PCON-CY(MJ0156-3A)

PCON-CY(MJ0156-3A)
PCON-CY Controller
Solenoid Valve Type
Operation Manual
Third Edition
CAUTION
1. 24-V Power Supplies Required for UL Certification
Although all PCON controllers (PCON-C/CG, CY, SE and PL/PO types) are UL-certified, the certification is
conditional upon using 24-V power supplies conforming to Class 2.
Accordingly, use a Class 2 power supply for both the input power and I/O power for your equipment that must be
UL-certified.
2. Use Environment
PCON controllers can be used in an environment corresponding to pollution degree 2 or equivalent.
3. PC Software and Teaching Pendant Models
New functions have been added to the entire PCON controller series.
To support these new features, the communication protocol has been changed to the general Modbus
(Modbus-compliant) mode. As a result, the existing PC software programs and teaching pendants compatible
with RCP2 controllers can no longer be used.
If you are using this controller, use a compatible PC software program and/or teaching pendant selected from the
following models.
Model
PC software (with RS232C
RCM-101-MW
communication cable)
PC software (with USB communication
RCM-101-USB
cable)
Teaching pendant
RCM-T
Simple teaching pendant
RCM-E
Data setting unit
RCM-P
Remarks
All are compatible with existing RCP2
controllers.
4. Recommendation for Backing Up Latest Data
This controller uses nonvolatile memory to store position table data and parameters. Although data in the memory is
retained even after the power is cut off, the stored data will be lost if the nonvolatile memory is damaged.
It is therefore recommended that you regularly back up the latest position table data and parameters in case of
accidental data loss. Regular backup will also let you restore data quickly if the controller must be replaced for other
reasons.
Use the following methods to back up data:
[1] Use the PC software to save the data to a CD or FD.
[2] Create a position table sheet or parameter sheet and keep a written record of backup.
CAUTION
5.
Using Rotary Actuators in Multi-rotation Specification
Rotary actuators of multi-rotation specification models can be set to operate in the multi-rotation mode or
limited-rotation mode using a parameter.
5.1
Note
Pay attention to the PIO pattern parameter setting for the following controllers.
Each controller does not support relative coordinate specification in the PIO pattern specified below:
[1] PCON-C/CG:
PIO pattern = 5 (User parameter No. 25)
[2] PCON-CY:
PIO pattern = 0 (User parameter No. 25)
•
5.2
Rotational axes of simple absolute unit specification do not support the index mode. Accordingly, the
multi-rotation specification cannot be selected for these axes.
Applicable Models
Actuators
RCP2-RTBL-I-28P-20-360-*
RCP2-RTBL-I-28P-30-360-*
RCP2-RTCL-I-28P-20-360-*
RCP2-RTCL-I-28P-30-360-*
Controllers
PCON-C-28PI-*
PCON-CG-28PI-*
PCON-CY-28PI-*
PCON-SE-28PI-*
Safety Precautions (Please read before using the product.)
Before installing, operating, maintaining or inspecting this product, please peruse this operating manual as well as the operating
manuals and other related documentations for all equipment and peripheral devices connected to this product in order to
ensure the correct use of this product and connected equipment/devices. Those performing installation, operation,
maintenance and inspection of the product must have sufficient knowledge of the relevant equipment and their safety. The
precautions provided below are designed to help you use the product safely and avoid bodily injury and/or property damage.
In this operating manual, safety precautions are classified as “Danger,” “Warning,” “Caution” and “Note,” according
to the degree of risk.
Danger
Failure to observe the instruction will result in an imminent danger leading to death or
serious injury.
Warning
Failure to observe the instruction may result in death or serious injury.
Caution
Failure to observe the instruction may result in injury or property damage.
Note
The user should take heed of this information to ensure the proper use of the product,
although failure to do so will not result in injury.
It should be noted that the instructions under the
Caution and
Note headings may also lead to serious consequences,
if unheeded, depending on the situation.
All instructions contained herein provide vital information for ensuring safety. Please read the contents carefully and handle the
product with due caution.
Please keep this operating manual in a convenient place for quick reference whenever needed, and also make sure that the
manual will get to the end-user.
