IAI ASEP Скачать руководство пользователя страница 47 | Manualshive

Страница: 47 / 116

IAI ASEP Скачать руководство пользователя страница 47

41

/

2. Wiring

2.4 Wiring

Method

2.4.1

Wiring Layout of Power Supply Connector

The wires of the power supply and the emergency stop circuit are to be connected to the enclosed
connector (plug).
trip the sheath of the applicable wires for 7mm and insert them to the connector. Push a protrusion
beside the cable inlet with a small slotted screwdriver to open the inlet. After inserting a cable, remove
the screwdriver from the protrusion to

fi

x the cable.

24V DC
Power
Supply

+

24V

0V

Brake Release
Switch
(Turn ON to
Release Brake)

1 Pin

(BR)

2 Pin

(RD)

(MC1.5/5-ST-3.5)

Accessory I/O
Flat Cable

Emergency
Stop Circuit
[Refer to 2.3]

Accessory Power
Supply Connector

Class D Grounding

●

Power Supply Connector

Connector Name

-

Cable Side

MC1.5/5-ST-3.5

Standard Accessory

Controller Side

MC1.5/5-G3.5

Pin No.

Signal Name

Contents

Applicable Wire Diameter

1

EMGIN

Input of Emergency Stop
Status Signal

(Note 1)

KIV0.5mm

2

(AWG20)

2

0V

Power Supply Input (24V DC ±10%)

KIV1.25mm

2

(AWG16)

3

24V

4

MP

Motor Driving Power Supply Line

KIV1.25mm

2

(AWG16)

5

BK

Brake Forced Release Power Supply
Input

(Note 2)

(24V DC ±10% 150mA)

KIV0.5mm

2

(AWG20)

(Note 1) The emergency stop status signal input determines as the system is in normal condition when 24V

DC is input and in emergency stop when 0V is input. Once in emergency stop, the actuator stops its
operation and turns the servo off.
Construct the emergency stop circuit suits for the safety category considering the entire system.

(Note 2) The brake is compulsorily released when +24V is supplied. Make the 0V in common with the 0V of the

power input. Do not apply on DSEP.

«
...
45
46
47
48
49
...
»

Содержание ASEP

Страница 1: ...DSEP Controller ASEP Controller PSEP Controller Instruction Manual Tenth Edition ...

Страница 2: ......

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

Страница 4: ... ...

Страница 5: ...1 5 How to read the model of the controller 20 1 2 Basic Specifications 22 1 3 External Dimensions 24 1 4 I O Specifications 25 1 4 1 PIO Input and Output Interface 25 1 5 Installation Environment 26 1 6 Installation and Noise Elimination 27 2 Wiring 29 2 1 Wiring Diagram Connection of construction devices 29 2 2 PIO Pattern Selection and PIO Signal 30 2 3 Circuit Diagram Example 35 2 4 Wiring Met...

Страница 6: ...ment 65 3 5 1 Adjustment for ASEP and PSEP 65 3 5 2 Adjustment for DSEP 66 3 5 3 Servo Parameter 68 3 6 Alarm 69 3 6 1 Alarm Level 69 3 6 2 Alarm Codes and Trouble Shooting 70 4 Appendix 75 4 1 List of Specifications of Connectable Actuators 75 4 2 Pressing Force and Current Limit Value 99 5 Warranty 106 5 1 Warranty Period 106 5 2 Scope of Warranty 106 5 3 Honoring the Warranty 106 5 4 Limited Li...

Страница 7: ...the following environments 1 Location where there is any inflammable gas inflammable object or explosive 2 Place with potential exposure to radiation 3 Location with the ambient temperature or relative humidity exceeding the specification range 4 Location where radiant heat is added from direct sunlight or other large heat source 5 Location where condensation occurs due to abrupt temperature chang...

Страница 8: ...the safety factor of the hook in such factors as shear strength Do not get on the load that is hung on a crane Do not leave a load hung up with a crane Do not stand under the load that is hung up with a crane 3 Storage and Preservation The storage and preservation environment conforms to the installation environment However especially give consideration to the prevention of condensation Store the ...

Страница 9: ...s no disconnection or looseness Failure to do so may cause a fire electric shock or malfunction of the product Never cut and or reconnect the cables supplied with the product for the purpose of extending or shortening the cable length Failure to do so may cause the product to malfunction or cause fire 3 Grounding The grounding operation should be performed to prevent an electric shock or electrost...

Страница 10: ... to secure safety Do not insert a finger or object in the openings in the product Failure to do so may cause an injury electric shock damage to the product or fire When releasing the brake on a vertically oriented actuator exercise precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity 5 Teaching When the work is carried out with 2 or more persons make it c...

Страница 11: ...minal block or any of the various setting switches in the power ON mode Failure to do so may result in an electric shock or malfunction 7 Automatic Operation Check before starting the automatic operation or rebooting after operation stop that there is nobody in the safety protection fence Before starting automatic operation make sure that all peripheral equipment is in an automatic operation ready...

Страница 12: ...sult in a damage to the product When releasing the brake on a vertically oriented actuator exercise precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity The slider or rod may get misaligned OFF the stop position if the servo is turned OFF Be careful not to get injured or damaged due to an unnecessary operation Pay attention not to lose the cover or untigh...

Страница 13: ...he product is not handled correctly will result in death or serious injury Danger Warning This indicates a potentially hazardous situation which if the product is not handled correctly could result in death or serious injury Warning Caution This indicates a potentially hazardous situation which if the product is not handled correctly may result in minor injury or property damage Caution Notice Thi...

Страница 14: ...8 ASEP PSEP and DSEP comply with the following international standards RoHS Directive CE Marking UL Note Note The DSEP is not applicable to UL International Standards Compliances ...

Страница 15: ...9 CE Marking If a compliance with the CE Marking is required please follow Overseas Standards Compliance Manual ME0287 that is provided separately ...

Страница 16: ... is broken and needs to be replaced with another one How to Save Data 1 Save the data to CD R or hard disk with using the PC software 2 Hard copy the information of position tables and parameters on paper 3 Set the operation patterns This controller possesses 6 types of control logics to meet various ways of usage and changes the role of each PIO signal following the selected control logic The set...

