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IAI Msep Instruction Manual
Summary of Msep
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Msep controller instruction manual fourth edition.
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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. To ensure the safe operation of this product, please read and fully unde...
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Table of contents safety guide·····················································································································1 precautions in operation ··································································································8 international standards co...
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Chapter 3 operation·····································································································69 3.1 basic operation ·········································································································· 69 3.1.1 basic operation methods ·················...
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Chapter 7 appendix····································································································237 7.1 fan replacement······································································································ 237 7.2 list of specifications of connectable actuators·...
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1 safety guide “safety guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product. Safety precautions for our products the common safety precautions for the use of any of our robots in each...
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2 no. Operation description description 2 transportation Ɣ when carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. Ɣ when the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate...
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3 no. Operation description description (2) cable wiring Ɣ use our company’s genuine cables for connecting between the actuator and controller, and for the teaching tool. Ɣ do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil it around. Do not insert it. Do not put any h...
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4 no. Operation description description 4 installation and start (4) safety measures Ɣ when the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Ɣ when the product...
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5 no. Operation description description 6 trial operation Ɣ when the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Ɣ after the teaching or programming operation...
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6 no. Operation description description 8 maintenance and inspection Ɣ when the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Ɣ perform the work out of the safe...
Page 15: Alert Indication
7 alert indication the safety precautions are divided into “danger”, “warning”, “caution” and “notice” according to the warning level, as follows, and described in the instruction manual for each model. Level degree of danger and damage symbol danger this indicates an imminently hazardous situation ...
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8 precautions in operation 1. Make sure to follow the usage condition, environment and specification range of the product. Not doing so may cause a drop of performance or malfunction of the product. 2. Use an appropriate teaching tool. Use the pc software for robocylinder or an appropriate teaching ...
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9 5. Actuator would not operate without servo-on and pause signals. (1) servo on signal (son) the servo-on signal (son) is available to select whether to enable or disable in the initial setting process “servo control”. If it is set to “enable”, the actuator would not operate unless turning this sig...
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10 9. According to sequence program creation please note the following things when creating a sequence program. When data transfer is necessary between two devices that have a different scan time from each other, duration more than the longer scan time is required to certainly read the signal. (it i...
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11 international standards compliances msep with the following overseas standard. Refer to overseas standard compliance manual (me0287) for more detailed information. Rohs directive ce marking ul { to be scheduled to be scheduled.
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12 name for each parts and their functions 9) operation mode setting switch 10) sio connector 17) slot 0 actuator connector upper side (1st axis) : axis no.0 (ax0) lower side (2nd axis) : axis no.1 (ax1) 7) status leds for driver 6) absolute battery connector 5) external brake input connector 4) dri...
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13 1) fg terminal block this is the terminal block for frame grounding. Since this controller is made of plastic, it is necessary to ground from this terminal block. Ground type should be class d (formally class 3 grounding = ground resistance 100ȍ or less). 2) power line input connector this is the...
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14 8) fan unit this is the fan unit to cool down the controller. This unit can be detached from the controller for maintenance by removing the screw on the hook in the front of the controller. 9) operation mode setting switch this is a switch to change the operation mode between automatic operation ...
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15 12) status led they are the led lamps to show the status of the controller and pio or fieldbus. The layout and the content of led display differ depending on pio or each fieldbus. Refer to the operation of each mode for the details. [refer to 3.10 status leds.] 13) fieldbus/pio connector a connec...
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16 actuator axes refer to the pictures below for the actuator axes that can be controlled by msep. 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 caution: there are some actuators that are not applicable...
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17 (5) gripper type (3-finger gripper) note finger attachment is not included in the actuator package. Please prepare separately. (6) rotary type (330q rotation type) (360q rotation type) for 360q rotation type with the origin reversed type, the directions of + and – are the other way around. 0 330°...
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18 starting procedures when using this product for the first time, make sure to avoid mistakes and incorrect wiring by referring to the procedure below. “pc” stated in this section means “pc software”. Ļ ĺ no ĺ ω ĺ no ĺ contact your local iai distributor. Ļyes no ĺ ĺ check item is sys in status leds...
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Chapter 1 specifications check 19 chapter 1 specifications check 1.1 product check 1.1.1 parts the standard configuration of this product is comprised of the following parts. If you find any faulty or missing parts, contact your local iai distributor. No. Part name model remarks 1 controller main bo...
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Chapter 1 specifications check 20 1.1.3 instruction manuals related to this product, which are contained in the instruction manual (dvd). No. Name manual no. 1 msep controller instruction manual me0299 2 pc software rcm-101-mw/rcm-101-usb instruction manual me0155 3 touch panel teaching con-pta/pda/...
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Chapter 1 specifications check 21 1.1.5 how to read the model (example) consists of 5 axes: axes no.0, 2, 3 : pulse motor type axes no.4, 5 : servo motor type axis no.1 : not connected axis no.3 : inactive axis msep – c – 5 – 20pi–n–42pi–pi–10i–20ila – dv – 2 – 0 – abb – ** c : standard type 1 to 8 ...
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Chapter 1 specifications check 22 1.2 list of basic specifications specification item driver for servo motor driver for pulse motor number of controlled axes max. 8 axis control/motor power supply voltage 24v dc ±10% brake power supply 0.15a × number of axes control power current consumption 0.8a co...
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Chapter 1 specifications check 23 specification item driver for servo motor driver for pulse motor ambient temperature 0 to 40qc ambient humidity 85%rh or less (non-condensing) ambient environment [refer to installation environment] ambient storage temperature -20 to 70qc (0 to 40qc for absolute bat...
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Chapter 1 specifications check 24 1.4 specifications for each fieldbus 1.4.1 specifications of devicenet interface item specification devicenet2.0 group 2 dedicated server communication protocol network-powered insulation node baud rate automatically follows the master communication system master-sl...
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Chapter 1 specifications check 25 1.4.3 specifications of profibus-dp interface item specification communication protocol profibus-dp baud rate automatically follows the master communication system hybrid system (master-slave system or token passing system) number of occupied stations refer to 3.4.1...
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Chapter 1 specifications check 26 1.4.6 specifications of ethernet/ip interface item specification communication protocol iec61158 (ieee802.3) baud rate 10base-t/100base-t (autonegotiation setting is recommended) communication cable length follows ethernet/ip specifications (distance between hub and...
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Chapter 1 specifications check 27 1.4.8 pio input and output interface input section output section input voltage 24v dc r10% load voltage 24v dc r10% input current 5ma 1 circuit peak load electric current 50ma 1 circuit on/off voltage on voltage min. 18v dc off voltage max. 6v dc leak current max 2...
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Chapter 1 specifications check 28 1.5 external dimensions 1.5.1 controller main unit 123 115 95 111 108 7.5 59 from din rail center 10.5 φ5 φ5 5 5 (4) 4 10.5 front view rear view side view.
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Chapter 1 specifications check 29 1.5.2 absolute battery box 111 10 8 59 fr om d in ra il ce nt er 10.5 φ5 φ5 5 5 (4 ) 4 123 11 5 98 front view rear view side view.
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Chapter 1 specifications check 30 1.6 option 1.6.1 absolute battery box for simple absolute type, an absolute battery box capable for the batteries for 8 axes is used. The battery is to be attached only to the axes for simple absolute type. The connection to msep controller is to be made with the de...
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Chapter 1 specifications check 31 1.6.2 regenerative resistor unit this unit is necessary to be connected in the case that the regenerative energy cannot be consumed by the regenerative resistor built into the msep controller. It is necessary to connect the unit in the following case: φ4.2 8 12 3 6 ...
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Chapter 1 specifications check 32 1.7 installation and storage environment this product is capable for use in the environment of pollution degree 2 *1 or equivalent. *1 pollution degree 2 : environment that may cause non-conductive pollution or transient conductive pollution by frost (iec60664-1) [1...
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Chapter 1 specifications check 33 1.8 noise elimination and mounting method (1) noise elimination grounding (frame ground) (2) precautions regarding wiring method 1) wire is to be twisted for the power supply. 2) separate the signal and encoder lines from the power supply and power lines. (3) noise ...
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Chapter 1 specifications check 34 (4) cooling factors and installation design and build the system considering the size of the controller box, location of the controller and cooling factors to keep the ambient temperature around the controller below 40qc. Pay a special attention to the battery unit ...
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Chapter 2 wiring 35 chapter 2 wiring 2.1 wiring diagram (connection of construction devices) 2.1.1 for pio control caution: make sure to turn the power to the controller off when inserting or removing the connector that connects the pc software or teaching pendant to the controller. (for touch panel...
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Chapter 2 wiring 36 2.1.2 when controlled by fieldbus caution: make sure to turn the power to the controller off when inserting or removing the connector that connects the pc software or teaching pendant to the controller. (for touch panel teaching (con-pta), insertion and removal of the active line...
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Chapter 2 wiring 37 2.1.3 for rc gateway control this product is capable for the connection to rc gateway function (fieldbus type) equipped in xsel controller to make an operation in harmony with xsel controller. Xsel-p/q msep 24v dc power supply when rc controller is connected additionally pcon-dv ...
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Chapter 2 wiring 38 2.2 operation pattern selected 2.2.1 outline for operation patterns pio type msep units provide 6 varying patterns of pio operation. Fieldbus type msep units provide 6 varying modes of fieldbus operation. Select an appropriate pattern or fieldbus mode based upon your application ...
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Chapter 2 wiring 39 2.2.2 pio pattern selection and pio signal 1) pio patterns and signal assignment the signal assignment of i/o flat cable by the pio pattern is as shown below. Follow the following table to connect the external equipment (such as plc). Operation pattern (pio pattern) 0 1 2 3 4 5 c...
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Chapter 2 wiring 40 operation pattern 0 1 2 3 4 5 6 category pio functions point-to-point movement movement speed setting target position change 2-input, 3-point movement 3-input, 3-point movement continuous reciprocating operation fieldbus connection pin no. Solenoid system single double single dou...
