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09.12.

Manual No.: ME0219-4A(December 2009)

The information contained in this document is subject to change without notice for purposes of product improvement.

Head Office: 416-4 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan

TEL +81-54-364-5105 FAX +81-54-364-2589

website: www.iai-robot.co.jp/

Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany

TEL 06196-88950 FAX 06196-889524

SHANGHAI JIAHUA BUSINESS CENTER A8-303, 808, Hongqiao Rd. Shanghai 200030, China

TEL 021-6448-4753 FAX 021-6448-3992

website: www.iai-robot.com

Technical Support available in USA, Europe and China

Head Office: 2690 W, 237th Street Torrance, CA 90505

TEL (310) 891-6015 FAX (310) 891-0815

Chicago Office: 1261 Hamilton Parkway Itasca, IL 60143

TEL (630) 467-9900 FAX (630) 467-9912

Atlanta Office: 1220-E Kennestone Circle, Marrietta, GA 30066

TEL (678) 354-9470 FAX (678) 354-9471

website: www.intelligentactuator.com

Содержание ASEP

Страница 1: ...ASEP Controller PSEP Controller IAI America Inc Operation Manual Fourth Edition...

Страница 2: ......

Страница 3: ...nual or display them using the personal computer After reading through this manual keep this Operation Manual at hand so that the operator of this product can read it whenever necessary Important Info...

Страница 4: ......

Страница 5: ...ecifications 17 3 External Dimensions 19 4 Installation Environment 20 5 Installation and Noise Eliminati 21 5 1 Noise Elimination Grounding Frame Ground 21 5 2 Precautions regarding wiring method 21...

Страница 6: ......

Страница 7: ...Hygiene Article 36 Jobs that require the special training No 31 Teaching etc For the teaching operation etc for the industrial robots with some exceptions No 32 Inspection etc For the inspection repa...

Страница 8: ...o 31 in Article 36 In Operation such as Teaching Disable Checks etc before operation startup Article 151 Performing it with the machine stopped Item 5 in Article 150 Enable Indication showing Under Op...

Страница 9: ...section of the rotary section 3 Articulated robot product with both the movable radius and the length of Z axis of 300 mm or less Our models regarded as the industrial robots among the products in ou...

Страница 10: ...r explosive 2 Place with potential exposure to radiation 3 Location with the ambient temperature or relative humidity exceeding the specification range 4 Location where radiant heat is added from dire...

Страница 11: ...y Do not pull it Do not coil it around Do not insert it Do not put any heavy thing on it Failure to do so may cause a fire electric shock or malfunction due to leakage or continuity error Perform the...

Страница 12: ...re to do so may cause an injury electric shock damage to the product or fire When the installation or adjustment operation is to be performed give clear warnings such as Under Operation Do not turn ON...

Страница 13: ...the recovery operation from the power failure 8 Maintenance Inspection Perform the work out of the safety protective fence if possible In the case that the operation is to be performed unavoidably ins...

Страница 14: ...ct 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 o...

Страница 15: ...the main unit or controller may come in contact with water or oil droplets Never cut and or reconnect the cables supplied with the product for the purpose of extending or shortening the cable length D...

Страница 16: ...e product Failure to observe this instruction may result in electric shock or malfunction Before operating the moving parts of the product by hand for the purpose of manual positioning etc confirm tha...

Страница 17: ...ion 1 Place where large current or high magnetic field is present 2 Place where welding or other operations are performed that cause arc discharge 3 Place subject to electrostatic noise 4 Place with p...

Страница 18: ...ment not specified in the catalogs and operation manual or in an application requiring strict safety such as aircraft facility combustion system entertainment machine safety device or other equipment...

Страница 19: ...13 Other IAI shall not be liable whatsoever for any loss or damage arising from a failure to observe the items specified in Safety Precautions...

Страница 20: ...14...