Страница 17: ...tting It is set to Disable when the unit is delivered Have the setting that suits to the desirable control logic 2 Pause Signal STP The input signal of the pause signal STP is always on considering the safety Therefore in general the actuator would not operate if this signal is not on It is available to make this signal to Not to use if this signal is undesirable It is settable in the initial sett...

Страница 18: ... area not to receive the signal less than a certain time to prevent a wrong reading of noise This duration also needs to be considered This controller scan time 1msec As shown in the diagram the input and output timings of two devices that have different scan time do not match of course when transferring a signal There is no guarantee that PLC would read the signal as soon as this controller signa...

Страница 19: ...minimum value for the setting of 10msec timer and when setting to 100msec use 10msec timer and set to 10 8 Cautions when turning Servo on for ASEP PSEP The magnetic pole phase detection may not be performed normally if the servo is turned on near the mechanical end and may cause such problems like an abnormal operation magnetic pole not being defined or electromagnetic detection error Put it away ...

Страница 20: ...T2 lighting ON in Green Red Light is turned ON Absolute Unit Reset Incomplete ST2 lighting ON in Green Hardware Error ST2 lighting ON in Red 0 Green Light is turned ON Battery Fully Charged Orange Light is turned ON In Battery Charging Operation Red Light is turned ON Battery Disconnected Name for Each Parts and Their Functions Pictures show ASEP It should be the same for PSEP and DSEP 1 Battery C...

Страница 21: ...For SV ALM and EMG Following show the controller operation status Indication Status Description SYS Green Light is turned ON Servo ON Status Light is turned OFF Servo OFF Status Flashing in green 1Hz Servo ON Status Red Light is turned ON In the alarm issue or emergency stop 4 SIO Connector It is the connector for the connection of the communication cables for the teaching pendant and PC software ...

Страница 22: ...an be controlled by ASEP PSEP and DSEP There are some types that cannot be controlled depending on the controller Check the catalog for the details 0 defines the home position and items in are for the home reversed type option 1 Rod Type 2 Slider Type 3 Table Type 4 Arm Type ...

Страница 23: ...0 0 0 Finger Attachment Note 0 0 Finger Attachment Note Note Finger attachment is not included in the actuator package Please prepare separately 6 Rotary Type 0 330 330 Rotation Specification Multi Rotation Specification ...

Страница 24: ...e noise countermeasure been taken Power Supply and Alarm Check Connect the PC Software unit or touch panel teaching unit and turn ON the power to the unit Confirm that the emergency stop switch has been cancelled When the switch has been cancelled confirm the alarm description using the PC Software unit or touch panel teaching unit and settle it Yes No No Yes Confirm the alarm description using th...

Страница 25: ...For the setups such as position setting and parameter setting using the teaching operation the teaching tool is required Please prepare either of the following teaching tools No Part Name Model 1 PC Software Includes RS232C Exchange Adapter External Machine Communication Cable RCM 101 MW 2 PC Software Includes USB Exchange Adapter USB Cable External Machine Communication Cable RCM 101 USB 3 Teachi...

Страница 26: ...ication for IAI use only There is no identification in some cases Applicable to Simplified Absolute Unit ABU ABUN No description Note ABU and ABUN are the already existing models which do not comply with UL Power supply Voltage 0 24V DC I O Cable Length 0 No Cable 3 3m 2 2m 5 5m I O Signal Pattern NP NPN Specification Sync Type Standard PN PNP Specification Source Type Simple Absolute Type with th...

Страница 27: ...ription Applicable to Simplified Absolute Unit ABU ABUN No description Note ABU and ABUN are the already existing models which do not comply with UL Power supply Voltage 0 24V DC I O Cable Length 0 No Cable 3 3m 2 2m 5 5m High Acceleration Transportable Type Standard Simple Absolute Type with the Absolute Battery Unit Simple Absolute Type with no Absolute Battery Unit Incremental Type Detail of Co...

Страница 28: ... Applicable encoder resolution RCA series 800pulse rev RCA2 series RCA2 N 1048pulse rev Except for RCA2 N 800pulse rev RCL series RA1L SA1L SA4L SM4L 715pulse rev RA2L SA2L SA5L SM5L 855pulse rev RA3L SA3L SA6L SM6L 1145pulse rev RCP2 RCP3 RCP4 800pulse rev RCD 400pulse RA1D GRSN 480pulse RA1DA GRSNA Actuator cable length MAX 20m Serial communication interface SIO port RS485 1CH based on Modbus Pr...

Страница 29: ... of sweep 10 times Weight 130g or less 160g or less INC Dust proof type External dimensions 30W 100H 66 2D mm Note 3 Position data and parameters are written to EEPROM The limitation for the reload is about 100 000 times Take the greatest care Do not turn the power off during the rewriting process As a 24V DC power supply select the power supply of the peak load support specification or one with s...

Страница 30: ... 30mm 72 2mm Front View Side View Bottom View ASEP PSEP DSEP C 105mm 30mm 72 2mm Front View Side View Bottom View Absolute Battery Unit SEP ABUM only applies to ASEP PSEP 107mm 34mm 105 7mm Front View Side View Bottom View Dust Proof Cover ASEP PSEP DSEP CW ...

Страница 31: ... 0 1mA 1point NPN 680 5 6K P24 External Power Supply 24V DC Controller Internal Power Supply Input Terminal Controller 22 P24 0 Load External Power Supply 24V DC Internal Power Supply Output Terminal PNP Controller 680 5 6K 0 External Power Supply 24V DC Internal Power Supply Input Terminal Controller Load 22 P24 0 External Power Supply 24V DC Internal Power Supply Output Terminal I O Cable Refer ...

Страница 32: ...t salt or iron powder Location subject to direct vibration or impact Location exposed to direct sunlight Location where the 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 Location where high electrical or magnetic field is present Location with the mai...

Страница 33: ...rding wiring method 1 Twist the wires for the 24V DC power unit 2 Separate signal lines and encoder cables from high power lines such as the power wire 3 Noise Sources and Elimination Carry out noise elimination measures for power devices on the same power path and in the same equipment The following are examples of measures to eliminate noise sources 1 AC solenoid valves magnet switches and relay...