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Chapter 2 wiring 41 2) list of pio signals the table below lists the functions of pio signals. Refer to the section shown in relevant sections for the details of the control of each signal. Category signal abbreviation signal name function description relevant sections st0 • moving signal (single so...
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Chapter 2 wiring 42 2.3 circuit diagram sample circuit diagrams are shown below. [1] power supply and emergency stop the diagram shown below is an example of a circuit for when reflecting the emergency stop switch on a teaching pendant to the emergency stop circuit of the system. Note 1 when the tea...
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Chapter 2 wiring 43 check the previous page for notes 1 to 6. Emginslot0 emginslot1 emginslot2 emginslot3 emergency stop reset switch emergency stop switch cr1 sio connector cr1 24v 0v s1 emergency stop control circuit motor power supply (slot 3) (axis no.6 and 7) mpislot3 mposlot3 cr2 (note 2) mpis...
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Chapter 2 wiring 44 motor • encoder circuit there is an axis number (ax0 to ax7) shown on the actuator cables. Refer to the figure below to plug the actuators correctly. Wrong connection will issue an error such as the encoder wire breakage. Check in the instruction manual of each actuator for the d...
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Chapter 2 wiring 45 4) connection to rca series note 1 applicable connection cable model codes ƑƑƑ: cable length example) 030 = 3m model cable remarks rcp2 (except for small rotary) cb-psep-mpaƑƑƑ robot cable from 0.5 to 20m small rotary type rcp2-rtbl/rtcl /rtbsl/rtcsl /rtbbl/rtcbl cb-rpsep-maƑƑƑ r...
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Chapter 2 wiring 46 [4] layout for external brake input circuit lay out the circuit when an external compulsory brake release with using an actuator equipped with a brake is desired. It is not necessary if an external release is not required. It is possible to release the brake as long as the contro...
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Chapter 2 wiring 47 [6] wiring layout for pio (lay out the circuit for pio type) Ɣ operation pattern 0 ······point-to-point movement (standard) a1 0v (npn type) 24v dc (pnp type) 24v dc (npn type) 0v (pnp type) 24v supply (for i/o) movement/backward end movement pause/forward end movement reset no f...
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Chapter 2 wiring 48 Ɣ operation pattern 1 ······point-to-point movement (moving speed setting) a1 0v (npn type) 24v dc (pnp type) 24v dc (npn type) 0v (pnp type) 24v supply (for i/o) movement/backward end movement pause/forward end movement movement speed change/reset no function/servo on movement/b...
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Chapter 2 wiring 49 Ɣ operation pattern 2 ······point-to-point movement (target position change) a1 0v (npn type) 24v dc (pnp type) 24v dc (npn type) 0v (pnp type) 24v supply (for i/o) movement/backward end movement pause/forward end movement target position change/reset no function/servo on movemen...
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Chapter 2 wiring 50 Ɣ operation pattern 3 ······2-input, 3-point movement a1 0v (npn type) 24v dc (pnp type) 24v dc (npn type) 0v (pnp type) 24v supply (for i/o) movement command 1 movement command 2 reset no function /servo on movement command 1 movement command 2 reset no function /servo on moveme...
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Chapter 2 wiring 51 Ɣ operation pattern 4 ······3-input, 3-point movement a1 0v (npn type) 24v dc (pnp type) 24v dc (npn type) 0v (pnp type) 24v supply (for i/o) movement command 1 movement command 2 intermediate point movement/reset no function /servo on movement command 1 movement command 2 interm...
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Chapter 2 wiring 52 Ɣ operation pattern 5 ······continuous reciprocating operation a1 0v (npn type) 24v dc (pnp type) 24v dc (npn type) 0v (pnp type) 24v supply (for i/o) continuous reciprocating operation pause reset no function/servo on continuous reciprocating operation pause reset no function/se...
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Chapter 2 wiring 53 [7] wiring layout for fieldbus (for fieldbus type) follow the instruction manual of the master unit for each fieldbus and the constructing plc for the details of how to connect the cables. 1) devicenet type slave devices msep-devicenet type v+ drain (shield) can_h can_l v- rd wt ...
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Chapter 2 wiring 54 4) componet type 5) ethernet/ip type master unit switching hub slave devices ethernet straight cable, category 5e or more double shielded cable braided with aluminum foil recommended msep unit ethernet/ip type bs+ bdl bdh bs- bs+ bdl bdh bs- bs+ bdl bdh bs- master unit slave devi...
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Chapter 2 wiring 55 6) mechatrolink type 7) ethernetcat type 4 3 2 1 4 3 2 1 4 3 2 1 a4 a3 a2 a1 b4 b3 b2 b1 master unit slave devices mechatrolink cable mechatrolink cable msep mechatrolink type terminal resistance jepmc-w6022 connect the terminal resistor if the unit is placed at the end of the ne...
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Chapter 2 wiring 56 2.4 wiring method 2.4.1 connection to power input connector the wire of the power supply is to be connected to the enclosed connector (plug). Strip the sheath of the applicable wires for 10mm and insert them to the connector. Push a protrusion beside the cable inlet with a small ...
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Chapter 2 wiring 57 2.4.2 wiring layout of system i/o connector the connector consists of the emergency stop input for the whole controller, changeover of the operation modes (auto/manu) externally and the external regenerative resistor connection terminals. Insert the wires to the enclosed connecto...
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Chapter 2 wiring 58 2.4.3 connection of drive cutoff/emergency stop input connector insert wires if an emergency stop input is desired individually for each slot or drive cutoff for each slot. Unless it is desired, the controller can be used in the condition that the enclosed short-circuit line is c...
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Chapter 2 wiring 59 2.4.4 connecting with actuator connect the relay cables to the actuator connectors. Check in the instruction manual of each actuator for the details of the relay cables. 㩷 connector name actuator connector cable side padp-24v-1-s controller side s24b-padss-1 pin no. Signal name d...
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Chapter 2 wiring 60 2.4.5 connection of absolute battery connector connect the absolute battery unit to the controller for simple absolute type. 㩷 connector name absolute battery connector cable side czhr-20v-s controller side s20b-czwhs-b-1 pin no. Signal name description applicable cable diameter ...
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Chapter 2 wiring 61 2.4.6 connection of external brake connector connection needs to be established when an external brake release is required for the actuator. The brake can be released if the power (24v dc 150ma/axis) is supplied to this connector even without the main power supplied to the contro...
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Chapter 2 wiring 62 2.4.7 connection of sio connector connect an teaching tool such as the pc software. (note) do not attempt connect the device to the same sio network as the con related controllers such as pcon. Teaching pendant pc software msep 㩷 connector name sio connector cable side minidin 8-...
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Chapter 2 wiring 63 2.4.8 connection of pio (for pio type) the connection of i/o to the controller is to be carried out using the dedicated i/o cable. The cable length is shown in the model code of the controller. There are 2m for standard, 3m and 5m as an option. 10m is also applicable at maximum i...
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Chapter 2 wiring 64 2.4.9 wiring layout of fieldbus connector check the instruction manuals for each fieldbus master unit and mounted plc for the details. 1) devicenet type shield bl (can l) rd (v+) wt (can h) bk (v-) connector name devicenet connector cable side mstb2.5/5-st-5.08 abgy au enclosed i...
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Chapter 2 wiring 65 2) cc-link type wt (db) bl (da) shield (sld) yw (dg) connector name cc-link connector cable side mstb2.5/5-st-5.08 abgy au enclosed in standard package manufactured by phoenix contact controller side mstba2.5/5-g-5.08au pin no. Signal name (color) description applicable cable dia...
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Chapter 2 wiring 66 3) profibus-dp type 5 1 9 6 cable shield red b line (positive side) use the type a cable for profibus-dp (en5017). Green a line (negative side) connector name profibus-dp connector cable side 9-pin d-sub connector (male) please prepare separately controller side 9-pin d-sub conne...
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Chapter 2 wiring 67 4) componet type connector name componet connector cable side prepare a connector complied with componet standards. Controller side xw7d-pb4-r produced by omron pin no. Signal name (color) description applicable cable diameter 1 bs+ (rd) communication power supply + (note 1) 2 bd...
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Chapter 2 wiring 68 6) mechatrolink type connector name mechatrolink connector cable side prepare a connector complied with mechatrolink standards. Controller side dusb-arb82-t11a-fa produced by ddk pin no. Signal name description applicable cable diameter a1/b1 nc disconnected a2/b2 /data signal li...
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Chapter 3 operation 69 chapter 3 operation 3.1 basic operation 3.1.1 basic operation methods there are two ways for the operation; one is to control with pio and the other with fieldbus. Check the model code described on the model code record card inserted on the front panel of the unit to find whic...
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3.1 basic operation 70 Ɣoperation mode available in pio type 6 types of operation modes (pio patterns) are available to select from. Explained below is the outline. Also, in the table below, provides the relevant air cylinder circuit for reference. Operation pattern description example for electric ...
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3.1 basic operation 71 operation pattern description example for electric cylinder connection example for air cylinder connection (reference) pio pattern 2 single solenoid system (point-to-point movement, target position setting (position data) change) +24v plc movement signal (st0) target position ...
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3.1 basic operation 72 (2) fieldbus type slave slave transfer data with fieldbus actuator controller plc position, speed, etc. Command target confirmation of movement complete (read status signal).
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3.1 basic operation 73 [basic procedures for operation] [1] establish the driver parameters with using a teaching tool such as pc software. 1) if using sep i/o mode in the operation modes [refer to the next page], set the operation pattern in the initial setting. [refer to 3.2 for details.] 2) estab...
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3.1 basic operation 74 Ɣoperation mode available in fieldbus type 6 types of operation modes are available to select from. Explained below is the outline. Operation pattern description overview positioner 1 mode in positioner 1 mode, 256 points of position data can be registered at the maximum and i...
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3.1 basic operation 75 3.1.2 parameter settings parameter data should be set appropriately according to the applicaiton requirements. (example) software stroke limit : set a proper operation range for definition of the stroke end, prevention of interferences with peripherals and safety. Zone output ...
