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Summary of Contents for CA20-M10

Page 1: ...Front cover SERIES Keep this manual at hand after operators have read it thoroughly Operating Manual Basic Section Operating Manual Basic Section MODEL CA20 M10 M40 CA20 S10 S40 CONTROLLER...

Page 2: ......

Page 3: ...bot BA series refer to the Actuator Operating Manual supplied with the actuator PRECAUTION 1 The contents of this manual are subject to change without prior notice 2 An effort has been made to ensure...

Page 4: ...e unit specifications 2 6 3 Various units and options 2 7 2 3 Explanation of each part 2 8 2 3 1 External dimensions and explanation of each part 2 8 2 3 2 Function of each part 2 9 2 3 3 Explanation...

Page 5: ...1 3 Copy editing of sequential programs 4 4 4 1 4 Clearing of sequential programs 4 5 4 1 5 HELP function in entering a command 4 7 4 1 6 Method to restart operation of sequential mode after turning...

Page 6: ...Basic flow chart of palletizing mode 7 3 7 2 PRGM mode in palletizing mode 7 4 7 2 1 How to enter and leave the PRGM mode 7 7 7 2 2 Editing palletizing mode program 7 8 7 2 3 Copy editing of palletizi...

Page 7: ...10 1 Input output signal 10 1 10 1 1 Master unit input output connector signal names and pin numbers 10 1 10 1 2 Slave unit input output connector signal names and pin numbers 10 2 10 1 3 Expansion i...

Page 8: ...1 2 1 List of master unit I O signals 11 5 11 2 2 System I O 11 6 11 2 3 Name of general purpose I O port and teach pendant display 11 7 11 2 4 Jog input output 11 8 11 3 Data Communication 11 10 11 3...

Page 9: ...I O 12 6 12 2 3 Name of general purpose I O port and teach pendant display 12 7 12 2 4 Jog input output 12 8 Chapter 13 Parameter Setting 13 1 How to enter and leave the PARA mode 13 1 13 2 Method of...

Page 10: ...15 13 4 Parameter 2 setting 13 16 13 4 1 Setting of axis display 13 18 13 4 2 Setting of in position data value 13 18 13 4 3 Setting of overflow data value 13 18 13 4 4 Setting of feed forward data v...

Page 11: ...o 15 2 15 4 Search of easy program No 15 2 15 5 Search of palletizing program No 15 3 15 6 Search of palletizing program screen No 15 3 Chapter 16 Manual Operation of General purpose Outputs 16 1 Manu...

Page 12: ...nput to counter 18 18 JMP Unconditional jump 18 19 JMPC Counter conditional jump 18 20 JMPI Input conditional jump 18 21 JMPT Timer conditional jump 18 23 LOOP Loop for MVM 18 24 MINI Initial counter...

Page 13: ...20 7 Improvement of noise resistance 20 10 20 8 Connecting controllers 20 10 20 9 Resolver ABS backup 20 11 20 10 Regenerative Resistors 20 13 20 10 1 Specifications 20 13 20 10 2 External dimensions...

Page 14: ...XII 21 6 Spare parts 21 5 21 6 1 Controller spare parts 21 5 21 6 2 Axis spare parts 21 5...

Page 15: ...nt parts WARNING This equipment is designed and built in accordance with applicable safety standards in effect on the date of manufacture Unauthorized modifications will void the warranty and can resu...

Page 16: ...he equipment and aware of the hazards involved 3 Be trained and authorized to safely energize de energize clear ground lockout and tag circuits in accordance with established safety practice 4 Be trai...

Page 17: ...according to all applicable codes and established safety practices DANGER Do not get water on the inside or outside or the robot and do not wipe it off with water Doing so could lead to electric shoc...

Page 18: ...Failure to cover the terminal block could lead to electric shocks when the terminal block is contacted Do not use this robot on body parts for example as a massage machine Personal injury could result...

Page 19: ...e dust corrosive gases or oil mist are present Equipment damage will occur Install in a place where are the air convection or provide cooling device High temperature may cause failure or deterioration...

Page 20: ...ons stop automatically when the door is opened 2 Install an emergency stop device in an easily accessible place to enable an operator to quickly stop the ROIbot in case of an emergency 1 When an emerg...

Page 21: ...rson 4 Emergency procedures to be taken for malfunctions or abnormal operations of the ROIbot 5 Procedures to be taken for verifying recovery from abnormal conditions and confirming safety conditions...

Page 22: ...zles should be automated so operators do not have to enter the actuator s operating area 6 Release residual pressure before disassembling or changing parts in a pneumatic system 7 Do not enter the act...

Page 23: ...ation due to aging or wear due to use e g discoloration of painted surfaces or deterioration of consumables 1 3 Trouble due to sensory sensitivity e g sound emitted in a condition where no adverse eff...

Page 24: ...1 10 This page is blank...

Page 25: ...ape flexible tube the wiring and piping can be stored and vertical or horizontal layout is possible Corresponding to the needs of the time Q C D High quality short delivery and low cost is realized by...

Page 26: ...VAC can be handled CA20 M40 and S40 can handle 200 to 230 VAC Incorporation of ROIbot language popular for its simple teaching method Besides teaching with a personal computer the ROIbot Series Teach...

Page 27: ...ller cable Controller cable Master unit Slave unit UP to 3 axes Regenerative electrical discharge unit Expansion input output unit Host computer Link cable Communication cable PCBL 31 IBM PC AT or com...

Page 28: ...coupling the expansion input output unit to the master unit and slave unit the general purpose input output can be increased BA BA AC100 120V AC200 240V CA20 M40 S40 AC200 230V BA series axis BA seri...

Page 29: ...umber of counters 99 Number of timers 9 Error signal Error display lamp lights front panel Teach Pendant External input System input 24V 10mA 4 points General purpose input 24V 10mA 4 points Note 3 Ex...

Page 30: ...General purpose output 24V max 300mA 8 points Power supply 100VAC to 120VAC 200VAC to 240VAC 10 50 60Hz Change between the 100V system and 200V system using the short bar on the front terminal board...

Page 31: ...input output CA10 IC B 0 For expansion input output unit Link cable CA10 LC A Between master unit and each slave Personal computer software SFI 98D CD ROM Program creation and data maintenance for Wi...

Page 32: ...R COMM2 COMM1 TEACH ENCODER I O SW1 BAT SW2 Terminator setting switch Status display LED Communication connector Teach Pendant connector Encoder input connector Input output connector Regeneration out...

Page 33: ...me Ground and LG Line Ground terminals are provided on this board Incorrect wiring of the power supply incorrect connections mismatch of supplied power voltage and power voltage and power voltage chan...

Page 34: ...connector is used to connect the battery harness option This is used when using the absolute encoder Analog monitor connector Note This connector is used for adjustment by manufacturer Do not connect...

Page 35: ...1 External dimensions 2 Names of each part The expansion input output can be connected to the master unit or slave unit 4 E X I O Installation hook four positions Expansion input output connector Expa...

Page 36: ...en run and program modes HOME key This key executes Return to Origin START key The key executes the program The program will be executed from the step currently stopped at When using a multitasking th...

Page 37: ...OG mode manual operation mode is enabled and JOG operation of the axis can be executed by using Move keys When this key is pressed in servo free condition Direct Teaching is enabled FREE LOCK key This...

Page 38: ...ate To clear emergency stop turn the switch clockwise to unlock the switch and then press the CLEAR key In servo free condition the ROIbot is separated electrically from the control system and the axi...

Page 39: ...ing each wiring Make sure that none of the polarities are mistaken 8 Connecting the Teach Pendant to controller Section 2 4 4 9 Supplying the designated power supply POWER ON Section 2 4 2 10 Setting...

Page 40: ...ormance will not be achieved and faults could occur If the controller is installed in parallel with regenerative electrical discharge unit ABSU 4000 the space depends on the installation dimensions of...

Page 41: ...ngle phase 200VAC to 230VAC 10 50 60Hz Power input terminal AC IN When used in Japan the supply voltage is normally 10 in respect to the nominal voltage However if the voltage fluctuation is particula...

Page 42: ...inal is provided in addition to the FG terminal to protect the circuit from external lightening surges or noise etc When installing the controller short circuit the LG and FG terminals with the enclos...

Page 43: ...s are bundled together malfunctioning could occur due to induction Thus separately wire these wires Use Class 3 or higher grounding grounding resistance 100 or less for the controller grounding If the...

Page 44: ...Teach Pendant to the controller as shown below Items marked with a are to be prepared by the user Example of wiring for two axis combination Teach Pendant Master unit Slave unit Link cable Axis Emerg...

Page 45: ...ling two or more axes the station No must be set with the station No setting switch on the top of the unit so that the hardware of each unit can recognize the station No Set the master unit s station...

Page 46: ...ster unit and slave unit with open COMM2 at the end of the communication line Leave the switches set to OFF for all other units When using two axes turn ON bit 1 and bit 2 of the terminator setting sw...

Page 47: ...hus the leakage breaker will function when the leakage current in the high frequency zone exceeds the operating frequency of the leakage breaker Measures when leakage breaker functions needlessly by h...

Page 48: ...ils Set the task No as shown below Task 1 Task 2 Task 3 Task 4 1 0 0 0 1 axis specifications No axis No axis No axis 1 2 0 0 1 axis specifications 1 axis specifications No axis No axis 1 2 2 0 1 axis...

Page 49: ...struction Manual Axis Installation Section for details on the robot type six digit figure NOTE To confirm the robot type do not press ENT at STEP 5 and instead press ESC to return to STEP 3 STEP 7 Thi...