Страница 34: ...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 Min 5mm Spacer PFP S OMRON 1 Unit Min 20mm Min 20mm Min 50mm Ensure enough space for wiring Note Install the Absolute Battery Unit securely under the controller ...

Страница 35: ...n Cable between Controller and Absolute Battery Note 1 Host System PLC Note 1 Connection Cable between Controller and Absolute Battery CB APSEP ABM005 Applicable Controller ASEP C 0 ABUM PSEP C 0 ABUM CB APSEP AB005 Applicable Controller ASEP C 0 ABU Existing models Not complied with UL PSEP C 0 ABU Note 2 It is not compatible with DSEP Note Turn the power to the controller off before connecting a...

Страница 36: ...lenoid Solenoid Air Cylinder PLC P Air Movement Signal ST0 Forward Position Movement Signal ST1 Backward Position Detection LS0 Forward Position Detection LS1 PIO Pattern 1 Single Solenoid System Point to Point Movement Movement Speed Setting The actuator point to point movement is available using the same control function as for the air cylinder The speed change in the movement operation is avail...

Страница 37: ...ern 3 2 Input 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 position backward position and intermediate position is available Speed and acceleration settings in the actuator movement are available The pressing operation at the positions except for the intermediate position is abailable 24V ASE...

Страница 38: ...tion is performed between the forward position and backward position The target position setting forward position and backward position is available Speed and acceleration settings in the actuator movement are available The pressing operation is available Note The air cylinder circuit is described with the symbols for the signals corresponding to those in ASEP PSEP DSEP Refer to the next page for ...

Страница 39: ...e 1 STP 5 GN 2 RES SPDC RES Note 2 CN1 RES Note 2 RES ST2 RES Note 2 RES 6 BL 3 SON SON SON SON SON SON 7 PL O U T 0 LS0 PE0 LS0 PE0 LS0 PE0 LS0 PE0 LS0 PE0 LS0 PE0 8 GY 1 LS1 PE1 LS1 PE1 LS1 PE1 LS1 PE1 LS1 PE1 LS1 PE1 9 WT 2 HEND SV HEND SV HEND SV LS2 PE2 LS2 PE2 HEND SV 10 BK 3 ALM SV ALM SV ALM SV ALM SV ALM SV ALM SV Note 1 It is invalid before home return operation Note 2 The description in...

Страница 40: ...ged to operate the system turn ON this signal When this signal is turned ON or OFF during the operation the position data is changed This signal is effective when the PIO pattern 2 has been set ASTR Continuous Reciprocating Operation Signal During the time when this signal is turned ON the actuator s continuous reciprocating operation is performed between the forward position and the backward posi...

Страница 41: ...1 PE1 HEND SV ALM SV 24V DC NPN Type 0V PNP Type Backward Position Detection Backward Positioning Completion Forward Position Detection Forward Positioning Completion Home Return Completion Servo ON Signal Alarm Output Signal Servo ON Signal Load 24V DC Supply 0V Supply 2 Double Solenoid System ASEP PSEP DSEP PIO Connector Backward Position Movement Signal Forward Position Movement Signal Reset Si...

Страница 42: ...g Completion Home Return Completion Servo ON Signal Alarm Output Signal Servo ON Signal Load 24V DC Supply 0V Supply 2 Double Solenoid System ASEP PSEP DSEP PIO Connector Backward Position Movement Signal Forward Position Movement Signal Movement Speed Change Signal Reset Signal Servo ON Signal 0V NPN Type 24V DC PNP Type BR OR YW GN BL 1 3 4 5 6 RD PL GY WT BK 2 7 8 9 10 P24 ST0 ST1 SPDC RES SON ...

Страница 43: ...ng Completion Home Return Completion Servo ON Signal Alarm Output Signal Servo ON Signal Load 24V DC Supply 0V Supply 2 Double Solenoid System ASEP PSEP DSEP PIO Connector Backward Position Movement Signal Forward Position Movement Signal Target Position Change Signal Reset Signal Servo ON Signal 0V NPN Type 24V DC PNP Type BR OR YW GN BL 1 3 4 5 6 RD PL GY WT BK 2 7 8 9 10 P24 ST0 ST1 CN1 RES SON...

Страница 44: ...NP Type BR OR YW GN BL 1 3 4 5 6 RD PL GY WT BK 2 7 8 9 10 P24 ST0 ST1 ST2 RES SON 0V LS0 PE0 LS1 PE1 LS2 PE2 ALM SV 24V DC NPN Type 0V PNP Type Backward Position Detection Backward Positioning Completion Forward Position Detection Forward Positioning Completion Intermediate Position Detection Intermediate Positioning Completion Alarm Output Signal Servo ON Signal Load 24V DC Supply 0V Supply 7 Pa...

Страница 45: ...rollers 24V 0V External EMG Reset Switch External EMG Switch Touch Panel Teaching SIO Converter EMGB EMGA EMG2 EMG1 ASEP PSEP DSEP EMG Emergency Stop Input EMG Emergency Stop Input EMG Emergency Stop Input CR CR PORT Switch ASEP PSEP DSEP ASEP PSEP DSEP ...

Страница 46: ...following table ROBO Cylinder Series that you may already have Connection Cable to be purchased separately shows the cable length Example 050 5m Applicable Controller RCP2 except for Small Rotary Type CB PSEP MPA PSEP Small Rotary Type RCP2 RTBS RCP2 RTBSL RCP2 RTCS RCP2 RTCSL CB RPSEP MPA RCP3 CB APSEP MPA Extension Cable CB APSEP MPA JY JYP ASEP PSEP RCA2 RCL RCA CB ASEP MPA ASEP 10 Connection t...

Страница 47: ...nector Connector Name Cable Side MC1 5 5 ST 3 5 Standard Accessory Controller Side MC1 5 5 G3 5 Pin No Signal Name Contents Applicable Wire Diameter 1 EMGIN Input of Emergency Stop Status Signal Note 1 KIV0 5mm2 AWG20 2 0V Power Supply Input 24V DC 10 KIV1 25mm2 AWG16 3 24V 4 MP Motor Driving Power Supply Line KIV1 25mm2 AWG16 5 BK Brake Forced Release Power Supply Input Note 2 24V DC 10 150mA KIV...