Danger
[General]
z Do not use this product for the following applications:
1. Medical equipment used to maintain, control or otherwise affect human life or physical health
2. Mechanisms and machinery designed for the purpose of moving or transporting people
3. Important safety parts of machinery
This product has not been planned or designed for applications requiring high levels of safety. Use of this product in such
applications may jeopardize the safety of human life. The warranty covers only the product as it is delivered.
[Installation]
z Do not use this product in a place exposed to ignitable, inflammable or explosive substances. The product may ignite, burn or
explode.
z Avoid using the product in a place where it may come in contact with drops of water or oil.
z Never cut and/or reconnect the cables supplied with the product for the purpose of extending or shortening the cable length.
Doing so may result in fire.
[Operation]
z Do not pour water onto the product. Spraying water over the product, washing it with water or using it in water may cause the
product to malfunction, resulting in injury, electric shock, fire, etc.
[Maintenance, Inspection, Repair]
z Never modify the product. Unauthorized modification may cause the product to malfunction, resulting in injury, electric shock,
fire, etc.
z Do not disassemble and reassemble the product. Doing so may result in injury, electric shock, fire, etc.
Warning
[General]
z Do not use the product outside the specifications. Using the product outside the specifications may cause it to fail, stop
functioning or sustain damage. It may also significantly reduce the service life of the product. In particular, observe the
maximum loading capacity and speed.
[Installation]
z If the machine will stop in the case of system problem such as emergency stop or power failure, design a safety circuit or
other device that will prevent equipment damage or injury.
z Be sure to provide Class D grounding for the controller and actuator (formerly Class 3 grounding: Grounding resistance at
100 Ω or less). Leakage current may cause electric shock or malfunction.
z Before supplying power to and operating the product, always check the operation area of the equipment to ensure safety.
Supplying power to the product carelessly may cause electric shock or injury due to contact with the moving parts.
z Wire the product correctly by referring to the operation manual. Securely connect the cables and connectors so that they will
not be disconnected or come loose. Failure to do so may cause the product to malfunction or cause fire.
[Operation]
z Do not touch the terminal block or various switches while the power is supplied to the product. Failure to observe this
instruction may result in electric shock or malfunction.
z Before operating the moving parts of the product by hand (for the purpose of manual positioning, etc.), confirm that the servo
is turned off (using the teaching pendant). Failure to observe this instruction may result in injury.
z Do not scratch the cables. Scratching, forcibly bending, pulling, winding, crushing with heavy object or pinching a cable may
cause it to leak current or lose continuity, resulting in fire, electric shock, malfunction, etc.
z Turn off the power to the product in the event of power failure. Failure to do so may cause the product to suddenly start
moving when the power is restored, thus resulting in injury or product damage.
z If the product is generating heat, smoke or a strange smell, turn off the power immediately. Continuing to use the product
may result in product damage or fire.
z If any of the internal protective devices (alarms) of the product has actuated, turn off the power immediately. Continuing to
use the product may result in product damage or injury due to malfunction. Once the power supply is cut off, investigate and
remove the cause and then turn on the power again.
z If the LEDs on the product do not illuminate after turning on the power, turn off the power immediately. The protective device
(fuse, etc.) on the live side may remain active. Request repair to the IAI sales office from which you purchased the product.
[Maintenance, Inspection, Repair]
z Before conducting maintenance/inspection, parts replacement or other operations on the product, completely shut down the
power supply. At this time, take the following measures:
1. Display a sign that reads, “WORK IN PROGRESS. DO NOT TURN ON POWER” at a conspicuous place, in order to
prevent a person other than the operator from accidentally turning on the power.
2. When two or more operators are to perform maintenance/inspection together, always call out every time the power is
turned on/off or an axis is moved in order to ensure safety.
[Disposal]
z Do not throw the product into fire. The product may burst or generate toxic gases.