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3.2 initial setting 76 3.2 initial setting for this controller, it is necessary to have the initial setting and gateway operation mode setting done in the axes one by one. The initial setting is to be performed using rc pc software (note) or touch panel teaching (con-pta (note) ). And the operation ...
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3.2 initial setting 77 [step 4] select the operation pattern. There are operation patterns 0 to 5 available for pio type. Select operation pattern 6 if fieldbus type and a mode other than sep i/o mode. Select either of operation patterns 0 to 5 if fieldbus type and sep i/o mode since control is the ...
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3.2 initial setting 78 operation pattern ({ : available for setting) no. Setting item setting range (set in delivery) description 0 1 2 3 4 5 4 intermediate stop system both solenoid on/ both solenoid off (both solenoid off) this is available only if operation pattern 3 is selected. Select whether t...
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3.2 initial setting 79 operation pattern ({ : available for setting) no. Setting item setting range (set in delivery) description 0 1 2 3 4 5 8 output signal selection 0 to 2 (0) if “use” is selected in no. 5 servo control, select the combination of the used output signals considering the operation ...
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3.2 initial setting 80 [step 6] the confirmation window for controller reboot opens. Click “yes”. [step 7] the initial setting needs to be held on all the msep composition axes. In the case that multiple axes are connected, repeat the steps 2 to 6. Once the setting on all the connected axes is finis...
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3.2 initial setting 81 [step 10] main window is displayed. [step 11] reading is started from msep to pc. Click on the “read” button and a confirmation window appears. Click on the “yes” button. Once the parameter reading is completed in normal condition, the reading complete window opens. Click ok..
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3.2 initial setting 82 [step 12] for pio type, proceed to step 13. The parameters input to msep are listed as shown below. Indicate the node address (station) of msep on field network in address. Caution for cc-link type station setting in the following slave, set the value the number of occupied st...
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3.2 initial setting 83 [step 14] once the setting of the number of axes is done, the cells for the operation mode settable to each axis turn to blank in response. For pio type and sep i/o mode, “*” is displayed for a number equals to the number of set axis. [step 15] click on a blank cell and “*” sh...
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3.2 initial setting 84 [step 17] write the edited operation mode setting parameters to msep. Click on the “write” button shown below and a confirmation window pops up. Click on the “yes” button. If the writing is finished in normal condition, writing complete window appears. Click ok. [step 18] a co...
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3.3 setting of position data 85 3.3 setting of position data pio type makes an operation based on the position data (position, speed, etc.) set in advance in the position table. Set the target position (forward end, backward end and intermediate point (note) ) first. (note) the setting may not be ma...
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3.3 setting of position data 86 1) position name (no.)·······it shows the position the actuator moves towards. 2) position [mm] ·················it is the coordinate value for positioning. Input the position from the home position. Caution: (1) for gripper type setting is to be conducted with the ba...
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3.3 setting of position data 87 [pressing towards forward end or intermediate position] pressing complete (position complete signal output) speed backward end pressing start position forward end (intermediate) time pressing width [pressing towards backward end or intermediate position = pulling acti...
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3.3 setting of position data 88 6) acceleration [g]··············set the acceleration at operation. 7) deceleration [g] ·············set the deceleration at stop. (reference) how to set the acceleration is described below. The same idea can be applied to the deceleration. 1g=9800mm/s 2 : acceleratio...
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3.3 setting of position data 89 [2] additional setting items for operation pattern 1 set the position and speed for the speed change as well as the position data. Example for position table setting position name 9) speed change position [mm] 10) changed speed [mm/s] backward end position 60.00 input...
Page 98
3.4 fieldbus type address map 90 3.4 fieldbus type address map 3.4.1 plc address construction by each operation mode the plc address domain to be occupied differs depending on the operation mode. Refer to the example in section 3.4.2 for the assignment. • plc output ĺ msep input (n is plc output top...
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3.4 fieldbus type address map 91 • msep output ĺ plc input (n is plc input top word address from msep) (note 1) plc intput area simple direct mode positioner 1 mode direct indication mode positioner 2 mode positioner 3 mode sep i/o mode (note 2) details n gateway status 0 n+1 gateway status 1 3.4.3 ...
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3.4 fieldbus type address map 92 3.4.2 example for each fieldbus address map shown below is an example for the address map by the combination of operation modes for each fieldbus. Refer to it for the address assignment. The examples for the address map constructions shown below are provided for each...
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3.4 fieldbus type address map 93 1) devicenet (componet is not applicable for this mode) [combination example 1] when number of simple direct mode axes is 8 and number of direct indication mode 0 (n is the top channel number for each plc input and output between msep and plc) plc ĺ msep msep ĺ plc c...
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3.4 fieldbus type address map 94 [combination example 2] when number of simple direct mode axes is 6 and number of direct indication mode 2 (n is the top channel number for each plc input and output between msep and plc) plc ĺ msep msep ĺ plc ch no. Description ch no. Description n to n+1 gateway co...
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3.4 fieldbus type address map 95 [combination example 4] when number of simple direct mode axes is 0 and number of direct indication mode 8 (n is the top channel number for each plc input and output between msep and plc) plc ĺ msep msep ĺ plc ch no. Description ch no. Description n to n+1 gateway co...
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3.4 fieldbus type address map 96 [combination example 2] when number of simple direct mode axes is 6 and number of direct indication mode 2 (extended cyclic setting/number of occupied stations: 8 times/2 stations) plc ĺ msep msep ĺ plc address description address description ry 000 to 01f gateway co...
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3.4 fieldbus type address map 97 [combination example 3] when number of simple direct mode axes is 2 and number of direct indication mode 6 (extended cyclic setting/number of occupied stations: 8 times/2 stations) plc ĺ msep msep ĺ plc address description address description ry 000 to 01f gateway co...
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3.4 fieldbus type address map 98 3) profibus-dp, ethernet/ip, ethercat (mechatrolink is not applicable for this mode) [combination example 1] when number of simple direct mode axes is 8 and number of direct indication mode 0 (n is the top node address for each plc input and output between msep and p...
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3.4 fieldbus type address map 99 [combination example 3] when number of simple direct mode axes is 2 and number of direct indication mode 6 (n is the top node address for each plc input and output between msep and plc) plc ĺ msep msep ĺ plc node address (byte address) description node address (byte ...
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3.4 fieldbus type address map 100 [2] address map for positioner 2 mode shown below is the address map for each fieldbus when eight axes of msep are operated in positioner 2 mode. 1) devicenet (componet is not applicable for this mode) (n is the top channel number for each plc input and output betwe...
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3.4 fieldbus type address map 101 3) profibus-dp, ethernet/ip, ethercat (mechatrolink is not applicable for this mode) (n is the top node address for each plc input and output between msep and plc) plc ĺ msep msep ĺ plc node address (byte address) description node address (byte address) description ...
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3.4 fieldbus type address map 102 2) cc-link (extended cyclic setting/number of occupied stations: 1 times/4 stations) plc ĺ msep msep ĺ plc address description address description ry 00 to 1f gateway control rx 00 to 1f gateway status ry 20 to 6f demand command rx 20 to 6f response command ry 70 to...
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3.4 fieldbus type address map 103 [4] address map for sep i/o mode shown below is the address map for each fieldbus when eight axes of msep are operated in sep i/o mode. 1) devicenet, componet (n is the top channel number for each plc input and output between msep and plc) plc ĺ msep msep ĺ plc ch n...
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3.4 fieldbus type address map 104 3.4.3 gateway control signals (in common for all operation modes) when operating the system with fieldbus, the axes are controlled via gateway of msep. The top 2 words of input and output in each operation mode are the signals gateway control and status monitoring. ...
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3.4 fieldbus type address map 105 (2) list for input and output signal (on = applicable bit is “1”, off = applicable bit is “0”) signal type bit symbol description details b15 mon operation control with communication is available while it is on – b14 – cannot be used. – b13 rte retained condition of...
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3.4 fieldbus type address map 106 (on = applicable bit is “1”, off = applicable bit is “0”) signal type bit symbol description details b15 run this signal turns on when gateway is in normal operation. – b14 lerc this signal turns on if the err-t or err-c occurred during an operation is retained and ...
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3.4 fieldbus type address map 107 3.4.4 control signals for positioner 1/simple direct mode caution: this mode is not applicable for componet and mechatrolink. To select the mode, use gateway parameter setting tool. All the modes can be used only by indicating a position number. Positioner 1 mode : ...
Page 116
3.4 fieldbus type address map 108 (2) input and output signal assignment for each axis the i/o signals for each axis consists of 4-word for each i/o bit register. Ɣ the control signals and status signals are on/off signals in units of bit. Ɣ for the target position and current position, 2-word (32-b...
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3.4 fieldbus type address map 109 plc input (m is plc input top word address for each axis number) 䎃 address m b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 current position (lower word) 䎃 address m+1 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 current position (upper word) (note) ...
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3.4 fieldbus type address map 110 (3) i/o signal assignment (on = applicable bit is “1”, off = applicable bit is “0”) signal type bit symbol description details target position 32 bits data – 32-bit signed integer indicating the current position unit: 0.01mm available range for setting: -999999 to 9...
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3.4 fieldbus type address map 111 (on = applicable bit is “1”, off = applicable bit is “0”) signal type bit symbol description details current position 32 bits – 32-bit signed integer indicating the current position unit: 0.01mm (example) if +10.23mm, input 000003ff h (1023mm in decimal system). (no...
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3.4 fieldbus type address map 112 3.4.5 control signals for direct indication mode caution: this mode is not applicable for componet and mechatrolink. This is an operation mode to indicate directly with values for the target position, positioning width, speed, acceleration/deceleration and pressing ...
Page 121
3.4 fieldbus type address map 113 (2) input and output signal assignment for each axis the i/o signals for each axis consists of 8-word for each i/o bit register. Ɣ the control signals and status signals are on/off signals in units of bit. Ɣ for the target position and current position, 2-word (32-b...