Страница 48: ...sert them to the connector Push a protrusion beside the cable inlet with a small slotted screwdriver to open the inlet After inserting a cable remove the screwdriver from the protrusion to fix the cable FG Terminal Block Terminal Block Name FG Controller Side ML 800 S1H1P Pin No Signal Name Contents Applicable Cable 1 FG Ground Cable Connection KIV1 25mm2 AWG16 ...

Страница 49: ...r ASEP PSEP DSEP 1 U A U Motor Driving Line Cable dedicated for IAI products 2 V VMM V 3 B 4 VMM 5 W A W 6 B 7 BK LS LS Home Position Confirmation Sensor BK Brake Power Supply 8 BK LS 9 LS BK LS 10 LS BK LS 11 ENA ENA EN Encoder Signal HS Hall IC Signal 12 ENA ENA 13 ENB ENA ENB 14 ENB ENA ENB 15 ENZ ENB HS1 16 ENZ ENB HS2 17 5V 5V 5V Encoder Power Supply 18 PS VPS Encoder Line Driver Enable Outpu...

Страница 50: ...ut and no treatment is conducted so the wiring layout can be performed freely Model CB APSEP PIO For ASEP C PSEP C shows the cable length L Example 020 2m PIO Connector Applied Connector 55959 1030 Manufactured by MOLEX Connector Name I O PIO Connector Connection Cable Dedicated Cable refer to 3 in this section Enclosed in this controller L 10 2 1 9 Model CB APSEPW PIO For ASEP CW PSEP CW shows th...

Страница 51: ...or the operation refer to the instruction manual of each module Refer to Instruction manuals related to this product which are contained in CD DVD PC Touch Panel Teaching Note If the teaching pendant is removed with the power supply being on the condition will become the transient emergency stop and the operated actuator will stop Do not disconnect the teaching pendant during the operation ...

Страница 52: ... ABUM PSEP 0 ABUM Absolute Battery Unit Connection Cable Refer to 1 10 9 Absolute Battery Unit Accessories Battery Connector Applicable Connector 53015 0310 Model ABUM ABUNM Manufactured by Molex S3B PH K S LF SN Model ABU ABUN Manufactured by JST Connector Name BATT Battery Connector Connection Cable Dedicated Cable Enclosed in the absolute battery unit Pin No Signal Name Contents 1 BT Negative S...

Страница 53: ... will be able to be retained for the duration Note stated below as per hour of battery charge The data will be lost if the controller is turned OFF for longer than the data retained duration Start charging the battery as early as possible The battery has a limited product life and the data retained duration will gradually decrease If a sudden huge decrease started to occur to the retained duration...

Страница 54: ...Operation Type It is selectable only when Double is selected in 2 Operation Mode Solenoid System For the signal sent from PLC to ASEP PSEP or DSEP select Continuous Operation level signal or Momentary Operation edge signal 5 Intermediate Stop System Both Solenoids ON Both Solenoids OFF Both Solenoids OFF It is selectable only when the PIO pattern is set to 3 In the case the same use procedure as f...

Страница 55: ...es the target position it is turned ON When the servo motor is turned OFF this signal is turned OFF When the servo motor is turned ON again and the current position is within the positioning width it is turned ON Intermediate Position is reached PE2 ON Forward Position is reached PE1 ON Backward Position is reached PE0 ON 9 Output Signal Selection 0 to 2 0 When Enable is selected for 6 Servo motor...

Страница 56: ...attern Name PIO Pattern No Displacement Set Position Forward Position Backward Position Intermediate Position Standard Point to Point Movement 0 Point to Point Movement Movement Speed Setting 1 Point to Point Movement Target Position Setting Change 2 Point to Point Movement 2 Input 3 Point Movement 3 3 Point Movement 3 Input 4 Point Movement 4 3 Point Movement Continuous Reciprocating Operation 5 ...

Страница 57: ... manual or the Instruction Manual for the actuator Setting Range 0 pressing operation is disabled 20 to 70 Note 1 Unit 1 It differs depending on the actuator Refer to Appendix in this manual or the Instruction Manual for the actuator 6 Pressing Width Set the position for starting the pressing operation The position moved as much distance as the pressing width to the center from the movement target...

Страница 58: ...current does not pass in the stop mode the power consumption can be saved The servo motor is turned ON with the next movement command and the actuator movement is started The movement speed is to be changed for the Operation Pattern PIO Pattern No 1 in addition to position data the position where the speed is changed and the velocity parameters are set Position Data 8 Changed Position 9 Changed Sp...

Страница 59: ...ta for the forward position are the data specified in 3 Forward Position In the case that the CN1 is turned OFF the position data for the forward position turns to be the data in 0 Backward Position In the case of ON the position data for the forward position are the data specified in 2 Backward Position Position Data Position Velocity Acceleration Deceleration Pressing Force Pressing Width Energy...

Страница 60: ... Reset Procedure After the power is turned ON an absolute encoder error detection error occurs Turn ON the RES signal IN2 reset the alarm on the alarm window displayed on the PC software or touch RES on the Alarm window in the Touch Panel Teaching mode to remove the error Then perform the home return operation In the case that the Absolute Reset has been performed the home return window is not dis...

Страница 61: ...roller has the input time constant of 7msec considering the prevention of wrong operation by chattering and noise Therefore ensure the continuous signal for more than 7msec for each input signal The signal cannot be identified if it is less than 7msec Input Signal Input Signal 7msec Identify Not Identify ...

Страница 62: ... time of 1 6sec or more In the second time or later make the delay time of 60ms or more Note 3 When the Servo motor Control is set to Enable in the initial setting the servo motor is turned ON by means of inputting the SON signal When it is set to Disable the servo motor is turned ON automatically Warning For ASEP and PSEP The magnetic pole phase detection may not be performed normally if the serv...

Страница 63: ...position and stops for positioning 2 If the operation pattern is Point to Point Movement Double Solenoid and 3 Point Movement After returning to home position the actuator stops at the backward position for positioning Home Return Completion Movement signal to the forward position ST1 is invalid till the home return operation is complete Forward Position Detection Output LS0 Movement Signal ST0 Ho...

Страница 64: ...es and stops on the spot If both ST0 and ST1 are turned on during a movement the actuator operates following the signal that was previously on Movement Signal ST0 Backward Position Detection Output LS0 Forward Position Detection Output LS1 Backward Positioning Completion Output PE0 Forward Positioning Completion Output PE0 Actuator Operation Backward Position Movement Signal ST0 Positioning Band P...