Caution
[Installation]
z Do not use the product under direct sunlight (UV ray), in a place exposed to dust, salt or iron powder, in a humid place, or in
an atmosphere of organic solvent, phosphate-ester machine oil, etc. The product may lose its function over a short period of
time, or exhibit a sudden drop in performance or its service life may be significantly reduced. Use of the product under any of
these conditions may also result in malfunction.
z Do not use the product in an atmosphere of corrosive gases (sulfuric acid or hydrochloric acid), etc. Rust may form and
reduce the structural strength.
z When using the product in any of the places specified below, provide a sufficient shield. Failure to do so may result in
malfunction:
1. Place where large current or high magnetic field is present
2. Place where welding or other operations are performed that cause arc discharge
3. Place subject to electrostatic noise
4. Place with potential exposure to radiation
z Do not install the product in a place subject to large vibration or impact. Doing so may result in the malfunctioning of the
product.
z Provide an emergency-stop device in a readily accessible position so the device can be actuated immediately upon
occurrence of a dangerous situation during operation. Lack of such device in an appropriate position may result in injury.
z Provide sufficient maintenance space when installing the product. Routine inspection and maintenance cannot be performed
without sufficient space, which will eventually cause the equipment to stop or the product to sustain damage.
z Always use IAI’s genuine cables for connection between the controller and the actuator. Also use IAI’s genuine products for
the key component units such as the actuator, controller and teaching pendant.
z Before installing or adjusting the product or performing other operations on the product, display a sign that reads, “WORK IN
PROGRESS. DO NOT TURN ON POWER.” If the power is turned on inadvertently, injury may result due to electric shock or
sudden activation of an actuator.
[Operation]
z Turn on the power to individual equipment one by one, starting from the equipment at the highest level in the system
hierarchy. Failure to do so may cause the product to start suddenly, resulting in injury or product damage.
z Do not insert a finger or object in the openings in the product. It may cause fire, electric shock or injury.
[Maintenance, Inspection, Repair]
z Do not touch the terminals when performing an insulation resistance test. Electric shock may result. (Do not perform any
withstand voltage test, since the product uses DC voltage.)
Note
[Installation]
z Do not place objects around the controller that will block airflows. Insufficient ventilation may damage the controller.
z Do not configure a control circuit that will cause the load to drop in case of power failure. Configure a control circuit that will
prevent the table or load from dropping when the power to the machine is cut off or an emergency stop is actuated.
[Installation, Operation, Maintenance]
z When handling the product, wear protective gloves, protective goggles, safety shoes or other necessary gear to ensure
safety.
[Disposal]
z When the product becomes no longer usable or necessary, dispose of it properly as an industrial waste.
Others
„ IAI shall not be liable whatsoever for any loss or damage arising from a failure to observe the items specified in
“Safety Precautions.”
Table of Contents
1.
Overview .........................................................................................................................................1
1.1
1.2
1.3
1.4
1.5
1.6
2.
Specifications...............................................................................................................................10
2.1
2.2
2.3
3.
3.9
3.10
3.11
Installation Environment...............................................................................................................................13
Supplied Voltage ..........................................................................................................................................13
Noise Elimination Measures and Grounding ................................................................................................13
Heat Radiation and Installation ....................................................................................................................15
External Connection Diagram ......................................................................................................................16
Wiring the Power Supply..............................................................................................................................17
Wiring the Brake Forced-release Switch ......................................................................................................17
Wiring the Emergency Stop Circuit ..............................................................................................................18
3.8.1 Cutting Off the Drive Signal (Standard) ............................................................................................18
3.8.2 Cutting Off the Motor Drive Power ....................................................................................................20
Connecting the Actuator...............................................................................................................................21
3.9.1 Motor Relay Cable ............................................................................................................................21
3.9.2 Encoder Relay Cable ........................................................................................................................22
Connecting the I/O Flat Cable......................................................................................................................23
Connecting the Communication Cable.........................................................................................................24
Position Table Settings ...............................................................................................................25
4.1
4.2
5.
Basic Specifications .....................................................................................................................................10
Name and Function of Each Part of the Controller.......................................................................................11
External Dimensions ....................................................................................................................................12
Installation and Wiring ................................................................................................................13
3.1
3.2
3.3
3.4
3.5
3.6
3.7
3.8
4.