Page 122
3.4 fieldbus type address map 114 plc output (m is plc output top word address for each axis number) 䎃 address m b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 target position (lower word) 䎃 address m+1 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 target position (upper word) (note) ...
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3.4 fieldbus type address map 115 plc input (m is plc input top word address for each axis number) 䎃 address m b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 current position (lower word) 䎃 address m+1 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 current position (upper word) (note) ...
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3.4 fieldbus type address map 116 (3) i/o signal assignment (on = applicable bit is “1”, off = applicable bit is “0”) signal type bit symbol description details target position 32 bits data – 32-bit signed integer indicating the current position unit: 0.01mm available range for setting: -999999 to 9...
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3.4 fieldbus type address map 117 signal type bit symbol description details b15 bkrl brake release on: brake release, off: brake activated 3.8.1 [15] b14 inc absolute position commands are issued when this signal is off, and incremental position commands are issued when the signal is on. 3.8.1 [13]...
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3.4 fieldbus type address map 118 䎃 (on = applicable bit is “1”, off = applicable bit is “0”) signal type bit symbol description details current position 32 bits data – 32-bit signed integer indicating the current position unit: 0.01mm (example) if 10.23mm, input 000003ff h (1023mm in decimal system...
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3.4 fieldbus type address map 119 3.4.6 control signals for positioner 2 mode caution: this mode is not applicable for componet and mechatrolink. It is an operation mode to operate with indicating a position number. The operation is to be made with the position data set in the position table. This i...
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3.4 fieldbus type address map 120 (2) input and output signal assignment for each axis the i/o signals for each axis consists of 2-word for each i/o bit register. Ɣ the control signals and status signals are on/off signals in units of bit. Ɣ for the indicated position number and complete position nu...
Page 129
3.4 fieldbus type address map 121 (3) i/o signal assignment (on = applicable bit is “1”, off = applicable bit is “0”) signal type bit symbol description details specified position no. 16 bits data pc1 to pc128 16-bit integer available range for setting: 0 to 255 to operate, it is necessary to have t...
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3.4 fieldbus type address map 122 (on = applicable bit is “1”, off = applicable bit is “0”) signal type bit symbol description details completed position no. (simple alarm code) 16 bits pm1 to pm128 16-bit integer the positioning complete position number is output in a binary number once getting int...
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3.4 fieldbus type address map 123 3.4.7 control signals for positioner 3 mode this is the operation mode with the position no. Set up. The operation is to be made with the position data set in the position table. This is the mode with the minimum amount of input and output signals and the sent and r...
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3.4 fieldbus type address map 124 (2) input and output signal assignment for each axis the i/o signals for each axis consists of 1-word for each i/o bit register. Ɣ the control signals and status signals are on/off signals in units of bit. Ɣ binary data of 8 bits for the specified position number an...
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3.4 fieldbus type address map 125 (3) i/o signal assignment (on = applicable bit is “1”, off = applicable bit is “0”) signal type bit symbol description details b15 bkrl brake release on: brake release, off: brake activated 3.8.1 [15] b14 b13 – cannot be used. – b12 son servo on command on: servo on...
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3.4 fieldbus type address map 126 3.4.8 control signals for sep i/o mode this is an operation mode same as when using pio (24v input and output). Set the position data from a teaching tool such as the rc pc software. The number of movement points available in the operation depends on the operation p...
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3.4 fieldbus type address map 127 (1) plc address composition (m is plc input and output top word address for each axis number) plc ĺ msep (plc output) msep ĺ plc (plc input) a2 to a17 m b2 to b17 m a18 to a33 m+1 b18 to b33 m+1 [refer to section 3.4.2 for the address maps for each fieldbus.] 䎃 (2) ...
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3.4 fieldbus type address map 128 3.4.9 about commands (position data read/write and alarm axis read) by sending a specific code to a specific address, the position data reading and writing, and the reading of the axis number that an alarm was issued and the alarm code can be performed. (note) it is...
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3.4 fieldbus type address map 129 (3) details of commands the input and output signals are consist of 5-word for each input and output data register. Ɣ the target position and current position are expressed using 2-word (32 bits) binary data. The figures from –999999 to +999999 (unit: 0.01mm) can be...
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3.4 fieldbus type address map 130 1) demand command cleared plc output (address n is the input and output top address for msep.) (note) response command does not return. 䎃 bit address b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 n+2 demand command [0000h] 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 n+3...
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3.4 fieldbus type address map 131 3) writing of pressing width plc output (address n is the input and output top address for msep.) (note) if the writing is finished in normal condition, the same content as the demand command is returned to the response command. If an error is generated, an error re...
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3.4 fieldbus type address map 132 5) writing of acceleration plc output (address n is the input and output top address for msep.) (note) if the writing is finished in normal condition, the same content as the demand command is returned to the response command. If an error is generated, an error resp...
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3.4 fieldbus type address map 133 7) writing of pressing current limit plc output (address n is the input and output top address for msep.) (note) if the writing is finished in normal condition, the same content as the demand command is returned to the response command. If an error is generated, an ...
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3.4 fieldbus type address map 134 8) reading of target position plc output (address n is the input and output top address for msep.) 䎃 bit address b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 n+2 demand command [1040h] 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 n+3 data 0 [position no.] – – – – – – – ...
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3.4 fieldbus type address map 135 9) reading of pressing width plc output (address n is the input and output top address for msep.) 䎃 bit address b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 n+2 demand command [1041h] 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 1 n+3 data 0 [position no.] – – – – – – – –...
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3.4 fieldbus type address map 136 10) reading of speed plc output (address n is the input and output top address for msep.) 䎃 bit address b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 n+2 demand command [1042h] 0 0 0 1 0 0 0 0 0 1 0 0 0 0 1 0 n+3 data 0 [position no.] – – – – – – – – 128 64 ...
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3.4 fieldbus type address map 137 11) reading of acceleration plc output (address n is the input and output top address for msep.) 䎃 bit address b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 n+2 demand command [1045h] 0 0 0 1 0 0 0 0 0 1 0 0 0 1 0 1 n+3 data 0 [position no.] – – – – – – – – ...
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3.4 fieldbus type address map 138 12) reading of deceleration plc output (address n is the input and output top address for msep.) 䎃 bit address b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 n+2 demand command [1046h] 0 0 0 1 0 0 0 0 0 1 0 0 0 1 1 0 n+3 data 0 [position no.] – – – – – – – – ...
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3.4 fieldbus type address map 139 13) reading of pressing current limit plc output (address n is the input and output top address for msep.) 䎃 bit address b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 n+2 demand command [1047h] 0 0 0 1 0 0 0 0 0 1 0 0 0 1 1 1 n+3 data 0 [position no.] – – – ...
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3.4 fieldbus type address map 140 14) reading of alarm-issued axis number plc output (address n is the input and output top address for msep.) (note) if this command is sent, the response command updates with the latest information until the demand command clear is sent. 䎃 bit address b15 b14 b13 b1...
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3.4 fieldbus type address map 141 15) reading of alarm code plc output (address n is the input and output top address for msep.) (note) if this command is sent, the response command updates with the latest information until the demand command clear is sent. 䎃 bit address b15 b14 b13 b12 b11 b10 b9 b...
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3.4 fieldbus type address map 142 16) error response command plc input (address n is the input and output top address for msep.) in the case that the command did not complete in normal condition, this error response command is returned. 䎃 bit address b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b...
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3.5 control signals for pio operation 143 3.5 control signals for pio operation the contents of the signals for the input and output ports vary depending on the setting of the operation mode. Set the position data from a teaching tool such as the rc pc software. The number of movement points availab...
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3.5 control signals for pio operation 144 i/o signal assignment operation pattern (pio pattern) 0 1 2 3 4 5 category pio functions point-to-point movement movement speed setting target position change 2-input, 3-point movement 3-input, 3-point movement continuous reciprocating operation fieldbus con...
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3.5 control signals for pio operation 145 operation pattern 0 1 2 3 4 5 6 category pio functions point-to-point movement movement speed setting target position change 2-input, 3-point movement 3-input, 3-point movement continuous reciprocating operation fieldbus connection pin no. Solenoid system si...
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3.6 control of input signal 146 3.6 control of input signal 3.6.1 pio input signal process the input signal of this controller has the input time constant of 7ms considering the prevention of wrong operation by chattering and noise. Therefore, input each input signal for 7ms or more (note) continuou...
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3.6 control of input signal 147 3.6.2 input and output signal process for fieldbus type (1) i/o signal timings when any of the control signal is turned on to perform the operation of the robo cylinder using the plc’s sequence program, the response (status) is returned to the plc. The maximum respons...
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3.6 control of input signal 148 (2) command sending and receiving timing (reading and writing of position data and reading of alarm axis) by writing and reading the specified commands to the area of 5-word next to gateway control/status area, reading and writing of the position data and reading of a...
Page 157
3.7 power supply 149 3.7 power supply follow the steps below to turn on the power to the controller. 1) supply i/o power, control power and the drive (24v dc). 2) cancel the emergency stop condition or make the motor drive power supply available to turn on. 3) if using the servo-on signal, input the...
Page 158
3.8 i/o signal controls and function 150 3.8 i/o signal controls and function 3.8.1 input and output signal for fieldbus type (except for sep i/o mode) this section explains the signals except for sep i/o mode and pio operation of fieldbus type. In fieldbus type, the applicable bit is “1” when the s...
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3.8 i/o signal controls and function 151 (6) home return (home) plc output signal home return completion (hend) plc input signal when the “home” signal is turned “on”, this command is processed at the startup (on edge), and the homing operation is performed automatically. When the data home return i...
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3.8 i/o signal controls and function 152 (7) positioning start (cstr) plc output signal this signal is processed at the startup (on edge) and the positioning is performed to the target position with the specified position no. Or set using the plc’s target position register. If a movement command is ...