Страница 21: ...Connector MC1 5 5 ST 3 5 PHOENIX CONTACT 4 Spacer PFP S Maker OMRON 5 Absolute Battery Unit For Simplified Absolute Type Only SEP ABU Standard type SEP ABU W Dust proof type 6 Operation Manual This Ma...

Страница 22: ...Consumption Type Series Type Name C Standard type CW Dust proof type Equivalent to IP53 Actuator Characteristics Motor Type 20P 20 angles 35P 35 angles 28P 28 angles 42P 42 angles 28SP 28 angles 56P 5...

Страница 23: ...required 4 The pressing operation or intermediate stop operation is available Pressing force is within the range of 20 to 70 5 For the data entry for the movement position and pressing force settings...

Страница 24: ...7 to150Hz 4 9m s2 continuous 9 8m s2 intermittent Protection class IP20 Equivalent to IP53 Option with the installation of the dust proof cover Excluding the dust proof cover lower surface Cooling met...

Страница 25: ...100mm 30mm 66 2mm Front View Side View Bottom View 100mm 30mm 66 2mm Side View Front View Bottom View 107mm 34mm 99 7mm Side View Front View Bottom View ASEP PSEP Absolute Battery Unit SEP ABU Option...

Страница 26: ...e product may come in contact with water oil or chemical droplets When using the product in any of the locations specified below provide a sufficient shield Location subject to electrostatic noise Loc...

Страница 27: ...method 1 Twist the wires for the 24VDC power unit 2 Separate signal lines and encoder cables from high power lines such as the power wire 5 3 Noise Sources and Elimination Carry out noise elimination...

Страница 28: ...nsideration of the control box size controller layout and cooling in such a way that the temperature around the controller will be 40 C or less DIN Rail DIN Rail 5mm 20mm 20mm 50mm or more Spacer PFP...

Страница 29: ...teaching tool specially for PSEP ASEP It can not be connected to SIO converter Host System PLC Flat Cable Accessories PIO Connector MPG Connector Power Connector FG Terminal Block Actuator Class D gro...

Страница 30: ...US monitoring in the case of Simplified Absolute Type Symbol Indication Status Description 2 Green Light is turned ON System Normal Red Light is turned ON System abnormality 1 Green Light is turned ON...

Страница 31: ...e Stranded Cable 0 3mm2 to 1 25mm2 AWG24 to AWG16 Standard Cable Cover Peeling Off Length 7mm Fastening Torque 0 22 0 25Nm 4 MP Motor Driving Power Supply 3 24V Positive side of the 24V power supply 2...

Страница 32: ...Air Cylinder Solenoid PLC P Air Backward End Movement Signal ST0 Forward End Movement Signal ST1 Forward End Position Detection LS1 Backward End Position Detection LS0 PIO Pattern 1 Single Solenoid S...

Страница 33: ...ut 3 Point Movement The actuator 3 Point Movement is available using the same control function as for the air cylinder The target position setting forward end backward end and Intermediate Point is av...

Страница 34: ...on is performed between the forward end and backward end The target position setting forward end and backward end is available Speed and acceleration settings in the actuator movement are available Th...

Страница 35: ...ouble Single Double Single Double Double 1 BR COM 24V 24V 24V 24V 24V 24V 2 RD COM 0V 0V 0V 0V 0V 0V 3 OR I N 0 ST0 ST0 ST0 ST0 ST0 ST0 ST0 ST0 ASTR 4 YW 1 STP ST1 STP ST1 STP ST1 ST1 ST1 STP 5 GN 2 R...

Страница 36: ...hange from OFF to ON is detected the currently issued alarm is reset Depending on the alarm level alarm reset might not be available Refer to the Trouble Shooting for the details SON Servo ON signal D...

Страница 37: ...gnal This signal is turned ON when the servo motor is turned ON and driving is enabled ALM Alarm Output Signal This signal is turned ON when the controller is in the normal condition and turned OFF wh...