Introduction ....................................................................................................................................................1
Differences from Air Cylinders in Control Functions.......................................................................................2
How to Read Model Name .............................................................................................................................4
System Configuration.....................................................................................................................................5
Steps from Unpacking to Adjustment by Trial Operation................................................................................6
Warranty Period and Scope of Warranty........................................................................................................9
Details of the Position Table ........................................................................................................................25
Notes on the ROBO Gripper ........................................................................................................................30
Operation Using I/O Signals .......................................................................................................32
5.1
5.2
Interface Circuit............................................................................................................................................32
5.1.1 External Input Specifications.............................................................................................................32
5.1.2 External Output Specifications..........................................................................................................33
5.1.3 Recognition of Input Signals .............................................................................................................34
Proximity Switch Type..................................................................................................................................35
5.2.1 Explanation of I/O Signals.................................................................................................................35
5.2.2 Timings after Power On ....................................................................................................................37
z Steps from Initial Startup to Actuator Adjustment........................................................................37
z Normal Operating Procedure ......................................................................................................38
5.2.3 Position Table and Parameter Settings Required for Operation .......................................................40
„ Test Operation ............................................................................................................................40
Safety speed during manual feed .....................................................................................................40
Speed override for move commands from the PLC ..........................................................................40
„ Full-scale Operation ....................................................................................................................41
Power-saving when the standby time after power on is long ............................................................41
Power-saving when the standby time at the target position is long...................................................41
5.2.4 Homing .............................................................................................................................................42
5.2.5 Positioning Operation .......................................................................................................................43
z Meaning of Position Detection Output Signals (LS0, LS1, LS2)..................................................44
z Notes on Setting the Positioning Band ........................................................................................44
5.3
5.4
5.5
6.
z Speed Change during Movement................................................................................................45
z Pausing during Movement...........................................................................................................46
z Forced Return in Case of Emergency .........................................................................................46
Standard Type .............................................................................................................................................47
5.3.1 Explanation of I/O Signals.................................................................................................................47
5.3.2 Timings after Power On ....................................................................................................................49
z Steps from Initial Startup to Actuator Adjustment........................................................................49
z Normal Operating Procedure ......................................................................................................50
5.3.3 Position Table and Parameter Settings Required for Operation .......................................................52
„ Test Operation ............................................................................................................................52
Safety speed during manual feed .....................................................................................................52
Speed override for move commands from the PLC ..........................................................................52
„ Full-scale Operation ....................................................................................................................53
Power-saving when the standby time after power on is long ............................................................53
Power-saving when the standby time at the target position is long...................................................53
Complete signal output mode ...........................................................................................................53
5.3.4 Homing .............................................................................................................................................54
5.3.5 Positioning Operation .......................................................................................................................55
z Meaning of Positioning Complete Output Signals (PE0, PE1, PE2)............................................56
z Notes on Setting the Positioning Band ........................................................................................56
z Speed Change during Movement................................................................................................57
z Pausing during Movement...........................................................................................................58
z Forced Return in Case of Emergency .........................................................................................58
z Constant Pitch Feed....................................................................................................................59
5.3.6 Zone Output Signal...........................................................................................................................61
5.3.7 Push-motion Operation .....................................................................................................................62
5.3.8 Examples of Tact Time Reduction Combining Zone Outputs and 3 Stop Points ..............................68
Power-saving Modes at Standby Positions ..................................................................................................70
Using Rotary Actuators in Multi-rotation Specification..................................................................................73
5.5.1 How to Use .......................................................................................................................................73
Parameter Settings ......................................................................................................................74
6.1
6.2