Страница 65: ...ovement to the target position When the movement command is issued with SPDC turned ON the actuator is moved at the changed speed specified using the Speed Change function from the position set for the speed change in the position setting operation The following figure shows an example of forward position movement Position Set as the Change Position Positioning Band Parameter No 1 Forward Position...

Страница 66: ...ning Band Positioning Band Parameter No 1 Parameter No 1 Positioning Band Parameter No 1 8 Target Position Change For Double Solenoid System PIO Pattern 2 When the operation is to be performed with the two types of works set differently each other the setting change is easy by means only of sending a single signal from PLC When the movement command is issued after CN1 is turned ON the actuator is ...

Страница 67: ...osition Detection Output LS0 Forward Position Detection Output LS1 Intermediate Position Detection Output LS2 Backward Positioning Completion Output PE0 Forward Positioning Completion Output PE1 Intermediate Positioning Completion Output PE2 Actuator Operation Following table shows the combination of the movement signals by each PIO pattern and the destination determined by it PIO Pattern 3 Input ...

Страница 68: ...1 ST2 Backward Positioning Completion Output PE0 Forward Positioning Completion Output PE1 Actuator Operation Refer to the timing chart of each PIO pattern for the movement signal Pressing Complete Target Position Pressing Band Note For the pressing operation use the positioning complete signal PE Even the operation finishes with a miss pressing and reaches the end point PE signal will turn ON Set...

Страница 69: ...Motor Stop 0 0 to 1 It is effective only for PSEP When 0 is selected the current position is retained with the torque set with Parameter No 12 after the positioning operation When 1 is selected the current position is retained with the servo motor 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 ...

Страница 70: ...on Speed rpm Reference for Battery Retention Time reference day When the connected actuator is a model other than RCA2 N When the connected actuator is RCA2 N 0 100 75 20 1 200 150 15 2 400 300 10 3 800 600 5 20 Position Data Change Password 0000 0000 to 9999 When 0000 is set the password input is not required Note 1 Please refer to the next section if the servo motor gain adjustment is required ...

Страница 71: ... 2 Vibration is generated at acceleration deceleration Decrease the numbers for Acceleration Deceleration Setting and Servo Motor Gain Number The cause of the problem is the lack of strength in the mechanical structure Reinforce the mechanical structure first If the Servo Motor Gain Number setting is too low it takes long time to finish the positioning 3 Speed is uneven during the movement Speed a...

Страница 72: ...ration Setting Order Velocity Loop Integrated Gain Settings 1 925 2 1645 3 2368 4 3700 If no improvement in operation is confirmed proceed to Step 2 Step 2 Change Velocity Loop Proportional Gain and Velocity Loop Integrated Gain Set the 6 types of values below in the following order and check the operation If load is 0 3kg or lower Setting Order Velocity Loop Integrated Gain Settings Velocity Loop...

Страница 73: ...ted Especially when stop and operation in low speed less than 20mm sec comparatively high noise is generated Change Velocity Loop Proportional Gain and Velocity Loop Integrated Gain to the following values and check the operation Speed Loop Proportional Gain 32 Velocity Loop Integrated Gain 231 ...

Страница 74: ... be damaged User Parameter No 5 Velocity Loop Proportional Gain This parameter decides the responsibility to the velocity control loop When the set value is increased the follow up ability to the velocity command becomes better the servo motor rigidity is enhanced As the load inertia is larger increase the set value However if the set value is increased too much an over chute or oscillation is cau...

Страница 75: ...ned ON Actuator compulsory stop Motor power servo turns off after deceleration and stop Home return completion status will be cancelled Cut and supply the power again Home return operation is required again for Incremental Type When cancelling the alarm always find the cause and remove it before cancelling the alarm in any case If you have a difficulty in removing the cause of alarm or the alarm c...

Страница 76: ...mit Cause The command issue timing for velocity change during the movement is too late Treatment Issue the command much earlier so that the actuator does not exceed the soft limit and an over chute is not caused Cold Start 0A8 Motor Encoder Type not Corresponding Cause The type of the motor or encoder set to the parameter is not corresponding to the system Treatment Redo the parameter settings 0B4...

Страница 77: ...large Treatment 1 and 2 Check for the motor connecting cable wiring condition 3 Confirm that there is no error in the mechanical part assembly condition 4 Move the actuator away from the mechanical end and re input the power 5 In the case that the load weight is normal move the actuator by hand to check the sliding resistance after the power is turned OFF In the case that there is any error in the...

Страница 78: ...ed downward the regenerative resistance energy might be insufficient 3 The defective part inside the controller is considered Treatment 1 Lower the surrounding temperature around the controller 2 Review the setting conditions so that the deceleration curve becomes linear In the case that the cause is not applicable to 1 or 2 contact our company 0CB Current Sensor Offset Adjustment Error An error i...

Страница 79: ...sed after the power to the controller is re input contact our company 0E7 A B or Z phase Wire Breakage The encoder signal is not detected normally Cause A looseness or wire breakage in the connector section of the actuator connecting cable is considered Treatment Check for the connection condition of the actuator connecting cable and perform the continuity test If normal contact our company 0E8 A ...

Страница 80: ...r not This error is caused when the data is not the same Cause 1 A breakdown of the non volatile memory is considered 2 The reload times might exceed 100 000 The standard nominal reload times for non volatile memory is 100 000 Treatment When the error is caused even when the power is re input contact our company 0F6 Non Volatile Memory Write Time Out This shows that no response is received within ...

Страница 81: ...celeration deceleration Minimum push force Maximum push force Rated push speed mm mm s mm s G N N mm s RCP2 rod type RA2C Ball screw 800 1 Horizontal vertical 1 25 25 0 05 50 100 3 RA3C Ball screw 800 5 Horizontal vertical 6 25 187 0 2 21 73 5 20 2 5 Horizontal vertical 3 12 114 50 156 8 RGD3C Ball screw 800 5 Horizontal vertical 6 25 187 0 2 21 73 5 20 2 5 Horizontal vertical 3 12 114 50 156 8 93...