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3.8 i/o signal controls and function 153 (10) pause (stp) plc output signal when this signal is turned “on”, the actuator movement is decelerated and stopped. When it is turned “off”, the actuator movement is restarted. The acceleration in the operation restart or the deceleration in stopping operat...
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3.8 i/o signal controls and function 154 2) inching operation the inching operation is available while the jisl signal is turned “on”. Once it is turned “on”, the actuator is moved as much as the inching distance. When the jog+ is turned “on”, the movement is to the opposite of the home and when the...
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3.8 i/o signal controls and function 155 (15) brake release (bkrl) plc output signal turning this signal “on” can release the brake forcibly. (16) push-motion specification (push) plc output signal when the movement command signal is output after this signal is turned on, the pressing operation is p...
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3.8 i/o signal controls and function 156 (17) push direction specification (dir) plc output signal this signal specifies the pressing direction. When this signal is turned “off”, the pressing operation is performed to the direction of the value determined by adding the positioning width to the targe...
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3.8 i/o signal controls and function 157 (21) operation for positioner 1/simple direct modes if the position data is written to the target position register (for simple direct mode) or the target position is set in the position data of msep (for positioner 1 mode), the operation shall be made with o...
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3.8 i/o signal controls and function 158 target position data setting (plc → msep) indicated position number (plc → msep) n1 p1 positioning start cstr (plc → msep) position complete pend (msep → plc) current position (msep → plc) moving move (msep → plc) actuator movement positioning width n2 p2 p3 ...
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3.8 i/o signal controls and function 159 (22) operation for direct indication mode it is operated with the data set in the plc's target position register, positioning width register, setup speed register, acceleration/deceleration register and pressing current limit setup register. Ɣ example of oper...
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3.8 i/o signal controls and function 160 1) 2) 3) 4) 5) 6) 7) 8) 9) 12) 11) 13) 14) n1 v1 m1 t1 s1 n2 n3 v2 v3 m2 m3 t2 s2 s3 twcson twcsoff tpdf n1 target position data setting (plc → msep) positioning width data /pressing width data (plc → msep) speed data (plc → msep) acceleration/ deceleration d...
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3.8 i/o signal controls and function 161 (23) operation timings for positioner 2 and positioner 3 modes the operation is to be made with the target position, speed, acceleration/deceleration, pressing width and pressing force set in the position data of msep. Ɣ example of operation (positioning oper...
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3.8 i/o signal controls and function 162 indicated position number (plc → msep) p1 positioning start cstr (plc → msep) positioning completion pend (msep → plc) moving move (msep → plc) actuator movement positioning width p2 p3 twcsoff twcson tpdf 10ms or less 10ms or less 6) 5) 4) 3) 1) 2) 0ms or mo...
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3.8 i/o signal controls and function 163 3.8.2 sep i/o mode and pio operation for fieldbus type [1] servo on (son, sv) input output pio signal son sv all operation patterns { { { : available, u: unavailable 1) servo on signal son is the input signal making the servo motor of the actuator operable. 2...
Page 172
3.8 i/o signal controls and function 164 [2] alarm, alarm reset (*alm, res) input output pio signal res *alm all operation patterns { { { : available, u: unavailable 1) alarm signal *alm is set to on in the normal status but turned off at the occurrence of an alarm at a level equal to or higher than...
Page 173
3.8 i/o signal controls and function 165 [4] movement command and positioning complete signal (st0 to st2, pe0 to pe2) pio signal st0 st1 st2 pe0 pe1 pe2 operation pattern 0 to 2 { { u { { u operation pattern 3 { { u { { { operation pattern 4 { { { { { { operation pattern 5 u u u { { u Ŷ control met...
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3.8 i/o signal controls and function 166 (example) repetition of st1 ĺ st2 ĺ st1 ĺ … insert timer ǻt if necessary. ǻt: time required to certainly reach the target position after the position sensing output ls1 or 2 is turned on. [example of stop position when the st* signal is turned off by the ls* ...
Page 175
3.8 i/o signal controls and function 167 [6] home return home-return operation is performed when turning the movement signal 1 (st0) on if the home return has not yet done since the power is turned on. 1) if the operation pattern is “point-to-point movement (single solenoid)” if the home return is n...
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3.8 i/o signal controls and function 168 [operation of slider type/rod-type actuator] 1) the actuator moves toward the mechanical end at the home return speed. The moving speed is 20mm/s for most actuators but less than 20mm/s for some actuators. Refer to the instruction manual of each actuator. 2) ...
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3.8 i/o signal controls and function 169 (2) 360° rotation specification rotary axis 1) 1) 2) 3) 4) 5) 6) 7) 8) 9) 10) 11) 12) (home position side) (opposite side of home position) home (forward rotation end) offset movement amount datum point for offset (center of 6), 7), 9) and 10)) home sensor de...
Page 178
3.8 i/o signal controls and function 170 [7] absolute reset (conducted for absolute type) when the power to the machine is turned on for the first time (actuator operation), perform the absolute reset. 1) absolute encoder failure detection error is issued at the power-on. 2) turn res signal (in2) on...
Page 179
3.8 i/o signal controls and function 171 [9] pause during movement = operation timing for operation patterns 0 to 2 (1) single solenoid system: with the input of the pause signal (*stp), the actuator pauses its operation. Shown below is an example for the forward end position movement. Pause signal ...
Page 180
3.8 i/o signal controls and function 172 (2) double solenoid system: with the movement speed change signal (spdc) turned on, the actuator is operated with the changed speed from the position set as the change position in the position data. Shown below is an example for the forward end position movem...
Page 181
3.8 i/o signal controls and function 173 [12] 3-point movement = operation timing for operation patterns 3 and 4 with the combination of st0 and st1, the actuator moves to the target position. Forward end movement signal (st1) intermediate point movement signal (st2) (available only for pio pattern ...
Page 182
3.8 i/o signal controls and function 174 [13] 2-point repeated back and forth operation = operation timing for operation patterns 5 while the repeated back and forth operation signal (astr) is on, the actuator moves back and for the repeatedly between the forward end and the backward end. Once astr ...
Page 183
3.9 about gateway parameter setting tool 175 3.9 about gateway parameter setting tool this tool is necessary for the initial setting process such as msep operation mode select. Shown below is how to use the tool. 3.9.1 startup of tool 1) boot the gateway parameter setting tool after the power to mse...
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3.9 about gateway parameter setting tool 176 3) the main window opens. The main window opens even when msep could not be detected. Click on the “read” button in this window and the parameters start to be read from msep. Parameter transfer starts if the “write” button is clicked. However, note that t...
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3.9 about gateway parameter setting tool 177 2) setting menu click on the “setting” menu on the top left corner in the main window and the setting menu list pops up. • specialty parameter : set the parameters related to the process of gateway area in msep. [refer to 3.9.3 1), 2) and 3) gw parameter ...
Page 186
3.9 about gateway parameter setting tool 178 3.9.3 description of functions 1) gw-param • latch in err_t/c : select whether to continue the error even in recoverable condition after errt and errc are issued. • servo-off in err_c : select whether to turn the servo off on the connected axes when errc ...
Page 187
3.9 about gateway parameter setting tool 179 3) gwmode select • enable sw : select whether to activate/inactivate the enable switch in tp. • byte swap : set the byte swap. [refer to 3)-1 in this section.] • word swap in d-word data : set whether to swap the w-word sized data with word size [refer to...
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3.9 about gateway parameter setting tool 180 3)-2 word swap in d-word data : swap the upper and lower in the w-word sized sent and received data in word unit. Set this considering the connected host system if necessary. Msep input register = on, = off hexadecimal data on/off plc: rwwnn hexadecimal d...
Page 189
3.9 about gateway parameter setting tool 181 4) timesetting by selecting time on pc, the current time on the pc is acquired and set to msep. If set manually is selected, desired time set in the clock edit in the window can be set in msep. Click “write”, and the time setting is transferred to msep an...
Page 190
3.9 about gateway parameter setting tool 182 6) ethernet/ip setting (setting to be established for ethernet/ip type) • ip address : set ip address for msep • subnet mask : set subnet mask • default gateway : set default gateway.
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3.9 about gateway parameter setting tool 183 7) i/o monitor in this register monitor window, shows the data that gateway unit has received from the host (master) and the data sent back to the host (master). • data reading frequency : select the frequency of displayed data update from 100 to 500ms • ...
Page 192
3.9 about gateway parameter setting tool 184 9) alarm list click on the “update” button and the alarm list is read again from msep. Click on the “clear” button and the alarm list retained in msep are all deleted. Refer to chapter 6. Troubleshooting for the details of the alarms..
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3.9 about gateway parameter setting tool 185 3.9.4 operation mode setting when selecting the operation mode, select (note 1) the axis number in the pull down menu circled as 1). By selecting the number, the cells in 2) become blank in response. Click the cell for the mode to be set in each axis. If ...
Page 194
3.10 status led 186 3.10 status led 1) for pio type sys t.Err emg mode { : illuminating, ×: off symbol lamp condition color description green ready orange alarm generated sys (system status) × – power is off or in initializing red emergency stop emg (emergency stop status) × – normal green auto mode...
Page 195
3.10 status led 187 2) for fieldbus type devicenet sys emg mode t c err ms ns { : illuminating, ×: off, ڏ: flashing symbol lamp condition color description green ready orange alarm generated sys (system status) × – power is off or in initializing red emergency stop emg (emergency stop status) × – no...
Page 196
3.10 status led 188 3) for fieldbus type cc-link sys emg mode t c err run err { : illuminating, ×: off, ڏ: flashing symbol lamp condition color description green ready orange alarm generated sys (system status) × – power is off or in initializing red emergency stop emg (emergency stop status) × – no...
Page 197
3.10 status led 189 4) for fieldbus type profibus-dp sys emg mode t c err ms ns { : illuminating, ×: off, ڏ: flashing symbol lamp condition color description green ready orange alarm generated sys (system status) × – power is off or in initializing red emergency stop emg (emergency stop status) × – ...
