 Positioning Complete AU...

Page 391: ...ion 3 Positioning Start AUX15 Auxiliary Position 3 Positioning Start AUX15 Auxiliary Position 3 Positioning Start STARTL RC Start Display AUX17 Position 3 Positioning Complete PEND Point Positioning Completion b120 a125 a129 Position 3 Positioning Start Check AUX16 Position 3 Positioning Start Check STARTL RC Start Display AUX16 AUX6 AUX9 a080 b126 a131 Position 3 Positioning Complete AUX17 Auxili...

Page 392: ...position No output circuit To commanded position No output circuit To commanded position No output circuit Once a moving command to a position is issued any of circuits A B and C is turned ON to remember it unless a moving command to another position is issued The operation circuit is cancelled by a stop command such as an emergency stop command However the circuit remembers the positions to which...

Page 393: ...s circuit outputs the start signal from PLC to SCON 162 166 AUX9 Auxiliary Position 1 Positioning Start AUX12 Auxiliary Position 2 Positioning Start AUX15 Auxiliary Position 3 Positioning Start OUT13 CSTR Waiting for start Start Timer 5 bit a116 Waiting for Start TIM5 200ms is set to TIM5 20msec Set this signal to be 2 to 4 times as long as PLC scanning time so that it is turned ON after position ...

Page 394: ...he contents of sequence designs do not vary fundamentally Though arithmetic and data processing commands seem differently any manufacturer defines command words executing the same functions as those of other manufacturers 172 RMDS Operation Mode OUT7 IN11 RMDL Manual Mode Display 170 PZONE Position Zone OUT6 IN10 PZONEL Position Zone Display 168 ZONE1 OUT6 IN9 ZONEL Zone 1 Display ...

Page 395: ...el Decel Type 1 0 0 3 6 300 High Accel Decel Type 1 0 RA4C Note 30 16384 3 Horizontal Vertical 150 0 2 12 600 0 3 6 300 0 3 20 3 150 0 2 0 3 12 600 High Accel Decel Type 1 0 0 3 6 300 High Accel Decel Type 1 0 RGS4C 30 16384 3 Horizontal Vertical 150 0 2 12 600 0 3 6 300 0 3 20 3 150 0 2 0 3 12 600 High Accel Decel Type 1 0 0 3 6 300 High Accel Decel Type 1 0 RGD4C 30 16384 3 Horizontal Vertical 1...

Page 396: ... at 50 to 250st 188 at 300st 0 2 0 3 16 800 at 50 to 250st 755 at 300st High Accel Decel Type 1 0 0 3 8 400 at 50 to 250st 377 at 300st High Accel Decel Type 1 0 RA5C Note 100 16384 4 Horizontal Vertical 200 at 50 to 250st 188 at 300st 0 2 12 800 at 50 to 250st 755 at 300st 0 3 6 400 at 50 to 250st 377 at 300st 0 3 60 3 200 at 50 to 250st 188 at 300st 0 2 0 3 12 800 at 50 to 250st 755 at 300st Hig...

Page 397: ...16 800 at 50 to 250st 755 at 300st 0 3 8 400 at 50 to 250st 377 at 300st 0 3 RA5R 60 16384 4 Horizontal Vertical 200 at 50 to 250st 188 at 300st 0 2 Horizontal 380 at 75st 280 at 50st 0 3 10 Vertical 330 at 75st 230 at 50st 0 2 Horizontal 250 0 3 5 Vertical 250 at 75st 230 at 50st 0 2 RN5N 60 1600 2 5 Horizontal Vertical 125 0 2 Horizontal 380 at 75st 280 at 50st 0 3 10 Vertical 330 at 75st 230 at...