Page 50: ...anged easily by software but it is not easy to do so using hardware To set the software limits use the Teach Pendant and follow the directions below STEP 1 Turn ON the power After the first display at...

Page 51: ...d the soft limit is a value set for each unit Refer to section 2 4 4 STEP 7 Press HOME to execute Return to Origin NOTE The software limits must be within the maximum stroke of the actuator s installe...

Page 52: ...e while checking the ROIbot movement Servo gain position When high speed response is desired set the value of the servo gain for positioning to a larger value Note that if it is set too large hunting...

Page 53: ...parameter refer to section 13 4 14 is set to the incremental encoder the absolute function does not operate even if the backup power is connected Installing the lithium battery One lithium battery for...

Page 54: ...the cumulative time when the power to the control is off Note 2 The duration time of the battery depends on the temperature etc Set the numeric value as a measure of the duration time Battery input c...

Page 55: ...rmal backup cannot be done when the power is not supplied to the controller 3 Encoder error An encoder error occurs in the following cases Turn on the power again Reset input and pressing the CLEAR ke...

Page 56: ...rn ON the power Connect the axis and controller Set the station No Set the terminator No 11 No 10 No 9 No 8 No 7 No 6 Press START to initiate operation Program ends STEP 0001 is displayed and the ROIb...

Page 57: ...just before the one currently displayed NOTE You can enter the data displayed on the screen into the controller by pressing the NEXT or NEXT key when the display is changed Note that the ENT key does...

Page 58: ...ad to enter coordinate X 300 and press ENT Then enter coordinate Y 300 and press ENT PRGM 0002 a S NO 001 MOVP V 00 CNT 00 POST STEP 3F After pressing ESC press ENT The cursor moves to speed No V 00 C...

Page 59: ...nput With this command movement to X 200 Y 200 is set Press NEXT to display the next step STEP 6 Press F 1 IN 1 and MOV 9 select the HOME command and press ENT The ROIbot will execute Return to Origin...

Page 60: ...s RUN PRGM to enter the sequential AUTO mode Now press START R U N STEP 10 The program will be executed as it is displayed on the screen AUTO 0001 SPD V 01 STEP 11 When program execution ends program...

Page 61: ...ions more complex than the easy mode or palletizing mode are possible By using multitasking up to four sequential programs can be executed simultaneously Refer to Chapter 4 for details on the sequenti...

Page 62: ...nt and by directly designating these tables from an external source with general purpose inputs movement takes place Refer to Chapter 8 for details on the external point designation mode 5 Pulse train...

Page 63: ...eration will be determined Operation stops and the single operation can be started after a specific command axis movement related or output related command is executed in the sequential mode directly...

Page 64: ...t the data Functions handy during programming such as copy delete and search are provided Refer to each chapter for details on the operation methods PARA mode The various parameters related to operati...

Page 65: ...by pressing the HOME key or inputting Return to Origin before the program is executed Note Errors requiring Return to Origin even when absolute encoder is used DRIVER ENCODER ERROR ENCODER BACKUP ERR...

Page 66: ...emory clear Sequential clear Palletizing clear Sequential Palletizing clear Extension Memory initialize Easy point clear Point clear Exten sion Sequential step copy Palletizing copy Sequential step er...

Page 67: ...to origin output designation 20 CC Link setting 21 DeviceNet setting 22 Battery alarm output bit designation 23 Moving coordinate table number output in external point designated mode ESC 1 Soft limi...

Page 68: ...e sequential mode However the parameter mode can not be used Direct output JOG operation Specified Bit 1 ON OFF Specified Bit 2 ON OFF Specified Bit 3 ON OFF Specified Bit 4 ON OFF Override RUN mode R...

Page 69: ...ON Memory clear Edit Extension Parameter mode Sequential mode Refer to the system diagram of the sequential mode However the parameter mode can not be used JOG operation Direct output Specified Bit 1...

Page 70: ...can be written in the sequential mode The next step of the currently displayed step can be shown by pressing the NEXT or NEXT key In case of TPH 2A note that one command may be displayed in two succes...

Page 71: ...8 can be selected by PSEL program selection command as a program No Counter A counter 01 to 99 is a type of variable Counter contents can be added or subtracted in a rate of 0 to 9999 In the above exa...

Page 72: ...tly taught by the operator directly moving the robot arm to the required position If the axis is provided with brakes the brakes will be applied during the servo free state so direct teaching is not p...

Page 73: ...ve display remote teaching cannot be executed When DIRECT JOG is pressed when the cursor is not located at the position shown in the above display jog operation to only move the axis will take place R...

Page 74: ...tion can be performed by pressing and quickly releasing the MOVE keys 1 1 2 2 The distance of an inching movement can be set by JOG increment of parameter 1 Refer to section 13 3 8 Coordinate table in...

Page 75: ...e Direct Teaching cannot be executed The axis provided with brakes will be stopped when the FREE LOCK key is pressed If Return to Origin has not been executed before the DIRECT JOG key is pressed an e...

Page 76: ...rvo free condition Use Remote Teaching for an axis equipped with brakes STEP 2 Direct Teaching screen is displayed and Direct Teaching can be executed STEP 3 Move the axis manually to a desired positi...

Page 77: ...ate table input screen Easy mode coordinate input screen Palletizing mode coordinate input screen 3 MDI Manual Data Input method STEP 1 Move the cursor to the point shown at the left enter the set coo...

Page 78: ...ing mode coordinate input screen NOTE Surely set the coordinate value within the stroke of the axis being used STEP 2 Move the cursor to the point shown at the left enter the set coordinates with the...

Page 79: ...program mode or by not turning ON the Teach Pendant T P 1 Method to initialize the memory from the PRGM program mode Enter the PRGM program mode and press HELP The following will display Refer to sec...

Page 80: ...initialized the robot type 510100 single axis specifications parameter will be set When using a type other than 510100 set the robot type again Moreover the task combination is initialized as follows...

Page 81: ...when an error occurs and the memory cannot be initialized from the PRGM program mode TOSHIBA MACHINE TEACHING PENDANT TPH 4C Ver 2 10 STEP 1 Turn the power switch ON The initial screen will display f...

Page 82: ...xial speed S and linear speed T Absolute coordinate position a and relative coordinate position i Position POST and pass point PASS The method to use through is hereafter described Axial speed S and l...

Page 83: ...absolute coordinate position is gained by adding the amount which is set with OFS command The relevant coordinate position movement during the MOVP or MVE commands will be the relative movement from t...

Page 84: ...Robot tact time can be reduced by using a course COSE in operation which does not need to wait for an exact position Examples of operation If the robot moves as shown in the figure on the right point...

Page 85: ...left appears after the initial screen press F 1 Then press RUN PRGM to enter PRGM mode Refer to section 5 3 2 1 when the task must be changed with multitasking STEP 2 A program can now be written Pre...

Page 86: ...d move up all successive steps in memory Press HELP in program mode to show the following display Refer to section 4 1 1 STEP 1 Press F 3 STEP 2 To insert a step press F 1 Press F 2 to delete a step T...

Page 87: ...When this instruction appears press F 3 STEP 2 Press F 4 To return to the initial screen in the PRGM mode press ESC STEP 3 Press F 3 To return to STEP 2 press ESC STEP 4 Use the numeric keypad to ente...

Page 88: ...meric keypad to enter the task No of the copy origin program Input range 01 to 04 STEP 5 Use the numeric keypad to enter the first and last steps of the copy origin STEP 6 Use the numeric keypad to en...

Page 89: ...g out the following steps Refer to section 5 3 2 1 Enter the PRGM mode and press HELP The following screen will display Refer to section 4 1 1 STEP 1 Press F 3 in this state STEP 2 When F 3 is pressed...

Page 90: ...the main task task No 1 so the programs of tasks other than the main task will not be cleared with this operation In this case press F 3 at STEP 2 and display the following screen STEP 3B Press F 3 P...

Page 91: ...10 PSEL 11 OFS 12 MVB 13 MINI 14 MVM 15 LOOP STEP 2 Press HELP again when the command to be entered is not shown HELP HELP PAGE 16 MVE 17 SVON 1 8 8 SVOF 19 HOME 20 BRAC 21 CNTC STEP 3 Press HELP aga...

Page 92: ...sed to restart operation that has been stopped with emergency stop input Use the following procedure to restart the operation 1 Designate the restart input bit in the mode setting with the Teach Penda...

Page 93: ...During restart Program start Return to origin Controller power OFF Controller power ON When restart related parameters are set and restart is ON When restart related parameters are set and restart is...

Page 94: ...M and on matrix Example Correspondence of pallet on which work are arranged in a zigzag pattern Transferring of works on pallet according to passing and failing state etc Procedure for carrying out pa...

Page 95: ...e data must be set in the coordinate table 0 to 999 can be set for the coordinate table No If the matrix only has one row set P0 and P1 to the normal values and set P2 to 0 P0 does not always have to...

Page 96: ...the 4 coordinates in P2 Set the 1 coordinates in P2 Operation pattern Operation pattern To execute the 1 to M program To execute the 1 to M program A 1 A 2 A 3 A 4 A 5 A 6 A 4 A 5 A 6 A 1 A 2 A 3 3 R...

Page 97: ...table P0 1 point coordinates P1 3 point coordinates P2 4 point coordinates No in P1 direction 3 No in P2 direction 2 P1 direction counter No 1 P2 direction counter No 2 P2 direction Y axis X axis P1 d...

Page 98: ...program will jump to the tag No set with the LOOP command The program example given on the previous page will be explained with the Teach Pendant screens Writing of program Enter the sequential PRGM...