Страница 38: ...Emergency stop input Motor Power Unit Control power supply MP 24V 24V 1 2 3 4 5 6 7 8 9 10 0V 0V IN0 IN1 IN2 IN3 OUT0 OUT1 OUT2 OUT3 EMG EMG B SIO Connector PIO Connector Output in PLC Input in PLC PI...

Страница 39: ...4 Input Signal System Solenoid Type Continuous Operation Type Momentary Operation Type Continuous Operation Type It is selectable only when Double is selected in 2 Operation Mode Solenoid System For...

Страница 40: ...is within the positioning width it is turned ON Intermediate Point is reached PE2 ON Forward End is reached PE1 ON Backward End is reached PE0 ON 9 Output Signal Selection 0 to 2 0 When Enable is sele...

Страница 41: ...Reciprocating Operation 5 Point to Point Movement 2 Velocity Set the actuator speed Setting Range 0 01 to Actuator s max speed Unit 0 01mm sec 3 Acceleration Set the actuator acceleration Setting Rang...

Страница 42: ...forward end turns to be the data in 1 Forward End Position In the case of ON the position data for the forward end are the data specified in 3 Forward End Position In the case that the CN1 is turned O...

Страница 43: ...tor is returned to the home position automatically after the servo motor ON is input The above are effective only when the actuator is incremental type for the absolute type the home return operation...

Страница 44: ...4 Pause during the Movement Operation For Single Solenoid System PIO Pattern 0 to 2 Inputting the STP signal pauses the actuator motion A forward end movement example is shows as follows Pause Positi...

Страница 45: ...ition setting operation The following figure shows an example of forward end movement Positioning Width Parameter No 1 Position set in the Position Change Operation Forward End Actuator Operation Back...

Страница 46: ...or is moved to the target position Positioning Width Parameter No 1 Backward End Forward End Intermediate Point Passing the Intermediate Point Passing the Intermediate Point Actuator Operation Movemen...

Страница 47: ...nce SEP PT Menu Initial Setting Is there any vibration or abnormal noise Set up for operation is completed Perform the system operation adjustment No No Yes Confirm that the emergency stop switch has...

Страница 48: ...r control 12 Current Limit Value in Positioning Stop 35 0 to 70 It is effective only for PSEP It is enabled when the Parameter No 11 is set to 0 When the value is increased the stop holding torque is...

Страница 49: ...me Velocity Loop Integrated Gain No 6 This parameter decides the responsibility to the velocity control loop When the set value is increased the follow up ability to the velocity command is degraded a...

Страница 50: ...n released etc Also the counter overflow before the electric angle determination in the Z Phase Indetectable condition can be considered In such case the motor cable broken or encoder wire output erro...

Страница 51: ...Speed Excessive Cause The motor speed exceeds the maximum motor speed set using the maker s set parameters 1 The actuator s sliding resistance might be partly too high 2 The load is increased too muc...

Страница 52: ...the work does not interfere with any object nearby or the brake has been released etc and if any remove the cause 0D9 Software Stroke Limit Over Error Cause 1 In the case that the actuator is vertica...

Страница 53: ...parameter Motor Type setting not correct or noise controller breakdown etc is supposed Treatment Contact our company 0F4 PC Board Mismatching Error In this controller because of the motor capacity the...

Страница 54: ...able Existing Robot Cylinder Series Connection Cable Another sales shows the cable length Example 050 5m Applicable Controller RCP2 Except for Compact Rotary Type CB PSEP MPA PSEP Compact Rotary Type...

Страница 55: ...e warranty period above Note however that the following items are excluded from the scope of warranty Aging such as natural discoloration of coating Wear of a consumable part due to use Noise or other...

Страница 56: ...4 D 65824 Schwalbach am Taunus Germany TEL 06196 88950 FAX 06196 889524 SHANGHAI JIAHUA BUSINESS CENTER A8 303 808 Hongqiao Rd Shanghai 200030 China TEL 021 6448 4753 FAX 021 6448 3992 website www iai...

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