Страница 82: ...rizontal 20 450 0 2 75 240 20 Vertical 400 8 Horizontal vertical 10 210 130 470 4 Horizontal vertical 5 130 300 800 RGD6C Ball screw 800 16 Horizontal 20 450 0 2 75 240 20 Vertical 400 8 Horizontal vertical 10 210 130 470 4 Horizontal vertical 5 130 300 800 SRA4R Ball screw 800 5 Horizontal vertical 6 25 250 0 3 26 90 20 2 5 Horizontal 3 12 124 0 2 50 170 Vertical 125 RCP2 slider type SRGS4R Ball ...

Страница 83: ... 300 at 50st 460 at 100st 600 at 150 to 550st 540 at 600st 460 at 650st 400 at 700st 360 at 750st 300 at 800st 0 7 40 115 Vertical 0 3 6 Horizontal 7 5 295 at 50st 300 at 100 to 550st 270 at 600st 230 at 650st 200 at 700st 180 at 750st 150 at 800st 0 7 70 210 Vertical 0 3 3 Horizontal 3 75 150 at to 550st 135 at 600st 115 at 650st 100 at 700st 90 at 750st 75 at 800st 0 7 140 330 Vertical 0 3 SA5R ...

Страница 84: ... 300 at 50st 460 at 100st 600 at 150 to 550st 540 at 600st 460 at 650st 400 at 700st 360 at 750st 300 at 800st 0 7 40 115 Vertical 0 3 6 Horizontal 7 5 295 at 50st 300 at 100 to 550st 270 at 600st 230 at 650st 200 at 700st 180 at 750st 150 at 800st 0 7 70 210 Vertical 0 3 3 Horizontal 3 75 150 at to 550st 135 at 600st 115 at 650st 100 at 700st 90 at 750st 75 at 800st 0 7 140 330 Vertical 0 3 SA6R ...

Страница 85: ... 2 SS7C Ball screw 800 12 Horizontal 15 600 at 50 to 500st 470 at 600st 0 3 40 120 20 Vertical 0 2 6 Horizontal 7 5 300 at 50 to 500st 230 at 600st 0 3 75 220 Vertical 0 2 3 Horizontal 3 75 150 at 50 to 500st 115 at 600st 0 2 140 350 Vertical 0 2 SS7R Ball screw 800 12 Horizontal 15 600 at 50 to 500st 470 at 600st 0 3 Vertical 440 at 50 to 500st 440 at 600st 0 2 6 Horizontal 7 5 250 at 50 to 500st...

Страница 86: ...55 at to 900st 125 at to 1000st 0 2 Vertical 140 at 50 to 800st 140 at to 900st 140 at to 1000st 0 2 HS8C Ball screw 800 30 Horizontal 37 5 1200 at 50 to 800st 1000 at to 900st 800 at to 1000st 0 3 Vertical 750 at 50 to 800st 750 at to 900st 750 at to 1000st 0 2 RCP2 belt type BA6 BA6U Belt 800 Equivalent to 54 Horizontal 67 5 1000 0 5 BA7 BA7U Belt 800 Equivalent to 54 Horizontal 67 5 1500 0 5 RC...

Страница 87: ...o 1 30 15 deg s 400 deg s Gear ratio 1 45 10 deg s 266 deg s RTB 800 Gear ratio 1 20 22 5 deg s 600 deg s Gear ratio 1 30 15 deg s 400 deg s RTBL 800 Gear ratio 1 20 22 5 deg s 600 deg s Gear ratio 1 30 15 deg s 400 deg s RTC 800 Gear ratio 1 20 22 5 deg s 600 deg s Gear ratio 1 30 15 deg s 400 deg s RTCL 800 Gear ratio 1 20 22 5 deg s 600 deg s Gear ratio 1 30 15 deg s 400 deg s RTBB 800 Gear rat...

Страница 88: ...zontal vertical 7 5 180 at 25st 280 at 50st 300 at 75 to 150st 0 2 0 6 11 9 5 4 5 180 at 25st 200 at 50 to 150st 0 9 16 1 2 2 5 100 1 9 28 3 RCP3 slider type SA2AC Lead screw 800 4 Horizontal 5 180 at 25st 200 at 50 to 100st 0 2 2 2 5 100 1 1 25 50 SA2BC Lead screw 800 6 Horizontal 7 5 180 at 25st 280 at 50st 300 at 75 to 150st 0 2 4 5 180 at 25st 200 at 50 to 150st 2 2 5 100 SA2AR Lead screw 800 ...

Страница 89: ... 0 2 2 5 Horizontal 3 12 125 0 2 82 136 Vertical 0 2 SA5C Ball screw 800 20 Horizontal 25 380 at 50st 540 at 100st 660 at 150st 770 at 200st 860 at 250st 940 at 300st 1000 at 350 to 600st 910 at 650st 790 at 700st 690 at 750st 610 at 800st 0 7 17 28 20 Vertical 380 at 50st 540 at 100st 660 at 150st 770 at 200st 800 at 250 to 650st 790 at 700st 690 at 750st 610 at 800st 0 2 12 Horizontal 15 380 at ...

Страница 90: ... 120 at 650st 105 at 700st 90 at 750st 80 at 800st 0 2 112 189 Vertical 0 2 SA6C Ball screw 800 20 Horizontal 25 380 at 50st 540 at 100st 660 at 150st 770 at 200st 860 at 250st 940 at 300st 1000 at 350 to 600st 910 at 650st 790 at 700st 690 at 750st 610 at 800st 0 7 17 28 20 Vertical 380 at 50st 540 at 100st 660 at 150st 770 at 200st 800 at 250 to 650st 790 at 700st 690 at 750st 610 at 800st 0 2 1...

Страница 91: ... 5 4 9 20 Vertical 200 0 2 4 Horizontal 5 200 0 3 8 4 14 Vertical 133 0 2 2 Horizontal 2 5 100 0 2 16 8 28 Vertical 67 0 2 TA3R Ball screw 800 6 Horizontal 7 5 300 0 3 5 4 9 20 Vertical 200 0 2 4 Horizontal 5 200 0 3 8 4 14 Vertical 133 0 2 2 Horizontal 2 5 100 0 2 16 8 28 Vertical 67 0 2 TA4C Ball screw 800 6 Horizontal 7 5 300 0 3 9 15 20 Vertical 0 2 4 Horizontal 5 200 0 3 13 2 22 Vertical 0 2 ...