Page 99: ...the MVM tables tag No 400 will be jumped to If the number is not reached the program will jump to tag No 100 and will realize the loading by carrying out STEP 2 to 6 following the counted counter If...

Page 100: ...eturn to origin There are cases where Return to Origin does not need to be carried out Refer to section 3 1 3 Return to Origin STEP 2 In this state the sequential mode s RUN mode will be entered Press...

Page 101: ...nored Refer to section 10 2 6 for details 2 Single operation During single operation the program will stop once after the axis movement or output related operation is executed To start or restart the...

Page 102: ...following screen will display so press F 1 and HOME to carry out return to origin There are cases where Return to Origin does not need to be carried out Refer to section 3 1 3 Return to Origin STEP 2...

Page 103: ...3 Changing of speed during operation override The entire program execution speed can be delayed by using the override function This allows the program to be confirmed at a low speed STEP 1 Enter the R...

Page 104: ...4 20 This page is blank...

Page 105: ...the next part to the unloading position When multitasking is not used In addition to the robot a programmable logic controller PLC for controlling the conveyor will be required Due to this the system...

Page 106: ...quential program step is displayed CHANGE TASK 01 02 First press ALT Using the numeric keypad enter the task No 01 to 04 in this state The displayed task will change when ENT is pressed NOTE It is imp...

Page 107: ...system input all task will stop when the command being executed at that point is completed The step No will remain that at the stopped time and will be used for executed when start is applied again Th...

Page 108: ...T4 0000 STEP 2 Set the No of steps in each task with the No of task step setting in the PARA mode Refer to section 13 4 18 In the example on the left 500 steps are assigned to each task No 1 and No 2...

Page 109: ...RUN mode and press START The program will start from the head of task No 1 Use the operation described in STEP 3 to change the task display 5 3 5 Applying timing between tasks A timing is applied to...

Page 110: ...E 5 4 2 Transition of states 1 Starting the task The main task task 1 will start when start is input from the system or when started with the Teach Pendant The task stopped from the execution state wi...

Page 111: ...ep When the execution state of a task continues for one second or more When one second or more has passed the step being executed will end and the ready state will be entered 5 4 3 Transfer of data be...

Page 112: ...5 8 This page is blank...

Page 113: ...asy mode program can have a maximum of 100 steps per program and eight programs can be created No of programs Eight programs No of steps 100 steps program The following subroutine programs used in the...

Page 114: ...y mode will be validated and the initial screen of the PRGM mode easy will display EASY 01 X 0000 00 001 V 00 Y 0000 00 TAG 000 STEP 1B How to leave the easy mode Press F 4 PARA F1 SET MODE F2 PARAMET...

Page 115: ...ues Refer to section 3 2 2 NOTE The coordinate data will be written into the coordinate table of the point table No that is the same as the step No 4 Setting of speed Set the speed to move to the poin...

Page 116: ...1 at each step START End Move to point 003 Move to point 002 Move to point 001 Start subroutine execution Hand subroutine execution Hand subroutine execution Hand subroutine execution End End End Rep...

Page 117: ...sequential program does not need to be created and the required operations can be carried out When using the reservation tag No external devices such as a solenoid and limit switch must be connected...

Page 118: ...ernal devices when using reservation tag No General purpose input Limit switch 1 1 1 2 1 3 1 4 1 1 1 2 1 3 General purpos e output External power supply Solenoid Cylinder rise lower Hand open close So...

Page 119: ...1 Timer wait 003 TIM 0 1 Timer wait 004 OUT 0 01 01 Chuck close instruction 004 OUT 0 01 10 Chuck open instruction 005 IN 0 01 10 Wait for chuck close completion 005 IN 0 01 01 Wait for chuck open co...

Page 120: ...essing DIRECT JOG Refer to section 3 2 2 EASY 01 X 0000 00 001 V 00 Y 0000 00 TAG 000 STEP 2 Use the numeric keypad to enter the speed No and then press ENT 0 to 10 When V 0 is entered the speed is se...

Page 121: ...pressed STEP 2 will be moved to When ESC is pressed the easy mode initial screen will display Input condition branching EASY 01 001 000 JMPI PORT 0 01 STEP 2 Use the numeric keypad to enter the step N...

Page 122: ...ed step 9 will be moved to When ESC is pressed the easy mode initial screen will display Timer branching conditions EASY 01 001 000 JMPT 1 000 0s STEP 9 Use the numeric keypad to enter the step No to...

Page 123: ...outine will not be executed The reservation tag Nos 900 and 901 can also be input STEP 2 Use the numeric keypad to enter the end tag No and then press ENT 0 to 999 If there is no designation an end su...

Page 124: ...d of the cycle will be the end step EASY 01 X 001 V 00 Y TAG 000 EASY 01 X 002 V 00 Y TAG 000 EASY 01 X 003 V 00 Y TAG 000 EASY 01 X 0000 00 004 V 00 Y 0000 00 TAG 000 Operation pattern STEP 1 Display...

Page 125: ...the easy program are shown below Program No Step No 1 001 to 100 2 101 to 200 3 201 to 300 4 301 to 400 5 401 to 500 6 501 to 600 7 601 to 700 8 701 to 800 NOTE Do not branch jump between program Nos...

Page 126: ...Press F 1 at step 002 and press ALT to select the input conditions branching Input conditions branching setting If general purpose input port 01 1 is ON failing jump to 004 Coordinates Point C coordin...

Page 127: ...STEP 3 Press F 4 Press ESC to return to STEP 2 STEP 4 Press F 1 Press ESC to return to STEP 3 STEP 5 Use the numeric keypad to enter the copy origin easy program No and the copy destination easy progr...

Page 128: ...ess ESC to return to the initial screen of the PRGM mode STEP 3 Press F 4 Press ESC to return to STEP 2 STEP 4 Press F 2 Press ESC to return to STEP 3 STEP 5 To clear the program press ENT To not clea...

Page 129: ...lay so press F 1 and HOME to carry out return to origin STEP 2 This state is the easy mode RUN mode Press SEARCH and then use the numeric keypad to enter the easy program No to be executed Then press...

Page 130: ...p 001 input the reset signal and then input the start signal If the restart function is valid the reset input will be ignored Refer to section 10 2 6 for details 2 Single operation During single opera...

Page 131: ...to display the corresponding program Then press HELP STEP 3 When this screen displays press F 1 The STEP mode will be entered The mode signal lamp will flicker in red during the STEP mode STEP 4 Each...

Page 132: ...low speed STEP 1 Enter the RUN mode and press HELP This screen will display so press F 2 and enter the override mode STEP 2 Use the numeric keypad to enter the override value When ENT is pressed the s...

Page 133: ...o matrix type point in X and Y axes direction M to M mode Palletizing operation is carried out in the P1 direction and P2 direction order The matrix work origin P0 does not always need to be near the...

Page 134: ...7 2 M to 1 mode M to M mode S side P0 S side P0 D side P0 S side matrix D side matrix P1 P2 D side P0 S side matrix P1 P1 P2 P2...

Page 135: ...nd program execution End NO YES End program execution Start program The tag No of the sequential program to be executed before palletizing operation is indicated Tag No 000 Program is passed Tag No ot...

Page 136: ...side matrix P2 coordinates 05 No of S side matrixes 06 Movement speed toward S side 07 S side hand program tag No 08 D side matrix P0 coordinates 09 D side matrix P1 coordinates 10 D side matrix P2 c...

Page 137: ...s the palletizing counter Applicable counter S side Count in P0 to P1 direction No 91 Count in P0 to P2 direction No 92 D side Count in P0 to P1 direction No 93 Count in P0 to P2 direction No 94 NOTE...

Page 138: ...be returned to This operation will be repeated until the work at the final point of the S side reaches the final point on the D side Example In the above example after 36 works min nominal multiple o...

Page 139: ...er the initial screen press F 1 Then press RUN PRGM to enter the PRGM mode STEP 2 Press SEQUN PALET and enter the palletizing mode STEP 3 The initial screen of the palletizing mode will display Press...

Page 140: ...bsolute coordinates and press ENT Press NEXT to display the next screen and NEXT to display the previous screen STEP 4 Use the numeric keypad to enter the S side P2 coordinates absolute coordinates an...

Page 141: ...coordinates absolute coordinates and press ENT Press NEXT to display the next screen and NEXT to display the previous screen STEP 10 Use the numeric keypad to enter the D side P2 coordinates absolute...

Page 142: ...o display the next screen and NEXT to display the previous screen STEP 14 Use the numeric keypad to enter the tag No and then press ENT Press NEXT to display the previous screen NOTE If SEARCH is pres...

Page 143: ...ESC to return to the initial screen of the PRGM mode STEP 3 Press F 2 Press ESC to return to STEP 2 STEP 4 Use the numeric keypad to enter the copy origin palletizing program No and the copy destinati...

Page 144: ...go to STEP 2 STEP 4A To clear the program press ENT To not clear the program press ESC To clear palletizing and sequential programs STEP 3B Press F 3 is pressed both the sequential and palletizing pr...

Page 145: ...to 6 Starts from process 3 continuing of operation At process 7 Starts from process 1 It is interpreted that the process has been completed so operation will start from process 1 NOTE If the operatio...

Page 146: ...nuous operation Refer to section 7 3 2 Operation using Teach Pendant The operation procedures using the Teach Pendant are shown below STEP 1 Turn ON the power switch After the initial screen displays...

Page 147: ...tial state will be returned to AUTO P1 0000 0000 01 P2 0000 0000 M M START 000 0000 AUTO P1 0000 0000 01 P2 0000 0000 M M START 000 0000 The program No will display 1 to 8 The set No of pieces will di...