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3.10 status led 190 5) for fieldbus type componet { : illuminating, ×: off, ڏ: flashing symbol lamp condition color description green ready orange alarm generated sys (system status) × – power is off or in initializing red alarm generated emg (emergency stop status) × – normal green auto mode mode (...
Page 199
3.10 status led 191 6) for fieldbus type ethernet/ip { : illuminating, ×: off, ڏ: flashing symbol lamp condition color description green ready orange alarm generated sys (system status) × – power is off or in initializing red alarm generated emg (emergency stop status) × – normal green auto mode mod...
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3.10 status led 192 7) for fieldbus type mechatrolink { : illuminating, ×: off symbol lamp condition color description green ready orange alarm generated sys (system status) × – power is off or in initializing red alarm generated emg (emergency stop status) × – normal green auto mode mode (auto/manu...
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3.10 status led 193 8) for fieldbus type ethercat { : illuminating, ×: off, ڏ: flashing symbol lamp condition color description green ready orange alarm generated sys (system status) × – power is off or in initializing red alarm generated emg (emergency stop status) × – normal green auto mode mode (...
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3.10 status led 194 (note 1) blinking (note 2) single flash (note 3) double flash • timing of led flashing.
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Chapter 4 absolute reset and absolute battery 195 chapter 4 absolute reset and absolute battery 4.1 absolute reset the controller for simple absolute type retains the encoder position information with the battery backup. It is not necessary to perform the home-return operation every time the power i...
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Chapter 4 absolute reset and absolute battery 196 the absolute reset is to be done with using a teaching tool such as the pc software. Shown below are the steps. [2] absolute reset procedure from teaching tool 1) connect the controller with the actuator. [refer to chapters 1 and 2.] 2) connect the a...
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Chapter 4 absolute reset and absolute battery 197 (2) for con-pta/pda/pga 1) press reset alm. 2) press trial operation on the menu 1 screen. 3) press jog_inching on trial screen. 4) press home on job/inching screen..
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Chapter 4 absolute reset and absolute battery 198 4.2 absolute battery absolute battery and absolute battery box are enclosed in the simple absolute type controllers. The absolute battery is used to back up the absolute data. The absolute battery has a specified position for each axis number. Refer ...
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Chapter 4 absolute reset and absolute battery 199 4.2.1 absolute encoder backup specifications item specifications battery model ab-7 quantity 1 pc/axis (8 units max. / 8 axes) battery voltage 3.6v current capacity 3300mah reference for battery replacing timing (note 1) approx. 3 years (it varies si...
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Chapter 4 absolute reset and absolute battery 200 4.2.3 absolute battery voltage drop detection if the voltage of the absolute battery is dropped, the error detection responding to the voltage is held. Voltage pio signals alarm 2.5v ±8% or less alarm signal *alm (note 1) off 0ee absolute encoder err...
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Chapter 5 i/o parameter 201 chapter 5 i/o parameter parameters are the data to set up considering the system and application. When a change is required to the parameters, make sure to back up the data before the change so the settings can be returned anytime. With using pc software, it is able to st...
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Chapter 5 i/o parameter 202 5.1 i/o parameter list the categories in the table below indicate whether parameters should be set or not. There are five categories as follows: a : check the settings before use. B : use parameters of this category depending on their uses. C : use parameters of this cate...
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Chapter 5 i/o parameter 203 no. C at eg or y name symbol unit (note 1) input range default factory setting relevant sections 21 b zone 1+ znm1 mm = deg? -9999.99 to 9999.99 actual stroke on + side (note 2) 5.2 [21] 22 b zone 1- znl1 mm = deg? -9999.99 to 9999.99 actual stroke on - side (note 2) 5.2 ...
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Chapter 5 i/o parameter 204 5.2 detail explanation of parameters caution: • if parameters are changed, provide software reset or reconnect the power to reflect the setting values. • the unit [deg] is for rotary actuator and lever type gripper. Pay attention that it is displayed in [mm] in the teachi...
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Chapter 5 i/o parameter 205 [3] servo gain number (parameter no.3) no. Name symbol unit input range default factory setting 3 servo gain number plgo – for servo motor 0 to 15 for pulse motor 0 to 31 in accordance with actuator the servo gain is also called position loop gain or position control syst...
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Chapter 5 i/o parameter 206 [5] speed loop proportional gain (parameter no.5) no. Name symbol unit input range default factory setting 5 speed loop proportional gain vlpg – 1 to 27661 in accordance with actuator this parameter determines the response of the speed control loop. When the set value is ...
Page 215
Chapter 5 i/o parameter 207 [7] press speed (parameter no.7) no. Name symbol unit input range default factory setting 7 press speed pshv mm/s [deg/s] 1 to actuator's max. Pressing speed in accordance with actuator this is the parameter to set the speed in pressing operation. The setting is done cons...
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Chapter 5 i/o parameter 208 [9] current limit value at stopping due to miss-pressing (parameter no.9) no. Name symbol unit input range default factory setting 9 current limit value at stopping due to miss-pressing psfc – 0: 1) current limit during movement for servo motor 2) current limit during sto...
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Chapter 5 i/o parameter 209 [13] current-limiting value during home return (parameter no.13) no. Name symbol unit input range default factory setting 13 current-limiting value during home return odpw % pulse motor: 0 to 100 servo motor: 0 to 300 in accordance with actuator the factory setting confor...
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Chapter 5 i/o parameter 210 [16] home return offset level (parameter no.16) no. Name symbol unit input range default factory setting 16 home return offset level ofst mm [deg] 0.00 to 9999.99 in accordance with actuator an adjustment is available for the following cases. 1) want to match the actuator...
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Chapter 5 i/o parameter 211 [19] absolute battery retention time (parameter no.19) no. Name symbol unit input range default factory setting 19 absolute battery retention time aip days 0: 20 dayes 1: 15 dayes 2: 10 dayes 3: 5 dayes 2 for simple absolute type, set how long the encoder position informa...
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Chapter 5 i/o parameter 212 [21] zone 1+, zone 1- (parameter no.21, no.22) zone 2+, zone 2- (parameter no.23, no.24) no. Name symbol unit input range default factory setting 21 zone 1+ zonm mm [deg] -9999.99 to 9999.99 actual stroke on + side 22 zone 1- zonl1 mm [deg] -9999.99 to 9999.99 actual stro...
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Chapter 5 i/o parameter 213 [23] total movement count threshold (parameter no.26) no. Name symbol unit input range default factory setting 26 total movement count threshold tmct times 0 to 99999999 0 (disabled) an alarm is generated when the total movement count exceeds the value set to this paramet...
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Chapter 5 i/o parameter 214 [28] default movement direction for excitation-phase signal detection (parameter no.34) no. Name symbol unit input range default factory setting 34 default movement direction for excitation-phase signal detection phsp – 0: reverse 1: forward in accordance with actuator ex...
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Chapter 5 i/o parameter 215 5.3 servo adjustment the parameters are preset at the factory before shipment so that the actuator operates stably within the rated (maximum) transportable weight. However, the preset setting cannot always be the optimum load condition in the actual use. In such cases, se...
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Chapter 5 i/o parameter 216 no. Situation that requires adjustment how to adjust 4 abnormal noise is generated. Especially, when stopped state and operation in low speed (less than 50mm/sec), comparatively high noise is generated. X input the parameter no.4 “torque filter time constant”. Try to incr...
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Chapter 6 troubleshooting 217 chapter 6 troubleshooting 6.1 action to be taken upon occurrence of problem upon occurrence of a problem, take an appropriate action according to the procedure below in order to ensure quick recovery and prevent recurrence of the problem. 1) status leds and pio check on...
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Chapter 6 troubleshooting 218 6.2 fault diagnosis this section describes faults largely divided into three types as follows: (1) impossible operation of controller (2) positioning and speed of poor precision (incorrect operation) (3) generation of noise and/or vibration (4) communication not establi...
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Chapter 6 troubleshooting 219 6.2.2 positioning and speed of poor precision (incorrect operation) situation possible cause check/treatment completion of operation on the way to home return in the home return of our standard specification, the actuator is first pressed to the mechanical end, moved op...
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Chapter 6 troubleshooting 220 6.2.3 generation of noise and/or vibration situation possible cause check/treatment generation of noise and/or vibration from actuator itself noise and vibration are generated by many causes including the status of load, the installation of the actuator, and the rigidit...
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Chapter 6 troubleshooting 221 6.3 alarm level the alarms are classified to 3 types of levels by the content of the error. Alarm level alm lamp *alm signal status when an error occurred cancellation method message off no output no stop alarm of maintenance output such as battery voltage drop or the t...
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Chapter 6 troubleshooting 222 6.4 alarm list 6.4.1 gateway alarm codes the alarm codes are read into b7 to b0 in gateway status signal 0. (note) the alarm code shown on gateway parameter setting tool is applied with “8” on the top of the alarm codes listed below. (example) if the alarm code is 43, i...
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Chapter 6 troubleshooting 223 alarm code alarm name cause/treatment 81 parameter check sum error cause : there is a possibility that the memory data inside msep has destroyed. Treatment : establish all the settings again on gateway parameter setting tool or write the backup data if it exists. 90 dri...
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Chapter 6 troubleshooting 224 alarm code alarm name cause/treatment ac continuous regenerative excessive discharge cause : the regenerative electric power exceeded what can be dealt with the regenerative resistor. Treatment : decrease the acceleration/deceleration speed, revise the operation interva...
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Chapter 6 troubleshooting 225 6.4.2 simple alarm code simple alarm codes are read into the complete position register (pm8 to pc1) in position 1/ simple direct modes when an alarm is generated. { : on z: off *alm alm8 (pm8) alm4 (pm4) alm2 (pm2) alm1 (pm1) binary code description: alarm code is show...
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Chapter 6 troubleshooting 226 { : on z: off *alm alm8 (pm8) alm4 (pm4) alm2 (pm2) alm1 (pm1) binary code description: alarm code is shown in ( ). Z { z z z 8 actual speed excessive (0c0) z { z z { 9 overcurrent (0c8) overheat (0ca) drive source error (0d4) z { z { { 11 deviation overflow (0d8) softw...