Parameter List..............................................................................................................................................74
Detail Explanation of Parameters.................................................................................................................75
6.2.1 Parameters Relating to Actuator Stroke Range ................................................................................75
z Soft Limits (No.3/4 LIMM/LIML)...................................................................................................75
z Home Direction (No.5 ORG) .......................................................................................................75
z Home Offset (No.22 OFST).........................................................................................................76
z Zone Limits (1: No. 1/2 ZONM/ZONL 2: No. 23/24 ZNM2/ZNL2)................................................76
6.2.2 Parameters Relating to Actuator Operating Characteristics..............................................................77
z Default Speed (No.8 VCMD) .......................................................................................................77
z Default Acceleration/Deceleration (No.9 ACMD).........................................................................77
z Default Positioning Band (In-position) (No.10 INP) .....................................................................77
z Current-limiting Value during Homing (No.13 ODPW) ................................................................77
z Current-limiting Value at Standstill after Positioning (No.12 SPOW)...........................................77
z Speed Override (No.46 OVRD)...................................................................................................77
z Default Direction of Excited Phase Signal Detection (No.28 PHSP) ...........................................78
z Excited Phase Signal Detection Time (No.29 PHSP)..................................................................78
z Safety Speed (No.35 SAFV) .......................................................................................................78
z Automatic Servo-off Delay Time (No.36 ASO1/ No.37 ASO2/ No.38 ASO3) ..............................79
z Default Standstill Mode (No.53 CTLF) ........................................................................................79
z Push Speed (No.34 PSHV) .........................................................................................................80
z Push-motion Completion Judgment Time (No.6 PSWT) .............................................................80
z Enable Function (No.42 FPIO) ....................................................................................................81
z Home Check Sensor Input Polarity (No.43 AIOF) .......................................................................81
z Home Sensor Input Polarity (No. 18, LS) ....................................................................................82
z Ball Screw Lead (No. 77, LEAD) .................................................................................................82
z Axis Operation Type (No. 78, ATYP) ..........................................................................................82
z Rotational Axis Mode Selection (No. 79, ATYP) .........................................................................82
z Shortcut Selection for Rotational Axis (No. 80, ATYP)................................................................83
z Absolute Unit (No. 83, ETYP)......................................................................................................83
6.2.3 Parameters Relating to External Interface ........................................................................................84
z PIO Pattern Selection (No.25 IOPN) ...........................................................................................84
z Positioning Complete Signal Output Mode (No.39FPIO) ............................................................84
z Servo-on Input Disable Selection (No.21 FPIO)..........................................................................85
z SIO Communication Speed (No.16 BRSL)..................................................................................85
z Minimum Delay Time for Slave Transmitter Activation (No.17 RTIM) .........................................85
z Silent Interval Multiplication Factor (No.45 SIVM) .......................................................................85
6.2.4 Servo Gain Adjustment .....................................................................................................................86
z Servo Gain Number (No.7 PLG0) ...............................................................................................86
z Speed Loop Proportional Gain (No.31 VLPG).............................................................................86
z Speed Loop Integral Gain (No.32 VLPT) ....................................................................................87
z Torque Filter Time Constant (No.33 TRQF) ................................................................................87
7.
Troubleshooting...........................................................................................................................88
7.1
7.2
7.3
7.4
7.5
What to Do When A Problem Occurs...........................................................................................................88
Alarm Level Classification ............................................................................................................................89
Alarms, Causes and Actions ........................................................................................................................90
(1) Operation Cancellation Alarms....................................................................................................90
(2) Cold Start Alarms ........................................................................................................................93
Messages Displayed during Teaching Pendant Operation ..........................................................................96
Common Problems and Recommended Actions .........................................................................................98
z I/O Signals Cannot Be Sent or Received to/from the PLC. .........................................................98
z The ALM Lamp Illuminates after the Power Is Turned On...........................................................98
z After Turning On the Power, the SV Lamp Does Not Illuminate upon Servo-on Signal Input......98
z With an Actuator Installed in Vertical Orientation, Positioning Completes Prematurely. .............99
z With an Actuator Installed in Vertical Orientation, Noise Generates during Downward Movement.
99
z Vibration Occurs when the Actuator Is at Standstill.....................................................................99
z The Actuator Overshoots while Decelerating to a Stop. ..............................................................99
z Stopped Position Sometime Deviates from the Home Position or Target Position......................99
z The Actuator Moves Slow during Push-motion Operation...........................................................99
z The Actuator Moves Only a Half, or as Much as Twice, the Specified Travel. ............................99
z A Servo Error Occurred while the ROBO Gripper Was Moving.................................................100
z The Actuator Malfunctions when the Servo Is Turned On after Turning On the Power. ............101
z The SV Lamp Blinks..................................................................................................................101
* Appendix .........................................................................................................................................102
Specification List of Supported Actuators..............................................................................................................102
Position Table Record ...........................................................................................................................................114
Parameter Record .................................................................................................................................................115
1.