Page 148: ...6 5 Confirm that the return to origin signal is ON and then input the next signal 6 Turn the start signal ON and start the program The palletizing input signal state will be checked when the start sig...

Page 149: ...etain the ON state during single operation If the single operation input signal is turned OFF during single operation the remaining program will be continuously operated Even if the single operation i...

Page 150: ...gram STEP 6 The next step will display and the robot will stop Press START to execute the next step The program will be executed sequentially in step units and will stop NOTE During the operation with...

Page 151: ...e and press HELP This screen will display so press F 2 and enter the override mode STEP 2 Use the numeric keypad to enter the override value When ENT is pressed the speed will change to the set speed...

Page 152: ...7 20 This page is blank...

Page 153: ...ause input is used this will be 8 points 3 bits 2 Connect the option expansion input output and validate the expansion input output in the mode setting Refer to section 13 2 17 Setting of external poi...

Page 154: ...ble designation 29 input Table 2 Input ports when using expansion input output A When not using pause input No of point tables 16 B When using pause input No of point tables 8 Port 01 1 Point table de...

Page 155: ...rror 1000 or more 1 1 1 1 1 1 1 1 1 1 1 ON 0 OFF Refer to section 13 5 1 for details on how to set the point coordinate table If 1000 or more point tables are designated an error will occur The relati...

Page 156: ...using the expansion input output the acceleration deceleration table is fixed to No 5 When using the expansion input output 1 bit 2 steps can be designated Acceleration deceleration table designation...

Page 157: ...celeration table details 3 Turning OFF or disconnecting of Teach Pendant 4 Return to origin 6 Input of start signal 7 Move to designated point Refer to section 13 5 2 Designation of external point des...

Page 158: ...e done in the external point designation mode Parameter setting Override setting RESET operations 8 3 Changing of speed during operation Override The entire execution speed can be delayed by using the...

Page 159: ...ng to the pulse train input supplied from an external source Thus operations such as return to origin acceleration deceleration control and protection with soft limit are carried out by the externally...

Page 160: ...limit Motor index signal Specifications 24VDC 20mA Max Applicable encoder Line driver output Low wiring type Display Error display lamp lighting Front panel Error display Error display lamp lighting T...

Page 161: ...COM1 24 N C 7 Emergency stop output NO 25 Emergency stop input 8 Emergency stop output COM 26 Emergency stop input 9 Emergency stop output NC 27 COM4 10 N C 28 System input 11 System output 29 Servo...

Page 162: ...he axis Output signal circuit 5 Counter clear input This clears the software counter in the controller accumulating the command pulses and the deflection counter that shows the difference of the comma...

Page 163: ...nt 2 clock method 1 clock method CLK CLK clock input Clock input CLK SIGN clock input Sign input Input signal circuit COM4 270 2 2K CLK CLK P CLK SIGN P 150 TLP115A CLK CLK N CLK SIGN N P and N each i...

Page 164: ...SIGN signal that indicates the movement direction NOTE Provide a time interval of 1 s or more from when the SIGN input is designated to when CLK is input Pin No Signal name Signal waveform Movement di...

Page 165: ...ve form ON Servo ON signal Servo free OFF ON Counter clear signal OFF Servo lock Error occurrence 30ms or more Servo lock ON Reset signal OFF ON Servo ON signal Servo free ON Counter clear signal OFF...

Page 166: ...P CLK CLK N CLK SIGN N CLK CLK P 150 Master unit L L CLK CLK P CLK CLK N CLK SIGN P CLK SIGN N Twisted pair shield wire Pulse generator etc Counter clear Servo ON Reset Positioning complete Origin LS...

Page 167: ...recommended to improve the reliability against noise etc Line driver interface Open collector interface NOTE When the external power voltage is 24VDC the external resistance R will be approx 2k 150 33...

Page 168: ...ut mode The parameters that can be set when using the pulse train input mode for operation are shown below When operating as a robot the optimum values are set by the robot type designation However th...

Page 169: ...carrying output operation will be entered The display will be 2CLOCK during the 2 clock mode STEP 3 Press F 4 to enter the parameter mode Press ESC to return to STEP 2 Refer to Chapter 13 for details...

Page 170: ...Confirm that the emergency stop circuit controller cable power cable signal cable and Teach Pendant are securely connected and then turn the power ON NOTE When the controller is delivered the pulse t...

Page 171: ...e input port 1 4 6 COM1 Note 2 24 N C 7 Emergency stop output NO 25 Emergency stop input 8 Emergency stop output COM 26 Emergency stop input 9 Emergency stop output NC 27 COM4 Note 2 10 N C 28 Return...

Page 172: ...11 General purpose output port 1 5 Note 3 29 General purpose input port 1 6 12 General purpose output port 1 6 Note 3 30 General purpose input port 1 7 13 General purpose output port 1 7 Note 3 31 Gen...

Page 173: ...d inertia etc Emergency stop output An output terminal is provided to notify the external source that the controller has entered the emergency stop state when the ROIbot enters the emergency stop stat...

Page 174: ...5 General purpose output port 1 4 23 General purpose input port 1 4 6 COM1 General purpose output circuit General purpose input circuit 1 Input signal 10 mA 2 Output signal The Rated current is 300mA...

Page 175: ...ose output port 1 6 29 General purpose input port 1 6 13 General purpose output port 1 7 30 General purpose input port 1 7 14 General purpose output port 1 8 31 General purpose input port 1 8 17 COM2...

Page 176: ...information in currently designated table Rising edge detection 30 Stop ON Complete execution of current step and then stop Invalid When this input is ON return to origin and start input are invalid 3...

Page 177: ...bot positioning is completed OFF when robot is moving Stays OFF when stopped with pause Same as left Section 10 2 13 14 Return to origin complete ON while return to origin operation is not required fo...

Page 178: ...signal No 1 to No 8 using a binary number in sequential mode PSEL instruction palletizing mode and easy mode Input point table No designation signal No 1 to No 16 using a binary number in external po...

Page 179: ...eneral purpose output port 2 6 20 General purpose input port 2 6 8 General purpose output port 2 7 21 General purpose input port 2 7 9 General purpose output port 2 8 22 General purpose input port 2 8...

Page 180: ...it Station No 1 Expansion input output unit Slave unit Station No 2 Expansion input output unit Slave unit Station No 3 Expansion input output unit Input P22 1 8 P23 1 4 Output P22 1 8 Input P02 1 8 P...

Page 181: ...output for old CA20 M10 M40 is changed to transistor output 19 21 20 22 23 28 27 29 30 31 1 2 4 3 5 6 11 12 13 14 17 1 2 1 3 1 4 1 1 COM1 COM1 COM2 1 1 1 2 1 3 1 4 COM4 COM3 COM COM OUT1 OUT4 IN1 IN4...

Page 182: ...transistor output 19 21 20 22 23 28 27 29 30 31 1 2 4 3 5 6 11 12 13 14 17 1 2 1 3 1 4 1 5 1 6 1 7 1 8 1 1 COM1 DC24V COM1 COM2 1 1 1 2 1 3 1 4 1 5 1 6 1 7 1 8 COM4 COM3 General purpose input Input 1...

Page 183: ...cted internally 14 16 15 22 23 24 25 26 1 2 8 3 9 13 2 8 2 1 COM5 DC24V COM5 2 1 2 8 3 1 3 4 COM6 4 5 6 7 17 18 19 20 21 Input 2 1 External power supply 24VDC General purpose output Output 2 1 Output...

Page 184: ...the positioning complete output has turned OFF 10 2 2 Start input This input restarts the operation from the currently stopped step or the temporarily stopped step If operation is restarted with this...

Page 185: ...ore if the mode setting is the initial value the general purpose output will be held and all of the counter details will be cleared to zero However if continuous start input is designated whether to h...

Page 186: ...ection 13 2 12 Refer to section 13 2 13 Initialize Counter Clear General purpose output According to mode setting initial value Hold Power OFF ON Step No Initialize Counter Clear General purpose outpu...

Page 187: ...n 20 0 1 0 1 0 1 0 1 Program selection 21 0 0 1 1 0 0 1 1 Program selection 22 0 0 0 0 1 1 1 1 Example If input pin 20 is ON 21 is ON and 22 is OFF during PSEL execution The step for which tag No 004...

Page 188: ...his signal will turn OFF when the program is stopped with the END command or stop input 10 2 12 Error output This signal turns ON when an error has occurred in the controller Refer to Chapter 19 for d...

Page 189: ...t is designated for the individual task positioning complete output by the mode setting the port can be used for individual task positioning complete output Refer to section 13 2 18 This setting can s...

Page 190: ...10 20 This page is blank...

Page 191: ...her data Data communication is performed through remote registers RWw and RWr and some of remote inputs RX and remote outputs RY are used 1 The data communication handshake signal on the robot control...

Page 192: ...points System output 4 points General purpose input 64 points General purpose output 64 points Jog input 8 points Jog output 8 points Handshake input 1 point Handshake output 2 points Data selection i...

Page 193: ...on RUN Gree n On During normal operation Off During timeout or network stoppage CC Link connection terminal block The exclusive CC Link cable for data linkage is connected to this terminal block Pin N...

Page 194: ...at other than the both ends Star connection is not possible The connecting method is shown below For details on the cable connection see the master station instruction manual and CC Link cable wiring...

Page 195: ...al input port 5 1 8 RX n 3 0 RX n 3 7 General output port 6 1 8 RY n 3 0 RY n 3 7 General input port 6 1 8 RX n 3 8 RX n 3 F General output port 7 1 8 RY n 3 8 RY n 3 F General input port 7 1 8 RX n 4...