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Chapter 6 troubleshooting 227 6.4.3 alarm codes for driver board (each axis) alarm code alarm level alarm name cause/treatment 048 servo motor only driver overload alarm cause : there is a risk of overload with the current operation condition. This alarm keeps its status until a reset is conducted. ...
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Chapter 6 troubleshooting 228 alarm code alarm level alarm name cause/treatment 0a3 position command data error cause : 1) the speed or acceleration/deceleration value during direct numeric specification exceeded the maximum set value. Treatment : 1) table to input a proper value. 0a7 command decele...
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Chapter 6 troubleshooting 229 alarm code alarm level alarm name cause/treatment 0b6 servo motor (*) only when connected operation release z-phase detection time out cause : this indicates the z-phase could not be detected at the first servo-on or home-return operation after the power is turned on in...
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Chapter 6 troubleshooting 230 alarm code alarm level alarm name cause/treatment 0b8 pulse motor (*) only when connected cold start excitement detection error cause : the magnetic pole phase detection is not completed after a certain time being passed even though the detection process was executed at...
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Chapter 6 troubleshooting 231 alarm code alarm level alarm name cause/treatment 0c1 pulse motor (*1) only when connected operation release servo error cause : it indicates 2 seconds has passed without making a move since a move command was received. 1) connection error or wire breakage on an actuato...
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Chapter 6 troubleshooting 232 alarm code alarm level alarm name cause/treatment 0d2 servo motor (*) only when connected operation cancellation motor power source voltage excessive cause : a malfunction of a component inside the controller can be considered. Treatment : if this error occurs often, th...
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Chapter 6 troubleshooting 233 alarm code alarm level alarm name cause/treatment 0e0 servo motor (*) only when connected overload cause : 1) the work weight exceeds the rated weight, or an external force is applied and the load increased. 2) if the actuator is equipped with a brake, the brake is not ...
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Chapter 6 troubleshooting 234 alarm code alarm level alarm name cause/treatment 0e8 pulse motor (*1) only when connected cold start a- and b-phase wire breaking cause : encoder signals cannot be detected correctly. 1) wire breakage or connector connection error on an actuator cable or cable enclosed...
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Chapter 6 troubleshooting 235 alarm code alarm level alarm name cause/treatment 0f5 operation release nonvolatile memory write verify error it is verified at the data writing process to the non-volatile memory that the data inside the memory and the data to be written are matched. There was a mismat...
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Chapter 6 troubleshooting 236.
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Chapter 7 appendix 237 chapter 7 appendix 7.1 fan replacement if an error is detected on the fan, replace the fan unit by following the process stated below. Note 1: when there is an error on the fan, an alarm code will be output to the gateway status signal or the gateway parameter setting tool. Al...
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Chapter 7 appendix 238 7.2 list of specifications of connectable actuators the specifications included in this list are limited to those needed to set operating conditions and parameters. For other detailed specifications, refer to the catalog or operation manual for your actuator. 7.2.1 specificati...
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Chapter 7 appendix 239 motor output lead minimum speed maximum speed maximum acceleration/ deceleration minimum push force maximum push force rated push speed actuator series type feed screw [w] no. Of encoder pulses [mm] mounting direction [mm/s] [mm/s] [g] [n] [n] [mm/s] – – – 10 horizontal /verti...
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Chapter 7 appendix 240 motor output lead minimum speed maximum speed maximum acceleration/ deceleration minimum push force maximum push force rated push speed actuator series type feed screw [w] no. Of encoder pulses [mm] mounting direction [mm/s] [mm/s] [g] [n] [n] [mm/s] – – – 12 horizontal /verti...
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Chapter 7 appendix 241 motor output lead minimum speed maximum speed maximum acceleration/ deceleration minimum push force maximum push force rated push speed actuator series type feed screw [w] no. Of encoder pulses [mm] mounting direction [mm/s] [mm/s] [g] [n] [n] [mm/s] – – – 12 horizontal /verti...
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Chapter 7 appendix 242 motor output lead minimum speed maximum speed maximum acceleration/ deceleration minimum push force maximum push force rated push speed actuator series type feed screw [w] no. Of encoder pulses [mm] mounting direction [mm/s] [mm/s] [g] [n] [n] [mm/s] horizontal 1300 (at 50 to ...
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Chapter 7 appendix 243 motor output lead minimum speed maximum speed maximum acceleration/ deceleration minimum push force maximum push force rated push speed actuator series type feed screw [w] no. Of encoder pulses [mm] mounting direction [mm/s] [mm/s] [g] [n] [n] [mm/s] 12 horizontal /vertical 15...
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Chapter 7 appendix 244 motor output lead minimum speed maximum speed maximum acceleration/ deceleration minimum push force maximum push force rated push speed actuator series type feed screw [w] no. Of encoder pulses [mm] mounting direction [mm/s] [mm/s] [g] [n] [n] [mm/s] horizontal 270 0.3 – – – 6...
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Chapter 7 appendix 245 motor output lead minimum speed maximum speed maximum acceleration/ deceleration minimum push force maximum push force rated push speed actuator series type feed screw [w] no. Of encoder pulses [mm] mounting direction [mm/s] [mm/s] [g] [n] [n] [mm/s] horizontal 0.3 – – – 6 ver...
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Chapter 7 appendix 246 motor output lead minimum speed maximum speed maximum acceleration/ deceleration minimum push force maximum push force rated push speed actuator series type feed screw [w] no. Of encoder pulses [mm] mounting direction [mm/s] [mm/s] [g] [n] [n] [mm/s] horizontal 380 (at 50st) 5...
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Chapter 7 appendix 247 motor output lead minimum speed maximum speed maximum acceleration/ deceleration minimum push force maximum push force rated push speed actuator series type feed screw [w] no. Of encoder pulses [mm] mounting direction [mm/s] [mm/s] [g] [n] [n] [mm/s] horizontal 380 (at 50st) 5...
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Chapter 7 appendix 248 motor output lead minimum speed maximum speed maximum acceleration/ deceleration minimum push force maximum push force rated push speed actuator series type feed screw [w] no. Of encoder pulses [mm] mounting direction [mm/s] [mm/s] [g] [n] [n] [mm/s] 4 3.81 200 2 1.90 100 tc3n...
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Chapter 7 appendix 249 motor output lead minimum speed maximum speed maximum acceleration/ deceleration minimum push force maximum push force rated push speed actuator series type feed screw [w] no. Of encoder pulses [mm] mounting direction [mm/s] [mm/s] [g] [n] [n] [mm/s] horizontal 0.3 – – – 6 ver...
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Chapter 7 appendix 250 7.2.2 specifications for pulse motor type actuator caution: • the push force is based on the rated push speed (factory setting) indicated in the list, and provides only a guideline. • make sure the actual push force is equal to or greater than the minimum push force. If not, t...
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Chapter 7 appendix 251 lead minimum speed maximum speed maximum acceleration/ deceleration minimum push force maximum push force rated push speed actuator series type feed screw no. Of encoder pulses [mm] mounting direction [mm/s] [mm/s] [g] [n] [n] [mm/s] 10 horizontal /vertical 12.5 458 (at to 250...
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Chapter 7 appendix 252 lead minimum speed maximum speed maximum acceleration/ deceleration minimum push force maximum push force rated push speed actuator series type feed screw no. Of encoder pulses [mm] mounting direction [mm/s] [mm/s] [g] [n] [n] [mm/s] horizontal 380 (at 50st) 540 (at 100st) 660...
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Chapter 7 appendix 253 lead minimum speed maximum speed maximum acceleration/ deceleration minimum push force maximum push force rated push speed actuator series type feed screw no. Of encoder pulses [mm] mounting direction [mm/s] [mm/s] [g] [n] [n] [mm/s] horizontal 380 (at 50st) 540 (at 100st) 660...
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Chapter 7 appendix 254 lead minimum speed maximum speed maximum acceleration/ deceleration minimum push force maximum push force rated push speed actuator series type feed screw no. Of encoder pulses [mm] mounting direction [mm/s] [mm/s] [g] [n] [n] [mm/s] horizontal 0.3 16 vertical 20 380 (at 50st)...
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Chapter 7 appendix 255 lead minimum speed maximum speed maximum acceleration/ deceleration minimum push force maximum push force rated push speed actuator series type feed screw no. Of encoder pulses [mm] mounting direction [mm/s] [mm/s] [g] [n] [n] [mm/s] horizontal 600 (at 50 to 800st) 600 (at to ...
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Chapter 7 appendix 256 lead minimum speed maximum speed maximum acceleration/ deceleration minimum push force maximum push force rated push speed actuator series type feed screw no. Of encoder pulses [mm] mounting direction [mm/s] [mm/s] [g] [n] [n] [mm/s] – gear ratio: 1/30 – 15 (deg/s) 400 (deg/s)...
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Chapter 7 appendix 257 lead minimum speed maximum speed maximum acceleration/ deceleration minimum push force maximum push force rated push speed actuator series type feed screw no. Of encoder pulses [mm] mounting direction [mm/s] [mm/s] [g] [n] [n] [mm/s] 4 5 180 (at 25st) 200 (at 50 to 100st) 0.9 ...
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Chapter 7 appendix 258 lead minimum speed maximum speed maximum acceleration/ deceleration minimum push force maximum push force rated push speed actuator series type feed screw no. Of encoder pulses [mm] mounting direction [mm/s] [mm/s] [g] [n] [n] [mm/s] 4 5 180 (at 25st) 200 (at 50 to 100st) 2 2....
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Chapter 7 appendix 259 lead minimum speed maximum speed maximum acceleration/ deceleration minimum push force maximum push force rated push speed actuator series type feed screw no. Of encoder pulses [mm] mounting direction [mm/s] [mm/s] [g] [n] [n] [mm/s] horizontal 380 (at 50st) 540 (at 100st) 660...