Page 398: ... at 50 to 250st 250 at 300st 0 1 60 3 150 at 50 to 250st 125 at 300st 0 05 12 600 at 50 to 250st 505 at 300st 0 2 RA7AD 100 3072 6 Horizontal Vertical 300 at 50 to 250st 250 at 300st 0 1 12 600 at 50 to 250st 505 at 300st 0 15 6 300 at 50 to 250st 250 at 300st 0 1 60 3 150 at 50 to 250st 125 at 300st 0 05 12 600 at 50 to 250st 505 at 300st 0 2 RGS7AD 100 3072 6 Horizontal Vertical 300 at 50 to 250...

Page 399: ...00 0 05 16 800 0 3 8 400 0 2 100 4 200 0 1 16 800 0 3 8 400 0 2 SRGD7BD 150 3072 4 Horizontal Vertical 200 0 1 2 5 85 at 50st 120 at 100st 125 at 150 200st 0 02 1000 9800 10 CS2 Rod Type RA13R 750 16384 1 25 Horizontal Vertical 62 0 01 2000 19600 10 RA6R 60W 1 5 75 0 3 120 600 10 RA7R 100W 2 0 100 0 3 171 1200 10 RA8R 200W 2 5 125 0 3 286 2000 10 RA10R 300W 2 5 125 0 3 600 6000 10 RA15R 3300W 7 2 ...

Page 400: ... 800 0 2 0 3 12 800 at 50 to 450st 760 at 500st High Accel Decel Type 0 8 0 3 6 400 at 50 to 450st 380 at 500st High Accel Decel Type 0 8 SA5C Note 20 16384 3 Horizontal Vertical 200 at 50 to 450st 190 at 500st 0 2 12 800 at 50 to 450st 760 at 500st 0 3 6 400 at 50 to 450st 380 at 500st 0 3 SA5D Note 20 16384 3 Horizontal Vertical 200 at 50 to 450st 190 at 500st 0 2 12 800 at 50 to 450st 760 at 50...

Page 401: ... to 450st 380 at 500st 320 at 550st 270 at 600st 0 3 SA6D Note 30 16384 3 Horizontal Vertical 200 at 50 to 450st 190 at 500st 160 at 550st 135 at 600st 0 2 12 800 at 50 to 450st 760 at 500st 640 at 550st 540 at 600st 0 3 6 400 at 50 to 450st 380 at 500st 320 at 550st 270 at 600st 0 3 SA6R Note 30 16384 3 Horizontal Vertical 200 at 50 to 450st 190 at 500st 160 at 550st 135 at 600st 0 2 0 3 16 800 a...

Page 402: ... Vertical 200 at 50 to 650st 160 at to 700st 120 at to 800st 0 2 12 600 at 50 to 500st 470 at to 600st 0 3 SS7C Note 60 16384 6 Horizontal Vertical 300 at 50 to 500st 230 at to 600st 0 3 12 600 at 50 to 500st 470 at to 600st 0 3 RCS2 Slider Type SS7R Note 60 16384 6 Horizontal Vertical 300 at 50 to 500st 230 at to 600st 0 3 Note The model stated in the hatched area is applicable for the offboard t...

Page 403: ... at 50 to 600st 480 at to 700st 380 at to 800st 310 at to 900st 255 at to 1000st 0 3 20 1000 at 50 to 600st 960 at to 700st 765 at to 800st 625 at to 900st 515 at to 1000st 0 3 SS8C 150 16384 10 Horizontal Vertical 500 at 50 to 600st 480 at to 700st 380 at to 800st 310 at to 900st 255 at to 1000st 0 3 100 20 1000 at 50 to 600st 960 at to 700st 765 at to 800st 625 at to 900st 515 at to 1000st 0 3 R...

Page 404: ...50 to 650st 530 at to 700st 470 at to 750st 410 at to 800st 370 at to 850st 340 at to 900st 310 at to 950st 270 at to 1000st 250 at to 1050st 230 at to 1100st 0 5 RCS3 Slider Type SA8 Note 100 16384 20 Horizontal Vertical 1200 at 50 to 650st 1070 at to 700st 940 at to 750st 840 at to 800st 750 at to 850st 670 at to 900st 610 at to 950st 550 at to 1000st 500 at to 1050st 460 at to 1100st 0 7 Note T...