Page 196: ...RY n 4 8 RY n 4 F A selected axis is moved by jogging after the motion mode jog low speed or high speed and travel direction are specified Section 11 2 4 2 System output CA20 M10 CC CC Link master sta...

Page 197: ...k or input from the I O connector Refer to section 13 2 20 This is output to CC Link and I O connector Master unit Station No 0 Input P1 02 1 8 P1 03 1 4 Output P1 02 1 8 Slave unit Station No 1 Expan...

Page 198: ...speed jog request and jog direction are specified and the jog request is ON the corresponding axis performs the jog operation Refer to Fig 11 2 4 1 Jogging by I O signal is not accepted as long as th...

Page 199: ...itions In the above figure high speed jog and direction are specified Turn on the request axis 1 jog input With this timing the jog conditions are input The jog ready output turns off and the axis 1 j...

Page 200: ...request monitor Counter set 2 0 0 0 1 Monitor mode section 11 3 3 Status monitor 3 0 0 1 0 Current position monitor 4 0 0 0 0 Counter monitor Note 1 Arbitrary selection mode RWw n 0000h Designated seq...

Page 201: ...a 1 Data flow and timing 1 Only when an error has occurred Signal name Device Timing Command RWwn RWw n F Request command processing signal RY n 6 8 Reply RWrn RWr n F Command processing finish signal...

Page 202: ...gnal is turned on The command is processed based on the data in the receive command buffer in Step above The results are set in the send reply buffer The response set in the send reply buffer is trans...

Page 203: ...eply Counter value Error code Reserved 0 fixed 7 Set counter Send E700H Counter No Counter value Reserved 0 fixed Reply 0 fixed 0 fixed Error code Reserved 0 fixed 8 Write speed table Send C2C2H Table...

Page 204: ...ber RWw n 2 RWw n F Fixed at K0 Use prohibited RWr n 2 00 H Status value 1 RWr n 3 Error code RWr n 4 RWr n F Fixed at K0 Unused 1 The status value is saved in the lower byte The upper byte is always...

Page 205: ...ror code 0000H Normal 1000H Command analysis error An error is found in the command 3 Read coordinate table command C3C1H Command CC Link master station CA20 M10 CC Response CC Link master station CA2...

Page 206: ...an active task Error code 0000H Normal 1000H Command analysis error An error is found in the command 5 Request current offset value monitor command E400H Command CC Link master station CA20 M10 CC Res...

Page 207: ...1 K99 Counter number RWr n 1 Fixed at K0 Unused RWw n 2 K0 K9999 Counter value RWr n 2 Fixed at K0 Unused RWw n 3 RWw n F Fixed at K0 Use prohibited RWr n 3 Error code RWr n 4 RWr n F Fixed at K0 Unus...

Page 208: ...lysis error An error is found in the command 10 Write acceleration deceleration table command C2C3H Command CC Link master station CA20 M10 CC Response CC Link master station CA20 M10 CC Remote regist...

Page 209: ...speed value 32 bits Unit of time to set speed value 0 01 SEC Ex 0 30 SEC K 30 Error code 0000H Normal 1000H Command analysis error An error is found in the command 12 Write override command D900H Comm...

Page 210: ...command 2000H Controller error state 14 Read override command DA00H Command CC Link master station CA20 M10 CC Response CC Link master station CA20 M10 CC Remote register b15 b8 b7 b0 Remarks Remote r...

Page 211: ...flow and timing Set the data selection signal and data selection auxiliary register The data selection signal is transferred to CA20 M00 M01 by the CC Link scan The data selected by the data selectio...

Page 212: ...in version 2 88n or later Note 2 The torque monitor is controlled by a controller in version 2 88w or later 11 3 3 3 Explanation of monitors 1 Status monitor Remote register b15 b8 b7 b0 Remarks RWrn...

Page 213: ...b0 Remarks RWrn 00H 02H Data selection check 1 RWr n 1 Fixed at K0 Use prohibited RWr n 2 Fixed at K0 Use prohibited RWr n 3 Fixed at K0 Use prohibited RWr n 4 K 800000 K 800000 Axis 1 coordinate RWr...

Page 214: ...2 RWr n 4 K1 K99 Counter number 2 RWw n 5 Fixed at K0 Use prohibited RWr n 5 K0 K9999 Value of counter number 2 RWw n 6 K1 K99 2 Counter number 3 RWr n 6 K1 K99 Counter number 3 RWw n 7 Fixed at K0 U...

Page 215: ...99 Value of first counter 4 RWw n 7 RWr n 7 K0 K9999 Value of first counter 5 RWw n 8 RWr n 8 K0 K9999 Value of first counter 6 RWw n 9 RWr n 9 K0 K9999 Value of first counter 7 RWw n A RWr n A K0 K99...

Page 216: ...ohibited RWr n 5 K0 K9999 Value of counter number 2 RWw n 6 K1 K99 2 Counter number 3 RWr n 6 K1 K99 Counter number 3 RWw n 7 Fixed at K0 Use prohibited RWr n 7 K0 K9999 Value of counter number 3 RWw...

Page 217: ...Speed control specifications Speed control specifications Controller type CA20 M10 M40 Software version 2 88h or higher Number of control axes 1 1 Speed specification range 3000 to 3000 rpm Specified...

Page 218: ...the power once after changing the value 11 4 5 List of I O signals If the speed control mode is set the I O signals are changed as shown in the following table Signal direction CC Link master station...

Page 219: ...speed Speed at which the motor is running The units of current speed and target speed are the same 1 The status value is stored in the low order byte The high order byte is always set to 00 For the de...

Page 220: ...on input is turned ON If the error output RXn1 is turned ON turn OFF both the rotation command input RYn0 and the servo on input RYn1 The running output RXn0 is ON during motor rotation The target spe...

Page 221: ...are is open If the error output RXn1 is turned ON turn OFF the servo on input RYn1 Do not turn OFF the servo on input RYn1 when the running output RXn0 is ON Except when the error output RXn1 is turne...

Page 222: ...get speed validation inputs RYn4 RYn7 are output without being changed 5 Acceleration deceleration table number selection inputs RYn8 RYnF and acceleration deceleration table number selection outputs...

Page 223: ...0 0 0 1 0 1 0 0 The table number 20 is selected when the bit pattern is not any of those in the above table 6 Error output RXn1 This signal is turned ON if a controller error occurs When the error ou...

Page 224: ...s Up to 16 tables 10 bits 999 tables 10 bits 999 tables Station No 0 General input ports 01 1 to 02 2 Speed table 1 table 2 bits 3 tables Up to 4 bits Up to 10 tables Specification permitted 1 Acceler...

Page 225: ...4 2 3 2 2 2 1 2 0 001 0 0 0 0 0 0 0 0 0 0 002 0 0 0 0 0 0 0 0 0 1 003 0 0 0 0 0 0 0 0 1 0 008 0 0 0 0 0 0 0 1 1 1 016 0 0 0 0 0 0 1 1 1 1 256 0 0 1 1 1 1 1 1 1 1 999 1 1 1 1 1 0 0 1 1 0 1 ON 0 OFF An...

Page 226: ...s of 02 7 and 02 8 If the leading bit is specified for the port 03 1 of the station No 0 master unit the specification results are as shown in the following table Table to be specified General input p...

Page 227: ...1 0 1 04 0 0 1 0 0 14 0 1 1 1 0 05 0 0 1 0 1 15 0 1 1 1 1 06 0 0 1 1 0 16 1 0 0 0 0 07 0 0 1 1 1 17 1 0 0 0 1 08 0 1 0 0 0 18 1 0 0 1 0 09 0 1 0 0 1 19 1 0 0 1 1 10 0 1 0 1 0 20 1 0 1 0 0 1 ON 0 OFF N...

Page 228: ...on Controller type CA20 M10 M40 Software version 2 88w or higher Number of control axes 1 1 Available torque levels 4 Torque setting range 0 01 to 2 00 T 2 Operation with the maximum torque limit func...

Page 229: ...initial values are as follows ACC table number 17 18 19 20 Maximum torque limit value T 0 90 0 95 1 00 1 05 NOTE Set 2 00 for acceleration deceleration tables which are not used The accuracy is not g...

Page 230: ...RX n 4 1 Use the signals to confirm the acceleration deceleration table number selected For the table confirmation outputs the values of table selection inputs RY n 4 0 to RY n 4 1 are output without...

Page 231: ...nk module is not connected a hyphen is displayed instead of the setting value STATION indicates the currently set CC Link station number BAUDRATE indicates the currently set communication speed VERSIO...

Page 232: ...r of received data items BIT7 BIT6 BIT5 BIT4 BIT3 BIT2 BIT1 BIT0 0 0 0 0 0 ERR32 ERR31 ERR30 ERR30 RY or RWw data count error 0 Normal 1 Less than the local station data count ERR31 RY data count erro...

Page 233: ...nts 96 bytes 0 1 0 0 1024 points 128 bytes 0 1 0 1 1280 points 160 bytes 0 1 1 0 1536 points 192 bytes 0 1 1 1 1792 points 224 bytes 1 0 0 0 2048 points 256 bytes MST27 MST26 MST25 MST24 RWw data tran...

Page 234: ...11 44 This page is blank...

Page 235: ...m 12 1 2 DeviceNet specifications Item Specification Communication protocol Compliant with DeviceNet Support connection I O connection polling Communication speed 125k 250k 500kbps Set by parameter St...

Page 236: ...f DeviceNet component and external dimensions 160 174 185 35 35 90 134 CA20 M10 DeviceNet module 90 W 160 H 134 D Not including the mounting bracket DeviceNet state display LED DeviceNet connector LED...