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Chapter 7 appendix 260 lead minimum speed maximum speed maximum acceleration/ deceleration minimum push force maximum push force rated push speed actuator series type feed screw no. Of encoder pulses [mm] mounting direction [mm/s] [mm/s] [g] [n] [n] [mm/s] horizontal 380 (at 50st) 540 (at 100st) 660...
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Chapter 7 appendix 261 lead minimum speed maximum speed maximum acceleration/ deceleration minimum push force maximum push force rated push speed actuator series type feed screw no. Of encoder pulses [mm] mounting direction [mm/s] [mm/s] [g] [n] [n] [mm/s] horizontal 300 0.3 6 vertical 7.5 200 0.2 5...
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Chapter 7 appendix 262 lead minimum speed maximum speed maximum acceleration/ deceleration minimum push force maximum push force rated push speed actuator series type feed screw no. Of encoder pulses [mm] mounting direction [mm/s] [mm/s] [g] [n] [n] [mm/s] horizontal 600 0.3 12 vertical 15 580 0.2 3...
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Chapter 7 appendix 263 lead minimum speed maximum speed maximum acceleration/ deceleration minimum push force maximum push force rated push speed actuator series type feed screw no. Of encoder pulses [mm] mounting direction [mm/s] [mm/s] [g] [n] [n] [mm/s] horizontal (note) it is the value when high...
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Chapter 7 appendix 264 lead minimum speed maximum speed maximum acceleration/ deceleration minimum push force maximum push force rated push speed actuator series type feed screw no. Of encoder pulses [mm] mounting direction [mm/s] [mm/s] [g] [n] [n] [mm/s] horizontal (note) it is the value when high...
Page 273
Chapter 7 appendix 265 correlation diagram of speed and loading capacity for the rcp2 slider type horizontal installation vertical installation high -spee d type medium -spee d type low-speed type speed (mm/sec) lo ad c ap ac ity (k g) speed (mm/sec) lo ad c ap ac ity (k g) speed (mm/sec) lo ad c ap...
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Chapter 7 appendix 266 correlation diagram of speed and loading capacity for the rcp2 slider type (motor-reversing type) ss7r-12 ss8r-10 ss7r-6 ss8r-5 ss7r-3 ss8r-20 ss7r-12 ss8r-20 ss8r-10 ss7r-6 ss8r-5 ss7r-3 horizontal installation vertical installation high-speed type medium-speed type low-speed...
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Chapter 7 appendix 267 correlation diagram of speed and loading capacity for the standard rcp2 rod type ra6c-16 ra4c-10 ra4c-5 ra3c-5 ra6c-4 ra4c-2.5 ra3c-2.5 ra2c-1 ra6c-8 ra6c-16 ra4c-10 ra4c-5 ra3c-5 ra6c-4 ra4c-2.5 ra3c-2.5 ra2c-1 ra6c-8 50 40 30 20 10 0 0 100 200 300 400 500 600 12 10 8 6 4 2 0...
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Chapter 7 appendix 268 correlation diagram of speed and loading capacity for rcp2 single-guide type rg s6c-16 rg s4c-10 rg s6c-8 rg s4c-5 rg s6c-4 rg s4c-2.5 rg s6c-16 rg s4c-10 rg s6c-8 rg s4c-5 rg s6c-4 rg s4c-2.5 0 100 200 300 400 500 600 4.5 4 3.5 3 2.5 2 1.5 1 0.5 0 0 100 200 300 400 500 600 0 ...
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Chapter 7 appendix 269 correlation diagram of speed and loading capacity for the rcp2 double-guide type rgd6c-16 rgd4c-10 rgd6c-8 rgd4c-5 rgd3c-5 rgd4c-2.5 rgd6c-4 rgd3c-2.5 rgd6c-16 rgd4c-10 rgd6c-8 rgd4c-5 rgd3c-5 rgd4c-2.5 rgd6c-4 rgd3c-2.5 0 100 200 300 400 500 600 4.5 4 3.5 3 2.5 2 1.5 1 0.5 0 ...
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Chapter 7 appendix 270 correlation diagram of speed and loading capacity for the rcp2 dustproof/ splash-proof type 40 35 30 25 20 15 10 5 0 0 100 200 300 400 500 600 ra6c-16 ra4c-10 12 10 8 6 4 2 0 0 100 200 300 400 500 600 ra6c-16 ra4c-10 50 40 30 20 10 0 0 50 100 150 200 250 300 25 20 15 10 5 0 0 ...
Page 279
Chapter 7 appendix 271 correlation diagram of speed and loading capacity for the rcp3 slider type lead 2 lead 4 lead 6 4 3 2 1 0 05 0 100 150 200 250 300 lead 2.5 lead 5 lead 10 7 6 5 4 3 2 1 0 0 100 200 300 400 500 lead 2.5 lead 5 lead 10 7 6 5 4 3 2 1 0 0 100 200 300 400 500 lead 6 lead 3 lead 12 ...
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Chapter 7 appendix 272 correlation diagram of speed and loading capacity for the rcp3 table type 6 4 2 0 100 0 200 300 400 500 600 6 4 2 0 100 200 300 400 500 600 0 lead 2.5 lead 5 lead 10 8 6 4 2 0 100 200 300 400 500 600 0 lead 3 lead 6 lead 12 8 6 4 2 0 100 200 300 400 500 600 0 lead 3 lead 6 lea...
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Chapter 7 appendix 273 correlation diagram of speed and loading capacity for the rcp4 slider type lead 4 lead 8 lead 16 lead 24 the values are when operated with 0.2g. The values are when operated with 0.2g. 16 14 12 10 8 6 4 2 0 0 200 400 600 800 1000 1200 lead 8 lead 16 lead 24 lead 4 (0.2g operat...
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Chapter 7 appendix 274 correlation diagram of speed and loading capacity for the rcp4 rod type the values shown below are when operated with 0.2g. The values shown below are when operated with 0.2g. Lead 4 lead 8 lead 24 lead 16 lead 16 0 100 200 300 400 500 600 700 30 25 20 15 10 5 0 the values for...
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Chapter 7 appendix 275 pressing force and current limit value • the correlation of the pressing force and the current limit value is the rated pressing speed (in the setting at the delivery) and is a reference value. • use the actuator with the setting above the minimum pressing force value. The pre...
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Chapter 7 appendix 276 rcp2 series short type sra4r/srgs4r/srgd4r 200 150 100 50 0 0 10 20 30 40 50 60 70 lead 2.5 lead 5 5 slider type rcp2 series sa5c/sa6c/sa7c type sa7c type ss8c type sa5c-3, sa6c-3, ss7c-3 0 10 20 30 40 50 60 70 0 10 20 30 40 50 60 70 0 10 20 30 40 50 60 70 sa5c-6, sa6c-6, ss7c...
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Chapter 7 appendix 277 grss grls grs grm grst rcp2 series gripper 0 10 20 30 40 50 60 70 0 10 20 30 40 50 60 70 0 10 20 30 40 50 60 70 0 10 20 30 40 50 60 70 current-limiting value (ratio, %) 0 10 20 30 40 50 60 70 80 push force (n) 45 40 35 30 25 20 15 10 5 0 16 14 12 10 8 6 4 2 0 7 6 5 4 3 2 1 0 2...
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Chapter 7 appendix 278 gr3ls gr3lm gr3ss gr3sm rcp2 series 3-finger gripper 25 20 15 10 5 25 20 15 10 5 120 100 80 60 40 20 60 50 40 30 20 10 current-limiting value (ratio, %) gripping force (n) current-limiting value (ratio, %) gripping force (n) current-limiting value (ratio, %) gripping force (n)...
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Chapter 7 appendix 279 rcp3 series slim, compact rod type 45 40 35 30 25 20 15 10 5 0 20 18 16 14 12 10 8 6 4 2 0 30 25 20 15 10 5 0 30 25 20 15 10 5 0 20 15 10 5 0 15 10 5 0 current-limiting value (ratio, %) push force (n) current-limiting value (ratio, %) push force (n) current-limiting value (rat...
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Chapter 7 appendix 280 rcp3 series slider type sa5c/sa6c type rcp3 series slim, compact table type ta3c/ta3r type ta4c/ta4r type rcp3 series table type ta5c type ta6c/ta7c type 160 140 120 100 80 60 40 20 0 200 180 160 140 120 100 80 60 40 20 0 30 25 20 15 10 5 0 50 45 40 35 30 25 20 15 10 5 0 200 1...
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Chapter 7 appendix 281 rcp4 series slider type 400 350 300 250 200 150 100 50 0 0 10 20 30 40 50 60 70 80 lead 3 lead 6 lead 12 lead 20 400 350 300 250 200 150 100 50 0 0 10 20 30 40 50 60 70 80 lead 3 lead 6 lead 12 lead 20 sa5c/sa6c type sa7c type ra5c type ra6c type 800 700 600 500 400 300 200 10...
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Chapter 7 appendix 282.
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Chapter 8 w arranty 283 chapter 8 warranty 8.1 warranty period one of the following periods, whichever is shorter: y 18 months after shipment from our company y 12 months after delivery to the specified location 8.2 scope of the warranty our products are covered by warranty when all of the following...
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Chapter 8 w arranty 284 8.5 conditions of conformance with applicable standards/regulations, etc., and applications (1) if our product is combined with another product or any system, device, etc., used by the customer, the customer must first check the applicable standards, regulations and/or rules....
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Change history 285 change history revision date revision description 2012.02 2012.03 2012.04 2012.10 first edition second edition note corrected third edition complied with componet, mechatrolink, ethercat and ethernet/ip. Fourth edition command availability in mechatrolink added and corrections mad...
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Manual no.: me0299-4b (jan 2013) the information contained in this document is subject to change without notice for purposes of product improvement. Copyright © 2012. Oct. Iai corporation. All rights reserved. 12.10.000 head office: 577-1 obane shimizu-ku shizuoka city shizuoka 424-0103, japan tel +...