Page 405: ... Vertical 600 at 50 to 650st 530 at to 700st 470 at to 750st 410 at to 800st 370 at to 850st 340 at to 900st 310 at to 950st 270 at to 1000st 250 at to 1050st 230 at to 1100st 0 5 RCS3 Slider Type SA8 Note 150 16384 20 Horizontal Vertical 1200 at 50 to 650st 1070 at to 700st 940 at to 750st 840 at to 800st 750 at to 850st 670 at to 900st 610 at to 950st 550 at to 1000st 500 at to 1050st 460 at to ...

Page 406: ...0 at to 850st 1010 at to 900st 910 at to 950st 830 at to 1000st 760 at to 1050st 690 at to 1100st 0 7 RCS3 Slider Type SS8 Note 100 16384 5 Horizontal Vertical 300 at 50 to 600st 275 at to 650st 240 at to 700st 215 at to 750st 190 at to 800st 170 at to 850st 150 at to 900st 140 at to 950st 125 at to 1000st 0 3 Note The model stated in the hatched area is applicable for the offboard tuning function...

Page 407: ...0 at 50 to 600st 1105 at to 650st 970 at to 700st 860 at to 750st 770 at to 800st 690 at to 850st 625 at to 900st 565 at to 950st 515 at to 1000st 0 7 Horizontal 1 0 RCS3 Slider Type SS8 Note 100 16384 30 Vertical 1800 at 50 to 600st 1660 at to 650st 1460 at to 700st 1295 at to 750st 1155 at to 800st 1035 at to 850st 935 at to 900st 850 at to 950st 775 at to 1000st 0 7 Note The model stated in the...

Page 408: ...0 at 50 to 600st 1105 at to 650st 970 at to 700st 860 at to 750st 770 at to 800st 690 at to 850st 625 at to 900st 565 at to 950st 515 at to 1000st 0 7 Horizontal 1 0 RCS3 Slider Type SS8 Note 150 16384 30 Vertical 1800 at 50 to 600st 1660 at to 650st 1460 at to 700st 1295 at to 750st 1155 at to 800st 1035 at to 850st 935 at to 900st 850 at to 950st 775 at to 1000st 0 7 Note The model stated in the...

Page 409: ... 500 at to 700st 440 at to 750st 390 at to 800st 350 at to 850st 320 at to 900st 290 at to 950st 260 at to 1000st 240 at to 1050st 220 at to 1100st 0 5 RCS3CR Slider Type SA8 Note 100 16384 20 Horizontal Vertical 1200 at 50 to 650st 1010 at to 700st 890 at to 750st 790 at to 800st 710 at to 850st 640 at to 900st 580 at to 950st 530 at to 1000st 480 at to 1050st 440 at to 1100st 0 7 Note The model ...

Page 410: ...0 600 at 50 to 650st 500 at to 700st 440 at to 750st 390 at to 800st 350 at to 850st 320 at to 900st 290 at to 950st 260 at to 1000st 240 at to 1050st 220 at to 1100st 0 5 RCS3CR Slider Type SA8 Note 150 16384 20 Horizontal Vertical 1200 at 50 to 650st 1010 at to 700st 890 at to 750st 790 at to 800st 710 at to 850st 640 at to 900st 580 at to 950st 530 at to 1000st 480 at to 1050st 440 at to 1100st...

Page 411: ...t 660 at to 1100st 0 7 5 300 at 50 to 600st 275 at to 650st 240 at to 700st 215 at to 750st 190 at to 800st 170 at to 850st 150 at to 900st 140 at to 950st 125 at to 1000st 0 3 RCS3CR Slider Type SS8 Note 100 16384 10 Horizontal Vertical 600 at 50 to 600st 550 at to 650st 485 at to 700st 430 at to 750st 385 at to 800st 345 at to 850st 310 at to 900st 280 at to 950st 255 at to 1000st 0 5 Note The m...