Страница 92: ...95 Vertical 0 2 3 Horizontal 3 75 150 0 2 112 189 Vertical 0 2 TA6R Ball screw 800 12 Horizontal 15 560 0 3 30 47 20 Vertical 500 0 2 6 Horizontal 7 5 300 0 3 58 95 Vertical 0 2 3 Horizontal 3 75 150 0 2 112 189 Vertical 0 2 TA7C Ball screw 800 12 Horizontal 15 600 0 3 30 47 20 Vertical 580 0 2 6 Horizontal 7 5 300 0 3 58 95 Vertical 0 2 3 Horizontal 3 75 150 0 2 112 189 Vertical 0 2 TA7R Ball scr...

Страница 93: ...g spec 0 2 High acc dec spec 0 2 RGD3C Ball screw 20 800 10 Horizontal vertical 12 5 500 Energy saving spec 0 3 High acc dec spec 1 0 5 Horizontal vertical 6 25 250 Energy saving spec 0 3 High acc dec spec 1 0 2 5 Horizontal vertical 3 12 125 Energy saving spec 0 2 High acc dec spec 0 2 RA3D Ball screw 20 800 10 Horizontal vertical 12 5 500 0 3 5 Horizontal vertical 6 25 250 0 3 2 5 Horizontal ver...

Страница 94: ...l screw 20 800 12 Horizontal vertical 15 600 Energy saving spec 0 3 High acc dec spec 1 0 6 Horizontal vertical 7 5 300 Energy saving spec 0 3 High acc dec spec 1 0 3 Horizontal vertical 3 75 150 Energy saving spec 0 2 High acc dec spec 0 2 30 12 Horizontal vertical 15 600 Energy saving spec 0 3 High acc dec spec 1 0 6 Horizontal vertical 7 5 300 Energy saving spec 0 3 High acc dec spec 1 0 3 Hori...

Страница 95: ... 150 0 2 30 12 Horizontal vertical 15 600 0 3 6 Horizontal vertical 7 5 300 0 3 3 Horizontal vertical 3 75 150 0 2 RGD4D Ball screw 20 800 12 Horizontal vertical 15 600 0 3 6 Horizontal vertical 7 5 300 0 3 3 Horizontal vertical 3 75 150 0 2 30 12 Horizontal vertical 15 600 0 3 6 Horizontal vertical 7 5 300 0 3 3 Horizontal vertical 3 75 150 0 2 RA4R Ball screw 20 800 12 Horizontal vertical 15 600...

Страница 96: ...0 Horizontal vertical 12 5 665 0 3 5 Horizontal vertical 6 25 330 0 3 2 5 Horizontal vertical 3 12 165 0 2 SA4R Ball screw 20 800 10 Horizontal vertical 12 5 665 0 3 5 Horizontal vertical 6 25 330 0 3 2 5 Horizontal vertical 3 12 165 0 2 SA5C Ball screw 20 800 20 Horizontal 25 1300 Energy saving spec 0 3 Vertical 800 High acc dec spec 0 8 12 Horizontal vertical 15 800 at 50 to 450st 760 at 500st E...

Страница 97: ... Horizontal vertical 7 5 400 at 50 to 450st 380 at 500st 320 at 550st 270 at 600st 0 3 3 Horizontal vertical 3 75 200 at 50 to 450st 190 at 500st 160 at 550st 135 at 600st 0 2 SA6R Ball screw 30 800 12 Horizontal vertical 15 800 at 50 to 450st 760 at 500st 640 at 550st 540 at 600st 0 3 6 Horizontal vertical 7 5 400 at 50 to 450st 380 at 500st 320 at 550st 270 at 600st 0 3 3 Horizontal vertical 3 7...

Страница 98: ...A2 rod type RN3N Lead screw 10 1048 4 Horizontal vertical 3 81 200 0 2 2 1 9 100 1 0 95 50 RP3N Lead screw 10 1048 4 Horizontal vertical 3 81 200 0 2 2 1 9 100 1 0 95 50 GS3N Lead screw 10 1048 4 Horizontal vertical 3 81 200 0 2 2 1 9 100 1 0 95 50 GD3N Lead screw 10 1048 4 Horizontal vertical 3 81 200 0 2 2 1 9 100 1 0 95 50 SD3N Lead screw 10 1048 4 Horizontal vertical 3 81 200 0 2 2 1 9 100 1 0...

Страница 99: ...l 3 81 200 0 3 Vertical 0 2 2 Horizontal 1 9 100 0 2 Vertical 0 2 Lead screw 6 Horizontal 5 72 220 0 2 Vertical 0 2 4 Horizontal 3 81 200 0 2 Vertical 0 2 2 Horizontal 1 9 100 0 2 Vertical 0 2 GD4N Ball screw 20 1048 6 Horizontal 5 72 270 0 3 Vertical 220 0 2 4 Horizontal 3 81 200 0 3 Vertical 0 2 2 Horizontal 1 9 100 0 2 Vertical 0 2 Lead screw 6 Horizontal 5 72 220 0 2 Vertical 0 2 4 Horizontal ...

Страница 100: ... 5 200 0 3 Vertical 0 2 2 Horizontal 2 5 100 0 2 Vertical 0 2 SA3R Ball screw 10 800 6 Horizontal 7 5 300 0 3 Vertical 0 2 4 Horizontal 5 200 0 3 Vertical 0 2 2 Horizontal 2 5 100 0 2 Vertical 0 2 SA4C Ball screw 20 800 10 Horizontal 12 5 380 at 50st 500 at 100 to 500st 0 3 Vertical 0 2 5 Horizontal 6 25 250 0 3 Vertical 0 2 2 5 Horizontal 3 12 125 0 2 Vertical 0 2 SA4R Ball screw 20 800 10 Horizo...