Page 237: ...starting normally A configuration area has occurred in the master unit I O area Check if the master unit has started normally Red On Critical commun ication error A communication error has occurred s...

Page 238: ...For details on the cable connections refer to the master station operating manual or document published by the ODVA 12 1 6 DeviceNet settings 1 CA20 M10 DN settings The station number MAC ID and baud...

Page 239: ...input port 2 1 8 24 31 General output port 3 1 8 24 31 General input port 3 1 8 32 39 General output port 4 1 8 32 39 General input port 4 1 8 40 47 General output port 5 1 8 40 47 General input port...

Page 240: ...ging after the motion mode jog low speed or high speed and travel direction are specified Section 12 2 4 1 Offset amount from the start device unit bits 2 System output CA20 M10 DN DeviceNet master st...

Page 241: ...or input from the I O connector Refer to section 13 2 21 This is output to DeviceNet and I O connector Master unit Station No 0 Input P1 02 1 8 P1 03 1 4 Output P1 02 1 8 Slave unit Station No 1 Expa...

Page 242: ...uest and jog direction are specified and the jog request is ON the corresponding axis performs the jog operation Refer to Fig 12 2 4 1 Jogging by I O signal is not accepted as long as the jog ready ou...

Page 243: ...itions In the above figure high speed jog and direction are specified Turn on the request axis 1 jog input With this timing the jog conditions are input The jog ready output turns off and the axis 1 j...

Page 244: ...12 10 This page is blank...

Page 245: ...ose settings will be changed frequently Table Tables of various points speed and acceleration 13 1 How to enter and leave the PARA mode Press HELP in program mode The following display appears Refer t...

Page 246: ...hen continuous start is ON Hold Clear 13 Status setting when continuous start is OFF Hold Clear 14 Direct output designation 15 READY output bit designation 16 Palletizing input bit designation 17 Exp...

Page 247: ...ress ENT When NEXT is pressed the next screen will display and when NEXT is pressed the previous screen will display Press ESC to return to the PARA mode screen When the continuous start input bit is...

Page 248: ...easy or palletizing mode the program No designated with the designated bit will be executed Continuous 3 bits The bit designated with this mode setting is a 20 bit The 3 bits following the designated...

Page 249: ...ON while operation is paused temporarily stopped Refer to section 10 2 16 13 2 8 Designation of input wait output bit Use the numeric keypad to designate the output bit and press ENT When NEXT is pres...

Page 250: ...nation mode Refer to Chapter 8 PULSE1 Pulse train input mode 1 clock operation Refer to Chapter 9 PULSE2 Pulse train input mode 2 clock operation Refer to Chapter 9 13 2 11 Setting of general purpose...

Page 251: ...reen will display Press ESC to return to the PARA mode screen The continuous start input bit is designated and whether to hold or clear the step No counter and general purpose outputs when reset is in...

Page 252: ...rnal point designation mode Valid Invalid Switch between Invalid Valid with ALT and press ENT When NEXT is pressed the previous screen will display Press ESC to return to the PARA mode screen When usi...

Page 253: ...ial value 0 Setting range 0 to 99 The BAUD RATE option sets the CC Link transmission speed The settable transmission speed varies depending on the total cable length CC Link version and cable types In...

Page 254: ...0 all system input and general purpose input from DeviceNet is enabled When 1 is set system input and general purpose input ports 1 to 3 of the master unit is enabled from the input output connectors...

Page 255: ...t value 6 Sequence of Return to Origin 7 JOG speed 8 JOG inching movement NOTE Note that the parameter 4 Pass area data value above cannot be used Even if it is set the parameter is ineffective Set PA...

Page 256: ...position and press ENT STEP 2 Use the numeric keypad to enter the servo gain speed and press ENT When NEXT is pressed the next screen will display and when NEXT is pressed the previous screen will dis...

Page 257: ...s will also be offset when using the sequential easy palletizing or external point designation mode Initial value 0 setting range 8000 to 8000 If the OFS command is used in the sequential mode this of...

Page 258: ...urn to origin for station No 1 is set to 2 the axis controlled by the station No 0 unit will return to the origin and then the axis controlled by the station No 1 unit will return to the origin If bot...

Page 259: ...3 8 Setting of JOG inching movement STEP 1 Use the numeric key pad to enter the JOG inching movement rate and press ENT When NEXT is pressed the previous screen will display Press ESC to return to th...

Page 260: ...flow data value 4 Feed forward data value 5 Direction of motor revolution 6 Maximum speed 7 Return to origin speed 8 Return to origin method 9 Origin sensor logic 10 High speed return to origin positi...

Page 261: ...d and the parameter No 1 to 19 is input the parameter 2 setting screen can be searched Jump function When F 1 is pressed in K01 to K09 K10 appears when F 1 is pressed in K10 to K19 K01 appears STEP 4...

Page 262: ...r difference of target position and current position becomes less than this value it will be judged that positioning has been completed and the program will move to the next operation step Even if thi...

Page 263: ...clockwise direction in respect to the positive movement command when the motor output shaft is looked from the load side Reverse 1 Motor rotates in counterclockwise direction in respect to the positi...

Page 264: ...rigin may not be possible Also encoder error may occur Even if a value after the decimal point is entered it is assumed to be a numeric value rounded down for operation Explanation of return to origin...

Page 265: ...nitial return to origin after the power is turned ON and the second and following return to origin Origin sensor Return to origin speed High speed return to origin position set with parameter 2 Refer...

Page 266: ...e origin sensor turns ON the axis moves forward direction once and stops at the encoder Z phase and then searches for the origin sensor again at a low speed When the origin sensor turns ON the origin...

Page 267: ...NEXT is pressed the previous screen will display Press ESC to display the parameter 2 end screen The high speed return to origin position refers to the target position when moving at a high speed ret...

Page 268: ...f 3 is set the operation will be 2 fold Initial value 4 setting range 1 to 4 This value is set automatically when the robot type is entered Refer to section 2 4 7 The lead No of divisions and multipli...

Page 269: ...not designated for a unit will be handled as the Task with no axis Only commands excluding the axis related commands movement commands etc will be executable 13 4 16 Setting of task order of priority...

Page 270: ...to lower than the current value the program of that step will be cleared When 1 001 or more steps are set the easy mode program area will be cleared and used as the sequential program area A total of...

Page 271: ...rdinate point table table Nos 1 to 999 Set for each task when using multitasking Speed table table Nos 1 to 10 Acceleration ACC table table Nos 1 to 20 MVM table table Nos 1 to 32 Refer to section 4 1...

Page 272: ...on screen shown in section 13 5 and select the speed table STEP 1 Input is possible for the speed table at the second line from the top Use the numeric keypad to enter the speed and press ENT Press NE...

Page 273: ...t range is 0 01 to 9 99 s The initial values are as shown below ACC table No 1 2 3 4 5 6 7 8 9 10 Time s 0 10 0 15 0 20 0 25 0 30 0 35 0 40 0 45 0 50 0 55 ACC table No 11 12 13 14 15 16 17 18 19 20 Ti...

Page 274: ...enter the table No with the numeric keypad 1 to 32 Refer to section 4 1 7 for program examples using the MVM table STEP 2 Use the numeric keypad to enter the No of pieces to be moved and loaded and th...

Page 275: ...Z phase pulse Z monitor is valid only for a master unit When using multitasking the status of the task displayed on the Teach Pendant will be monitored Method of monitoring Programming for monitoring...

Page 276: ...m is displayed Display the initial instruction STEP 1 When this display is shown press F 1 STEP 2 The currently active program step is displayed The display varies according to the progress of the pro...

Page 277: ...ored and press ENT STEP 4A The status of the current system input port and general purpose input port will be displayed in bit units Press NEXT to display the next screen Press ESC to return to STEP 2...

Page 278: ...When is pressed output monitor STEP 3B Enter the station No of the controller to be monitored and press ENT STEP 4B The status of the current system output port and general purpose output port will b...

Page 279: ...nter are monitored Press NEXT or NEXT to scroll the display Press SEARCH and enter the counter number to perform a search in the counter monitor screen Press ESC to return to STEP 2 When is pressed Ti...

Page 280: ...displayed Press ESC to return to STEP 2 NOTE The value displayed for the current position is the absolute value minus the offset value When the controller does not execute the OFS command the display...

Page 281: ...ent offset coordinate is displayed Press ESC to return to STEP 2 The offset coordinates refer to the coordinate system using the origin that has been offset moved in parallel with the command This is...

Page 282: ...axis to be monitored is connected and press ENT STEP 4 The current origin sensor and encoder Z phase status will be displayed as bits at the system input No 1 and No 2 NOTE The encoder Z phase monito...

Page 283: ...ad to enter the step No and press ENT 1 to 2000 Press ESC to return to the original screen STEP 2 The designated step will display 15 2 Search of tag No If SEA R C H is pressed twice in the sequential...

Page 284: ...essed in the easy mode the easy program screen can be searched If SEARCH is pressed twice in the PRGM mode or once in the AUTO mode or STEP mode the following screen will display STEP 1 Use the numeri...

Page 285: ...rn to the original screen Program No STEP 2 The designated palletizing program will display 15 6 Search of palletizing program screen No If SEARCH is pressed twice in the palletizing mode s PRGM mode...

Page 286: ...15 4 This page is blank...

Page 287: ...keys This method is valid only during the JOG mode or remote teaching mode NOTE Set the output bit to be directly output with the mode setting before starting this operation Refer to section 13 2 14 P...