Page 412: ...6384 30 Vertical 1800 at 50 to 600st 1660 at to 650st 1460 at to 700st 1295 at to 750st 1155 at to 800st 1035 at to 850st 935 at to 900st 850 at to 950st 775 at to 1000st 0 7 RCS3CR Slider Type SS8 Note 150 16384 10 Horizontal Vertical 600 at 50 to 600st 550 at to 650st 485 at to 700st 430 at to 750st 385 at to 800st 345 at to 850st 310 at to 900st 280 at to 950st 255 at to 1000st 0 5 Note The mod...

Page 413: ...1035 at to 850st 935 at to 900st 850 at to 950st 775 at to 1000st 0 7 CTZ5C 60 16384 10 Horizontal Vertical 833 3 2 RCS3CR High Speed Type Slider Type CT8C 400 16384 30 2500 3 2 10 330 0 2 A4R 20 16384 5 Horizontal Vertical 165 0 2 12 400 0 2 A5R 20 16384 6 Horizontal Vertical 200 0 2 12 400 0 2 RCS2 Arm Type A6R 30 16384 6 Horizontal Vertical 200 0 2 RCS2 Gripper Type GR8 60 16384 Gear Ratio 1 5 ...

Page 414: ...750 deg s Gear Ratio 1 15 1200 deg s RTC10L 60 16384 Gear Ratio 1 24 750 deg s Gear Ratio 1 18 800 deg s RCS2 Rotary Type RTC12L 150 16384 Gear Ratio 1 30 600 deg s T18S T18CS 200 131072 Gear Ratio 1 1 Horizontal 1800 deg s T18P T18CP 200 1048576 Gear Ratio 1 1 Horizontal 1800 deg s LT18S LT18CS 200 131072 Gear Ratio 1 1 Horizontal 1800 deg s LT18P LT18CP 200 1048576 Gear Ratio 1 1 Horizontal 1800...

Page 415: ...4 4 Vertical 200 0 3 Horizontal 1 0 20 Vertical 1000 at 100 to 700st 795 at to 800st 645 at to 900st 540 at to 1000st 0 8 Horizontal 0 6 10 Vertical 500 at 100 to 600st 480 at to 700st 380 at to 800st 310 at to 900st 255 at to 1000st 0 5 Horizontal 0 5 MXM MYM 100 16384 5 Vertical 250 at 100 to 600st 220 at to 700st 175 at to 800st 145 at to 900st 120 at to 1000st 0 3 10 Vertical 500 at 100 to 600...

Page 416: ... 800st 645 at to 900st 540 at to 1000st 0 8 Horizontal 0 6 MXM MYM 200 16384 10 Vertical 500 at 100 to 600st 480 at to 700st 380 at to 800st 310 at to 900st 255 at to 1000st 0 5 MZM 200 16384 10 Vertical 500 at 100 to 600st 480 at to 700st 380 at 800st 310 at 900st 255 at 1000st 0 5 30 Horizontal 1500 at 800 to 1300st 1425 at 1400st 1200 at 1500st 1050 at 1600st 900 at 1700st 825 at 1800st 750 at ...

Page 417: ...t to 800st 385 at to 900st 320 at to 1000st 270 at to 1100st 235 at to 1200st 0 5 LZM 200 16384 10 Vertical 500 at 100 to 700st 470 at to 800st 385 at to 900st 320 at to 1000st 270 at to 1100st 235 at to 1200st 0 5 Horizontal 1 0 40 Vertical 2000 at 100 to 800st 1660 at to 900st 1380 at to 1000st 1170 at to 1100st 1000 at to 1200st 1 0 Horizontal 1 0 LXM LYM 400 16384 20 Vertical 1000 at 100 to 80...