Страница 101: ... 12 Horizontal 15 380 at 50st 540 at 100st 600 at 150 to 550st 570 at 600st 490 at 650st 425 at 700st 370 at 750st 330 at 800st 0 3 Vertical 0 2 6 Horizontal 7 5 300 at 50 to 550st 285 at 600st 245 at 650st 210 at 700st 185 at 750st 165 at 800st 0 3 Vertical 0 2 3 Horizontal 3 75 150 at 50 to 550st 140 at 600st 120 at 650st 105 at 700st 90 at 750st 80 at 800st 0 2 Vertical 0 2 SA5R Ball screw 20 8...

Страница 102: ... 12 Horizontal 15 380 at 50st 540 at 100st 600 at 150 to 550st 570 at 600st 490 at 650st 425 at 700st 370 at 750st 330 at 800st 0 3 Vertical 0 2 6 Horizontal 7 5 300 at 50 to 550st 285 at 600st 245 at 650st 210 at 700st 185 at 750st 165 at 800st 0 3 Vertical 0 2 3 Horizontal 3 75 150 at 50 to 550st 140 at 600st 120 at 650st 105 at 700st 90 at 750st 80 at 800st 0 2 Vertical 0 2 SA6R Ball screw 30 8...

Страница 103: ...100 0 2 Vertical 0 2 Lead screw 6 Horizontal 5 72 220 0 2 Vertical 0 2 4 Horizontal 3 81 200 0 2 Vertical 0 2 2 Horizontal 1 9 100 0 2 Vertical 0 2 TW4N Ball screw 20 1048 6 Horizontal 5 72 270 0 3 Vertical 220 0 2 4 Horizontal 3 81 200 0 3 Vertical 0 2 2 Horizontal 1 9 100 0 2 Vertical 0 2 Lead screw 6 Horizontal 5 72 220 0 2 Vertical 0 2 4 Horizontal 3 81 200 0 2 Vertical 0 2 2 Horizontal 1 9 10...

Страница 104: ...0 0 2 Vertical 0 2 TA6R Ball screw 20 800 12 Horizontal 15 560 0 3 Vertical 500 0 2 6 Horizontal 7 5 300 0 3 Vertical 0 2 3 Horizontal 3 75 150 0 2 Vertical 0 2 TA7C Ball screw 30 800 12 Horizontal 15 600 0 3 Vertical 580 0 2 6 Horizontal 7 5 300 0 3 Vertical 0 2 3 Horizontal 3 75 150 0 2 Vertical 0 2 TA7R Ball screw 30 800 12 Horizontal 15 600 0 3 Vertical 580 0 2 6 Horizontal 7 5 300 0 3 Vertica...

Страница 105: ...s made lower than the pressing speed the pressing speed will follow that speed thus cannot perform the expected pressing force Note RCP2 Series RA2C Type RA3C RGD3C RA4C RGS4C RGD4C RA6C RGS6C RGD6C Rod Type High Speed Type Medium Speed Type Low Speed Type Pressing Force N Current Limit Value Ratio Pressing Force N Current Limit Value Ratio Pressing Force N Current Limit Value Ratio Pressing Force...

Страница 106: ...SS7C Type SA7C Type SA8C Type RCP2 Series Slider Type Pressing Force N Current Limit Value Ratio Pressing Force N Current Limit Value Ratio Pressing Force N Current Limit Value Ratio Pressing Force N Current Limit Value Ratio Lead 2 5 Lead 5 Short Length Type ...

Страница 107: ...lue Ratio Current Limit Value Ratio Current Limit Value Ratio Current Limit Value Ratio Current Limit Value Ratio Grip Force N Grip Force N Grip Force N Grip Force N Pressing Force N Standard Type High Speed Type Gripper RCP2 Series ...

Страница 108: ...02 4 Appendix Current Limit Value Ratio Current Limit Value Ratio Current Limit Value Ratio Current Limit Value Ratio Three finger Gripper Grip Force N Grip Force N Grip Force N Grip Force N RCP2 Series ...

Страница 109: ...ssing Force N Current Limit Value Ratio Pressing Force N Current Limit Value Ratio Pressing Force N Current Limit Value Ratio Pressing Force N Thin and Small Rod Type RCP3 Series RA2AC RA2AR Lead1 RA2AC RA2AR Lead2 RA2BC RA2BR Lead4 RA2AC RA2AR Lead4 RA2BC RA2BR Lead6 RA2BC RA2BR Lead4 Inside the red box is the specification value ...

Страница 110: ...e Ratio Pressing Force N Current Limit Value Ratio Pressing Force N Current Limit Value Ratio Pressing Force N Current Limit Value Ratio Pressing Force N Slider Type RCP3 Series RCP3 Series RCP3 Series SA3C Type Thin and Small Table Type TA3C Type TA5C Type TA6C TA7C Type TA4C TA4R Type Table Type SA5C SA6C Type SA4CType Lead 2 Lead 4 Lead 6 Lead 2 Lead 4 Lead 6 ...

Страница 111: ...tio Pressing Force N Micro Cylinder RCL Series Ultra small ROBO Cylinder RCD Series RA1D Type Pressing Force N Current Limit Value Ratio 1 05 2 04 3 02 4 01 4 99 5 98 0 41 0 85 1 28 1 72 2 16 2 60 0 10 20 30 40 50 60 70 80 7 6 5 4 3 2 1 0 ...

Страница 112: ...thing other than our product 2 Modification or repair performed by a party other than us unless we have approved such modification or repair 3 Anything that could not be easily predicted with the level of science and technology available at the time of shipment from our company 4 A natural disaster man made disaster incident or accident for which we are not liable 5 Natural fading of paint or othe...

Страница 113: ...aining to maintenance or management of human life or health 2 A mechanism or mechanical equipment intended to move or transport people such as a vehicle railway facility or aviation facility 3 Important safety parts of mechanical equipment such as safety devices 4 Equipment used to handle cultural assets art or other irreplaceable items 3 Contact us at the earliest opportunity if our product is to...

Страница 114: ...tion Contents changed and added in Appendix List of Specifications of Connectable Actuators Contents changed in Warranty in p 105 to p 106 Fifth Edition Contents added in DSEP Sixth Edition Contents added in RCD Seventh Edition P66 Number changed for servo adjustment of DSEP Eighth Edition Contents added and changed in Safety Guide Contents changed in UL Use Environment added to Specifications Tab...

Страница 115: ......

Страница 116: ...6 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 TEL 678 354 9470 FAX 678 354 ...

Отзывы:

Нет отзывов