Page 288: ...us of the output port designated in STEPS 2 and 3 is displayed The station No is a number assigned to each unit Refer to section 2 4 4 Output No 8 No 1 STEP 4 Press IN 1 ON RET 0 OFF or TAG no change...

Page 289: ...the left is displayed Press F 4 to proceed to STEP 3 Press ESC to return to RUN mode TEACHING PENDANT OFF STEP 3 The Teach Pendant OFF screen is displayed This enables simulation with the teach pendan...

Page 290: ...system input STEP 1 In RUN mode press HELP to display the screen on the left Press F 3 to proceed to STEP 2 Press ESC to return to RUN mode STEP 2 To reset press ENT To not reset press ESC After pres...

Page 291: ...return to STEP 2 STEP 4 The screen on the left is displayed Press F 4 to proceed to STEP 5 Press ESC to return to STEP 3 STEP 5 Enter the specified counter No with the numeric keypad and press ENT Co...

Page 292: ...C to return to step 2 STEP 4 The version will display on the screen Press ESC to return to STEP 3 The displayed indicators on the screen have the meanings below A0 Master unit station No 0 A1 Slave un...

Page 293: ...nnot be used when the pulse train input mode is set During the sequential mode JOG is carried out for each task If task 1 is assigned for the 1st axis and task 2 is assigned for the 2nd axis the 2nd a...

Page 294: ...axis position when return to origin is required In this case the soft limit is not applied The JOG operation speed can be set with parameter 1 JOG speed Refer to section 13 3 7 Inching during JOG oper...

Page 295: ...on the left is displayed Press F 3 to proceed to STEP 3 Press ESC to return to the PRGM mode screen STEP 3 The screen on the left is displayed Press F 4 to proceed to STEP 4 Press ESC to return to STE...

Page 296: ...tibility Mode of Parameter 2 Refer to section 13 4 19 Setting Mode Output signal specifications 1 Remarks Disable Standard mode BA II series controller specifications Default Enable BA I O compatibili...

Page 297: ...cy stop cancel Encoder error generation Reset input Error clear is not possible Positioning finish output BA BA I O compatible mode Speed Return to origin motion Controller power Return to origin inpu...

Page 298: ...el Encoder error generation Reset input Error clear is not possible Positioning finish output BA BA I O compatible mode Speed Return to origin motion Controller power Return to origin input Running ou...

Page 299: ...urn to origin is necessary or when the servo is free leads to an error beep In this case the procedure does not proceed to the STEP 3 STEP 3 The confirmation screen is displayed Press the ENT key to s...

Page 300: ...17 12 This page is blank...

Page 301: ...and MOV 9 18 16 Setting parameters Command Reading Function Key operation Refer to SPD Speed Setting speed Press SPD 7 18 41 ACC Accel Setting acceleration deceleration Press SPD 7 twice 18 4 OFS Off...

Page 302: ...tion Key operation Refer to JMP Jump Unconditional jump Press JMP 5 18 19 JMPI Jump I Input conditional jump Press JMP 5 twice 18 21 JMPC Jump C Counter conditional jump Press JMP 5 three times 18 20...

Page 303: ...Servo OF F Servo off Press F 1 IN 1 and END 8 18 43 MVM commands Command Reading Function Key operation Refer to MVM Move M Palletizing movement Press F 1 IN 1 and CAL 4 18 31 LOOP Loop Loop for MVM P...

Page 304: ...5 3 The initial values are shown in the table below ACC level 1 2 3 4 5 6 7 8 9 10 Time s 0 10 0 15 0 20 0 25 0 30 0 35 0 40 0 45 0 50 0 55 ACC level 11 12 13 14 15 16 17 18 19 20 Time s 0 60 0 65 0...

Page 305: ...3 Enter the counter setting value with the numeric key pad Press ENT Input range 0 to 999 NOTE The control jumps to the tag No which is the resultant value of the counter value counter Nos The counter...

Page 306: ...stem in which another subroutine is called in a subroutine program A diagram of the main routine and subroutine relation is shown below Main routine program Key operation STEP 1 Press CAL 4 NOP change...

Page 307: ...ine Key operation STEP 1 Press CAL 4 three times NOP changes to CALC press ENT STEP 2 Use the numeric keypad to enter the tag No to be called Press ENT Input range 1 to 999 STEP 3 Use the numeric keyp...

Page 308: ...e input port 1 7 are ON and the general purpose input port 1 No 4 general purpose input port 1 4 and No 5 general purpose input port 1 5 are OFF for the unit of which the station No is set to 0 the de...

Page 309: ...UND error will occur When using multitasking a tag No in another task cannot be called STEP 5 Enter the input conditions with RET 0 IN 1 and TAG and press ENT The key functions RET 0 Input OFF IN 1 In...

Page 310: ...n STEP 1 Press CAL 4 four times NOP changes to CALT Press ENT STEP 2 Use the numeric keypad to enter the tag No to be called Press ENT Input range 0 to 999 STEP 3 Use the numeric keypad to enter the t...

Page 311: ...the numeric keypad press ENT Input range 1 to 99 STEP 3 Enter preset values initial values with the numeric keypad Press ENT Input range 0 to 9999 Whether to clear the counter details set the counter...

Page 312: ...After entering the counter No with the numeric keypad and press ENT Input range 1 to 99 STEP 3 Enter the increment value with the numeric keypad and press ENT Input range 0 to 9999 NOTE If any value g...

Page 313: ...ENT STEP 2 Enter the counter No with the numeric keypad and press ENT Input range 1 to 99 STEP 3 Enter the decrement value with the numeric keypad and press ENT Input range 0 to 9999 NOTE If any valu...

Page 314: ...n This command is used to clear all counters that is to set all counter values to zero Key operation STEP 1 Press F 1 OUT 2 and IN 1 in order NOP changes to CNTC Press ENT PRGM 0001 NOP PRGM 0001 CNTC...

Page 315: ...ram step counter to step 0001 and the ROIbot will wait for another START input If the END command is executed in task 2 to 4 of multitasking that task will return to step 0001 and stop Then it will wa...

Page 316: ...hat executes this command will return to the origin Explanation The axes are moved in an order preset with the parameters Refer to section 13 3 6 Key operation STEP 1 Press F 1 IN 1 and MOV 9 in order...

Page 317: ...Example Key operation STEP 1 Press IN 1 NOP changes to IN Press ENT STEP 2 Use the numeric keypad to enter a station No and press ENT STEP 3 Use the numeric keypad to enter a port No and press ENT STE...

Page 318: ...t bit pattern Binary Counter value Decimal 0 Input OFF 1 Input ON 0000 0000 0000 0001 0000 0010 0000 0011 0000 1111 1111 1111 0 1 2 3 15 255 Key operation STEP 1 Press IN 1 twice NOP changes to INPC P...

Page 319: ...ey operation STEP 1 Press JMP 5 NOP changes to JMP Press ENT STEP 2 After entering a tag No with the numeric keypad press ENT Input range 1 to 999 NOTE The tag No for STEP 2 can be set to 0 as a tempo...

Page 320: ...ation STEP 1 Press JMP 5 three times NOP changes to JMPC Press ENT STEP 2 Use the numeric keypad to enter the tag No which the program jumps to then press ENT Input range 1 to 999 STEP 3 Enter a count...

Page 321: ...ation No is set to 0 the program will jump to the designated step The general purpose input signal at the display section will not judge the conditions Example Key operation STEP 1 Press JMP 5 twice N...

Page 322: ...F IN 1 Input ON TAG Ignored NOTE The station No is a number assigned to each unit Refer to section 2 4 4 For the station No port No and bit No which can be used refer to section 10 1 4 Names of genera...

Page 323: ...ess JMP 5 four times NOP changes to JMPT Press ENT STEP 2 Use the numeric keypad to enter the tag No which the program jumps to then press ENT Input range 1 to 999 STEP 3 Use the numeric keypad to ent...

Page 324: ...r THEN with the numeric keypad and press ENT Input range 1 to 999 STEP 4 Enter a tag No for ELSE with the numeric keypad and press ENT Input range 1 to 999 Tag for THEN A program jumps to the THEN tag...

Page 325: ...able of the specified group No are set to 1 Key operation STEP 1 Press F 1 followed by IN 1 and CNT 3 NOP changes to MINI Press ENT STEP 2 Enter a group No MVM group No with the numeric keypad and pre...

Page 326: ...ting the coordinate table No directly enter the coordinate table No with the numeric keypad and press ENT Input range 0 to 999 0 means No designation STEP 4 In case of designating the coordinate table...

Page 327: ...ROR will occur when the command is executed For details of a absolute coordinate position i relative coordinate position POST and COSE refer to MOV System Command Words and Parameters section 3 2 4 If...

Page 328: ...Press ENT STEP 2 Enter the speed No with the numeric keypad and press ENT Input range 0 to 10 When V 0 is entered the speed is set to the designated speed preset by SPD command STEP 3 Press ALT and s...

Page 329: ...d while the escape input is ON the MVE command will not be executed and the next step will be executed The set general purpose input signal will be the escape input only when the MVE command is execut...

Page 330: ...is set to the designated speed preset by SPD command NOTE If neither STEP 3 nor STEP 4 or if both are designated a PARAMETER ERROR will occur when the command is executed If the counter No is designat...

Page 331: ...to the coordinate calculated by the following equations Coordinates of each matrix point P0 X0 Y0 P1 X1 Y1 P2 X2 Y2 P0 P1 pieces n1 P0 P2 pieces n2 Value of counter used in P0 P1 direction C1 Value o...

Page 332: ...e 0 to 10 When V 0 is entered the speed becomes the value preset by the SPD command STEP 4 Press ALT and select either POST position or COSE course and press ENT NOTE For an application example of the...