Page 418: ...st 590 at 1900st 540 at 2000st 490 at 2100st 440 at 2200st 410 at 2300st 370 at 2400st 340 at 2500st 0 3 40 Horizontal 2000 at1000to1400st 1900 at 1500st 1660 at 1600st 1480 at 1700st 1300 at 1800st 1180 at 1900st 1080 at 2000st 980 at 2100st 880 at 2200st 820 at 2300st 740 at 2400st 680 at 2500st 0 3 ISA ISPA Slider Type LXMX 400 16384 20 Horizontal 1000 at1000to1400st 950 at 1500st 830 at 1600st...

Page 419: ...t 590 at 1900st 540 at 2000st 490 at 2100st 440 at 2200st 410 at 2300st 370 at 2400st 340 at 2500st 0 3 40 Horizontal 2000 at1000to1400st 1900 at 1500st 1660 at 1600st 1480 at 1700st 1300 at 1800st 1180 at 1900st 1080 at 2000st 980 at 2100st 880 at 2200st 820 at 2300st 740 at 2400st 680 at 2500st 0 3 ISA ISPA Slider Type LXUWX 400 16384 20 Horizontal 1000 at1000to1400st 950 at 1500st 830 at 1600st...

Page 420: ...100st 1000 at 1200st 865 at 1300st 1 0 Horizontal 1 0 20 Vertical 1000 at 100 to 800st 835 at 900st 695 at 1000st 585 at 1100st 500 at 1200st 430 at 1300st 0 8 Horizontal 0 6 600 10 Vertical 500 at 100 to 800st 415 at 900st 345 at 1000st 290 at 1100st 250 at 1200st 215 at 1300st 0 5 Horizontal 1 0 50 Vertical 2000 at 100 to 1000st 1840 at 1100st 1570 at 1200st 1360 at 1300st 1 0 Horizontal 1 0 ISA...

Page 421: ...710 at 2400st 655 at 2500st 0 3 600 20 Horizontal 1000 at 900 to 1300st 980 at 1400st 860 at 1500st 765 at 1600st 680 at 1700st 610 at 1800st 555 at 1900st 500 at 2000st 455 at 2100st 420 at 2200st 385 at 2300st 355 at 2400st 325 at 2500st 0 3 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 ...

Page 422: ...t to 600st 0 3 Horizontal 1 0 20 Vertical 1000 at 100 to 600st 915 at to 700st 735 at to 800st 600 at to 900st 500 at to 1000st 0 8 Horizontal 0 6 10 Vertical 500 at 100 to 600st 455 at to 700st 365 at to 800st 300 at to 900st 250 at to 1000st 0 5 Horizontal 0 5 100 5 Vertical 250 at 100 to 600st 225 at to 700st 180 at to 800st 150 at to 900st 125 at to 1000st 0 3 Horizontal 1 0 20 Vertical 1000 a...

Page 423: ...0 3 Horizontal 1 0 20 Vertical 1000 at 100 to 700st 930 at to 800st 765 at to 900st 640 at to 1000st 545 at to 1100st 465 at to 1200st 0 8 Horizontal 0 6 200 10 Vertical 500 at 100 to 700st 465 at to 800st 380 at to 900st 320 at to 1000st 270 at to 1100st 230 at to 1200st 0 5 Horizontal 1 0 L 400 16384 20 Vertical 1000 at 100 to 700st 930 at to 800st 765 at to 900st 640 at to 1000st 545 at to 1100...

Page 424: ... Vertical 960 at 50 to 600st 655 at to 700st 515 at to 800st 415 at to 900st 0 8 Horizontal 0 5 4 Vertical 240 at 130 ot 580st 165 at to 680st 130 at to 780st 100 at to 880st 0 4 Horizontal 0 7 8 Vertical 480 at 130 to 580st 330 at to 680st 260 at to 780st 210 at to 880st 0 6 Horizontal 1 2 ISB ISPB Slider Type SXL Note 50 16384 16 Vertical 960 at 130 to 580st 655 at to 680st 515 at to 780st 415 a...

Page 425: ...st 430 at to 800st 345 at to 900st 280 at to 1000st 230 at to 1100st 0 6 Horizontal 1 2 20 Vertical 1200 at 100 to 700st 860 at to 800st 695 at to 900st 570 at to 1000st 460 at to 1100st 1 0 Horizontal ISB ISPB Slider Type MXM Note 100 200 16384 30 Vertical 1800 at 100 to 700st 1290 at to 800st 1045 at to 900st 860 at to 1000st 690 at to 1100st 1 2 Note The model stated in the hatched area is appl...

Page 426: ...0st 430 at to 770st 345 at to 870st 280 at to 970st 230 at to 1070st 0 6 Horizontal 1 2 20 Vertical 1200 at 120 to 670st 860 at to 770st 695 at to 870st 570 at to 970st 460 at to 1070st 1 0 Horizontal ISB ISPB Slider Type MXL Note 100 200 16384 30 Vertical 1800 at 120 to 670st 1290 at to 770st 1045 at to 870st 860 at to 970st 690 at to 1070st 1 2 Note The model stated in the hatched area is applic...

Page 427: ...mm s 20 Horizontal 1200 at 800 to 1100st 1100 at to 1200st 1000 at to 1300st 950 at to 1400st 800 at to 1500st 700 at to 1600st 600 at to 1700st 550 at to 1800st 500 at to 1900st 450 at to 2000st 0 4 ISB ISPB Slider Type MXMX 200 16384 30 Horizontal 1800 at 800 to 1100st 1650 at to 1200st 1500 at to 1300st 1425 at to 1400st 1200 at to 1500st 1050 at to 1600st 900 at to 1700st 825 at to 1800st 750 ...

Page 428: ... 0 6 Horizontal 1 2 20 Vertical 1200 at 100 to 800st 920 at to 900st 765 at to 1000st 645 at to 1100st 550 at to 1200st 440 at to 1300st 1 0 Horizontal ISB ISPB Slider Type LXM Note 200 400 16384 40 Vertical 2400 at 100 to 800st 1840 at to 900st 1530 at to 1000st 1290 at to 1100st 1100 at to 1200st 880 at to 1300st 1 2 Note The model stated in the hatched area is applicable for the offboard tuning...

Page 429: ...t 0 6 Horizontal 1 2 20 Vertical 1200 at 120 to 770st 920 at to 870st 765 at to 970st 645 at to 1070st 550 at to 1170st 440 at to 1270st 1 0 Horizontal ISB ISPB Slider Type LXL Note 200 400 16384 40 Vertical 2400 at 120 to 770st 1840 at to 870st 1530 at to 970st 1290 at to 1070st 1100 at to 1170st 880 at to 1270st 1 2 Note The model stated in the hatched area is applicable for the offboard tuning ...

Page 430: ...o 1400st 950 at to 1500st 830 at to 1600st 740 at to 1700st 650 at to 1800st 590 at to 1900st 540 at to 2000st 490 at to 2100st 440 at to 2200st 410 at to 2300st 370 at to 2400st 340 at to 2500st 0 4 ISB ISPB Slider Type LXMX LXUWX 400 16384 40 Horizontal 2400 at 1000 to 1200st 2300 at to 1300st 2000 at to 1400st 1900 at to 1500st 1660 at to 1600st 1480 at to 1700st 1300 at to 1800st 1180 at to 19...

Page 431: ...st 620 at to 1400st 550 at to 1500st 1 2 Horizontal SSPA Slider Type LXM Note 750 16384 50 Vertical 1080 at 50 to 100st 1530 at to 200st 1870 at to 300st 2160 at to 400st 2420 at to 500st 2500 at to 900st 2320 at to 1000st 1950 at to 1100st 1660 at to 1200st 1440 at to 1300st 1250 at to 1400st 1100 at to 1500st 1 2 Note The model stated in the hatched area is applicable for the offboard tuning fun...