Page 333: ...ere is no execution at this step and the program proceeds to the next step Key operation Press NOP and press ENT NOTE NOP is entered in any program step in which no instruction is written No Operation...

Page 334: ...fset command is displayed as follows absolute position executed offset value Example When offset value is X 30 Y 20 Point A absolute coordinates X 60 Y 40 Executed offset value X 30 Y 20 Current posit...

Page 335: ...when the reset signal is input can be selected Refer to sections 10 2 6 and 15 2 11 If the OUT command is set as shown below the general purpose output port 1 No 1 general purpose output port 1 1 and...

Page 336: ...Key functions for output conditions RET 0 Output OFF IN 1 Output ON TAG Hold current output state NOTE The station No is a number assigned to each unit Refer to section 2 4 4 For the station No port...

Page 337: ...1 2 3 15 255 0000 0000 0000 0001 0000 0010 0000 0011 0000 1111 1111 1111 Key operation STEP 1 Press OUT 2 three times NOP changes to OUTC Press ENT STEP 2 Use the numeric keypad to enter a station No...

Page 338: ...y operation STEP 1 Press OUT 2 twice NOP changes to OUTP Press ENT STEP 2 Use the numeric keypad to enter a station No and press ENT STEP 3 Use the numeric keypad to enter a port No and press ENT STEP...

Page 339: ...ENT Refer to section 13 2 5 for details on the bit No selection input bit designation During multitasking if the PSEL command is input for multiple tasks and is executed the NO TAG FOUND error will oc...

Page 340: ...the program to the next step following the step called by it The subroutine program ends when this command is executed Key operation Press RET 0 NOP changes to RET Press ENT Refer to the CAL command...

Page 341: ...nchanged until the next setting If no speed value is set the speed defaults to the SPD1 Do not set the speed higher than the maximum allowed If the speed value exceeds the maximum the speed defaults t...

Page 342: ...it with a command input the start signal If the program is to be returned to step No 1 and then executed input the reset signal and then input the start signal Note that the setting of the continuous...

Page 343: ...is of the task that executed this command will enter the servo free condition Explanation When the SVOF command is executed any axis equipped with a brake is broke Key operation Press F 1 IN 1 and MVC...

Page 344: ...ng the axis of the task that executed this command will enter the servo lock condition Explanation When SVON command is executed any axis brake is released Key operation Press F 1 IN 1 and SPD 7 NOP c...

Page 345: ...hown below This is a program that repeats a certain process Key operation Press TAG NOP changes to TAG Press ENT Enter the tag No with the numeric keypad and press ENT Input range 1 to 999 NOTE If the...

Page 346: ...n the same state as when that task executes the END command Key operation Press F 1 and then OUT 2 and TIM 6 NOP changes to TCAN Press ENT Enter the task No with the numeric keypad and press ENT Input...

Page 347: ...ion The amount of time to wait can be set from 0 0 to 999 9 seconds in increments of 0 1 seconds Key operation Press TIM 6 NOP changes to TIM Press ENT Enter the wait period in seconds with the numeri...

Page 348: ...neral purpose input signal input from an external source If there is an input signal it is processed If there is no signal input within the designated time the program is ended Key operation STEP 1 Pr...

Page 349: ...mmand will enter the ready state again If this command is executed to a task that has not been started once an error will occur Key operation STEP 1 Press F 1 and then OUT 2 and JMP 5 NOP changes to T...

Page 350: ...will be set in the same state as when that task executes the STOP command Key operation Press F 1 and then OUT 2 and CAL 4 NOP changes to TSTO Press ENT STEP 2 Enter the task No with the numeric keyp...

Page 351: ...e ready state Task 1 will start from the Teach Pendant or system input start so it will not start with this command Key operation Press F 1 and then OUT 2 and CNT 3 NOP changes to TSTR Press ENT STEP...

Page 352: ...18 52 This page is blank...

Page 353: ...ll be executed Refer to section 10 2 4 3 CC Link clear Perform a reset input Set RYn3 to ON 1 4 DeviceNet clear Perform a reset input Set the start device 3 to ON 2 1 n Address assigned to the master...

Page 354: ...s within the specification range F R 1 ER31 Axis 2 overspeed error ER41 Axis 3 overspeed error ER51 Axis 4 overspeed error ER22 Axis 1 overcurrent error A driver error occurred due to a low voltage ex...

Page 355: ...limit exceeded during execution The designated coordinate value has exceeded the soft limit positive value This was detected during program execution Check the soft limit positive value and the progra...

Page 356: ...an be installed at the collision location to reduce the rebound acceleration The error cannot be cleared by CLEAR or a reset The power must be turned off and on again F R 1 ER3D Axis 2 encoder switchi...

Page 357: ...etizing program were corrupted by noise fluctuations in the supply voltage or other cause The program number and screen number where the error occurred are displayed on the screen Program number Scree...

Page 358: ...nts of the easy program were corrupted by noise fluctuations in the supply voltage or other cause The error step number is displayed on the screen and so check the program If errors occurred in multip...

Page 359: ...exceeded the soft limit positive value Check the axis 2 soft limit positive value and the program F R 1 ERC3 Axis 2 soft limit exceeded The designated coordinate value has exceeded the soft limit nega...

Page 360: ...s of controller is judged by the color and the time of flashing 1 Request for power OFF 2 Backup voltage drop alarm 3 Waiting for communication with Slaves Green 1sec Off 1sec Lights in green Off Red...

Page 361: ...1 Protective functions Hardware errors Sensor error Drive power supply error EEPROM error and more Software errors Overspeed Overload Positional deviation exceeded and more Warnings Low battery voltag...

Page 362: ...Names and functions of each part CN1 power connector CN2 motor connector CN6 battery connector SW1 brake reset switch LED1 status LED SW2 mode setting switch CN3 sensor connector CN4 RS485 CAN connec...

Page 363: ...1 status LED This LED displays the status of the controller The green LED lights when the power is ON and the red LED lights when an error has occurred I Normal mode SW2 is set to 1 to 3 Refer to Stat...

Page 364: ...76020 1 Manufacturer Tyco Electronics AMP CN4 RS485 CAN connector Link cable from an upper controller is connected to this connector Refer to section 20 8 CN5 RS485 CAN connector Link cable to a lower...

Page 365: ...esistor 20 10 6 JP1 Connected to external regenerative resistor NOTE For details on selecting the power supply refer to section 20 4 Cable side connector model Plug 734 106 037 000 Pushbutton 734 230...

Page 366: ...e resistor From upper unit or forward axis PA JP1 24 V DC GND 24 V DC GND 2 24 V control power supply 100 V AC 200V AC CN5 To backward axis 20 3 Connections CA01 S05 is connected like the chart below...

Page 367: ...er supply a power capacity equivalent to the sum of the power capacities of the power supplies of each controller is required However in cases where axes do not operate simultaneously the power capaci...

Page 368: ...n is insufficient the sufficient performance will not be achieved and faults could occur Make sure that foreign matter such as fluids or dust does not enter the controller from the ventilation holes T...

Page 369: ...u do not form a short circuit with an adjacent wire Pin No Signal name Notes 1 GND Drive power supply Connected with pin No 3 inside the controller 2 24 V DC Drive power supply 3 GND Control power sup...

Page 370: ...t station No of CA01 S05 with SW2 and terminator of CA01 S05 with 1 pin of SW3 Show the connection example below when second and fourth axis are CA01 S05 and third axis is CA20 S10 POWER ERROR COMM1 R...

Page 371: ...odel Header IL 2P S3FP2 1 Manufacturer JAE Battery holder Wire clamp SSP 518 Manufacturer Shinagawa Shoko As shown in the figure at right insert and secure the battery in the battery holder and use by...

Page 372: ...oller is in non conducting state 260 A Maximum 25 C Maximum instantaneous current 2 mA When controller is in conducting state 1 A Standard Note 1 The LED indicator remains flashing in green even if th...

Page 373: ...ctive functions Temperature relay is activated at a resistor internal temperature of 135 C Output contact 1b Maximum switching voltage 250 V AC 42 V DC Maximum switching current 0 2 A AC DC Minimum sw...

Page 374: ...ut a breakdown could also occur Be careful that liquids dust and other foreign objects do not get inside the regenerative resistors The controller does not have a dust proof structure Therefore avoid...

Page 375: ...t the drive power supply of the controller always turns off when the temperature relay is activated If the temperature relay is activated momentarily about three minutes are required until it is reset...

Page 376: ...Insert the wire all the way inside while pressing the wire connection lever Downward as shown in the figure below Return the wire connection lever to its original position Gently pull on the wire to...

Page 377: ...drive units 5 If inspection or maintenance must be done within the operating area while the ROIbot is moving take the following precautions Do not enter the area alone Work in pairs One person might...

Page 378: ...on operating frequency parts durability and other conditions and factors of the ROIbot and conduct periodic inspections Check the following during inspection work 1 Loose parts on the main components...

Page 379: ...procedures When using the motor folding axis with brakes for vertical use as the Z axis observe the following items 1 The belt must be replaced periodically within 3 000 hours of operation 2 The belt...

Page 380: ...ith a grease nipple The first lubrication must be performed on the 30th day after the starting operation 2 Lubrication procedure 1 Turn OFF the power switch and unplug the power cable to disconnect th...

Page 381: ...4 4 Resecure the frame cover 21 6 Spare parts 21 6 1 Controller spare parts Although a fault or error may be found at an early stage repairs cannot be made without the required parts It is recommende...

Page 382: ...21 6 This page is blank...

Page 383: ......

Page 384: ...Back cover Q3178E 03 APR 20...

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