Page 432: ...t 0 4 480 at to 500st 460 at to 550st Horizontal 400 at to 600st 0 7 345 at to 650st 305 at to 700st 270 at to 750st 8 Vertical 240 at to 800st 0 6 960 at to 500st 920 at to 550st Horizontal 795 at to 600st 1 690 at to 650st 610 at to 700st 540 at to 750st ISDB ISPDB Slider Type S Note 60 16384 16 Vertical 480 at to 800st 0 8 Note The model stated in the hatched area is applicable for the offboard...

Page 433: ... 950st 130 at to 1000st 120 at to 1050st 5 Vertical 110 at to 1100st 0 4 600 at to 600st 545 at to 650st 480 at to 700st 430 at to 750st Horizontal 380 at to 800st 0 7 345 at to 850st 310 at to 900st 285 at to 950st 260 at to 1000st 240 at to 1050st ISDB ISPDB Slider Type M Note 100 200 16384 10 Vertical 220 at to 1100st 0 6 Note The model stated in the hatched area is applicable for the offboard ...

Page 434: ... 950st 520 at to 1000st 475 at to 1050st 20 Vertical 440 at to 1100st 1 1800 at to 600st 1630 at to 650st 1440 at to 700st 1280 at to 750st Horizontal 1150 at to 800st 1 1035 at to 850st 935 at to 900st 850 at to 950st 780 at to 1000st 715 at to 1050st ISDB ISPDB Slider Type M Note 100 200 16384 30 Vertical 660 at to 1100st 1 Note The model stated in the hatched area is applicable for the offboard...

Page 435: ...tor Series Type W No of Encoder Pluses mm Oriented Direction mm s G N N mm s 1200 at to 1100st 1100 at to 1200st 1000 at to 1300st 950 at to 1400st 800 at to 1500st 20 Horizontal 700 at to 1600st 0 4 1800 at to 1100st 1650 at to 1200st 1500 at to 1300st 1425 at to 1400st 1200 at to 1500st ISDB ISPDB Slider Type MX 200 16384 30 Horizontal 1050 at to 1600st 0 4 ...

Page 436: ...1150st 235 at to 1200st 220 at to 1250st 10 Vertical 205 at to 1300st 1 1200 at to 650st 1165 at to 700st 1045 at to 750st 940 at to 800st 850 at to 850st 770 at to 900st Horizontal 705 at to 950st 1 645 at to 1000st 595 at to 1050st 545 at to 1100st 505 at to 1150st 470 at to 1200st 440 at to 1250st ISDB ISPDB Slider Type L Note 200 400 16384 20 Vertical 410 at to 1300st 1 Note The model stated i...

Page 437: ...t to 1100st 1015 at to 1150st 940 at to 1200st 875 at to 1250st L Note 200 400 16384 40 Vertical 815 at to 1300st 1 1200 at to 1200st 1150 at to 1300st 1000 at to 1400st 950 at to 1500st 20 Horizontal 830 at to 1600st 0 4 1800 at to 1500st ISDB ISPDB Slider Type LX 200 400 16384 40 Vertical 1600 at to 1660st 0 4 Note The model stated in the hatched area is applicable for the offboard tuning functi...

Page 438: ... 16384 20 Horizontal 1200 0 3 MZMS 200 16384 20 Vertical 1000 0 5 MZMM 200 16384 20 Vertical 1000 0 5 40 Horizontal 2400 1 0 LXMS 400 16384 20 Horizontal 1300 1 0 40 Horizontal 2400 1 0 LXMM 400 16384 20 Horizontal 1300 1 0 40 Horizontal 2400 0 3 LXMXS 400 16384 20 Horizontal 1300 0 3 LZMS 400 16384 20 Vertical 1000 0 8 NS LZMM 400 16384 20 Vertical 1000 0 8 60 Horizontal 0 3 SA 100 16384 35 Horiz...

Page 439: ...500 3 0 S10SS 3 0 S10SM 200 3 0 S10HS 3 0 S10HM 200S 90000 90 Horizontal 2500 3 0 H8SS 3 0 H8SM 3 0 H8HS 3 0 H8HM 200 50000 50 Horizontal 2500 3 0 L15SS 3 0 L15SM 200 50000 50 Horizontal 2500 3 0 N10SS 3 0 N10SM 100S 50000 50 Horizontal 2500 3 0 N15SS 3 0 N15SM 3 0 N15HS 3 0 N15HM 200 50000 50 Horizontal 2500 3 0 N19SS 3 0 N19SM 300S 72000 72 Horizontal 2500 3 0 W21SS 3 0 LSA W21SM 400 45000 45 Ho...

Page 440: ... relation between pressing force and current limit value is shown with reference values at the rating pressing speed set at shipment Apply a pressing force larger than the minimum pressing force to the actuator If not the pressing force can be unstable If it becomes necessary to change the pressing speed contact us The positioning speed a operation condition should not be set to be less than the p...

Page 441: ...100 120 140 160 Figure of mutual relation between pressing force and current limit value of RCS3 RA8R Pressing Force N Current Limiting Value 0 500 1000 1500 2000 2500 0 20 40 60 80 100 120 140 160 Figure of mutual relation between pressing force and current limit value of RCS3 RA10R 0 1000 2000 3000 4000 5000 6000 7000 0 50 100 150 200 250 Pressing Force N Current Limiting Value ...

Page 442: ...value of RCS3 RA15R Figure of mutual relation between pressing force and current limit value of RCS3 RA20R 0 20 40 60 80 100 120 140 160 180 200 Current Limiting Value Pressing Force N 15 10 5 0 0 20 40 60 80 100 120 140 160 180 200 Current Limiting Value Pressing Force N 20 15 10 5 0 ...

Page 443: ...imitation in Operation Make sure to check the way to make selection for the operational condition and so on described in RCS2 RA13R and RCS3 Rod Type Instruction Manual and use the unit in the range of the specifications ...

Page 444: ...10 Appendix 428 ...

Page 445: ...y 1 Anything other than our product 2 Modification or repair performed by a party other than us unless we have approved such modification or repair 3 Anything that could not be easily predicted with the level of science and technology available at the time of shipment from our company 4 A natural disaster man made disaster incident or accident for which we are not liable 5 Natural fading of paint ...

Page 446: ...aining to maintenance or management of human life or health 2 A mechanism or mechanical equipment intended to move or transport people such as a vehicle railway facility or aviation facility 3 Important safety parts of mechanical equipment such as safety devices 4 Equipment used to handle cultural assets art or other irreplaceable items 3 Contact us at the earliest opportunity if our product is to...

Page 447: ...atement 2016 11 2017 06 2017 09 2017 12 4B Edition Contents revised in UL description Available range for input changed in electronic gear setting correction made to description Connector pin numbers corrected for TP adapter and I O connectors 4C Edition Correction made in explanation of model code in Starting Procedures 3 2 3 9 Battery Alarm BALM correction made to description Fifth Edition Note ...

Page 448: ...d for heat generation 2 5 5 2 5 6 2 6 5 Description added for pin numbers on connector soldering side 5D Edition RCON Connection Type added Startup Process 1 1 3 1 1 5 1 2 1 3 4 2 Description revised in Connection of PIO in 2 5 4 and 2 6 4 Description revised in 4 1 Each Field Network Correction made to statement and Terms unified ...

Page 449: ......

Page 450: ...889524 SHANGHAI JIAHUA BUSINESS CENTER A8 303 808 Hongqiao Rd Shanghai 200030 China TEL 021 6448 4753 FAX 021 6448 3992 website www iai robot com Technical Support available in USA Europe and China Head Office 2690 W 237th Street Torrance CA 90505 TEL 310 891 6015 FAX 310 891 0815 Chicago Office 110 East State Parkway Schaumburg IL 60173 TEL 847 908 1400 FAX 847 908 1399 TEL 678 354 9470 FAX 678 3...

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