1.1
Overview
Introduction
As a dedicated controller for our RCP2 and RCP3 actuators, this controller becomes smaller and more affordable and
incorporates a new set of features to offer greater convenience and safety, while maintaining the functions of the RCP2
controller.
This controller also provides power-saving functions to address the growing need for saving energy.
The key features and functions of this controller are summarized below.
z Limited I/O positioning points (3 points)
The I/O signals are designed to function in the same manner as those of air cylinders. Two operation types are supported.
The movement complete signals have different meanings in each type.
• Proximity switch type --- Each movement complete signal works as an auto switch. Even when positioning operation is
not performed, a movement complete signal is output once the specified position is passed.
• Standard type --A movement complete signal is output only when positioning operation has completed
following a move command.
* The controller is configured to support the proximity switch type before shipment.
z Separate zone output limits for each of 3 positions (rear end, intermediate point, front end)
Before, the zone output limits were set by parameters and thus fixed to a certain width for all positions. To increase
flexibility, setting fields have been added to the position table to allow different limits to be set for each position.
This function is useful in preventing contact with peripheral equipment or reducing the tact time.
z Independent acceleration and deceleration settings
The position table now has separate fields for acceleration and deceleration.
The purpose of this change is to prevent works made of certain materials or having certain shapes from receiving impact or
vibration when the actuator decelerates to a stop.
By reducing the deceleration setting, a more gradual deceleration curve can be achieved.
z Limitation of feed speed during adjustment by test operation
The feed speed during adjustment by test operation can be limited to ensure safety.
z Power-saving measures
In general, pulse motors consume more holding current in standstill state than AC servo motors. Accordingly, this
controller provides power-saving means by assuming situations where the motor is used in applications requiring a long
standby time.
When actually starting your system or if you have encountered any problem, also refer to the manuals for the actuator, teaching
pendant, PC software and/or any other component you are using, in addition to this manual.
This manual does not cover all possible deviations from normal operations or unexpected phenomena such as complex
signal changes resulting from critical timings.
Therefore, the reader should assume that items not described in this manual are “not permitted,” as a rule.
*
This manual has been prepared with the utmost attention to ensure accuracy and completeness. However, there may still
be inaccuracies and omissions. Should you find any inaccurate description or if you have any comment, please contact
IAI.
Keep this manual in a convenient place so that you can easily reference it whenever necessary.
1
1.2
Differences from Air Cylinders in Control Functions
For those of you who have been using air cylinders and have never used motorized cylinders before, this section gives a brief
explanation of how this controller is different from air cylinders.
Read the following information and implement controls appropriate for your system.
Item
Air cylinder
PCON
Drive method
Air pressure by solenoid valve control.
Ball screw or timing belt drive using a pulse motor.
Target position setting
Mechanical stopper (including shock
absorber).
Entry of a coordinate value in the “Position” field of the
position table.
A value can be entered by keying in a number from a
PC/teaching pendant, or by moving the actuator to a
desired position and then reading the achieved position
directly.
Example) Example of entry of “400 mm” stroke
Position No.
0
1
2
Position
5 (mm), rear end
400 (mm), front end
200 (mm), intermediate point
Target position
detection
Installation of a reed switch or other
external detection sensor.
Judgment based on internal coordinates determined by
the position information received from the position
detector (encoder).
No external detection sensor is required.
Speed setting
Adjustment by a speed controller.
Entry of a feed speed in the “Speed” field of the position
table (unit: mm/sec).
Note that the rated speed is set automatically as the
default feed speed.
Acceleration/
deceleration setting
In accordance with the load, air supply
volume, and speed controller/solenoid
valve performance.
Entry in the “Acceleration” and “Deceleration” fields of the
position table (minimum setting unit: 0.01 G).
Reference: 1 G = Gravitational acceleration
Note that the rated acceleration and deceleration are set
automatically as the default acceleration and
deceleration.
Desired values can be set in fine steps to achieve gradual
acceleration/deceleration curves.
Acceleration
Start position
of movement
Deceleration
End
position
The greater the set value, the steeper the curve becomes.
On the other hand, the smaller the set value, the more
gradual the curve becomes.
2
PCON
Judgment using a reed switch or other
external detection sensor.
When the power is turned on, mechanical coordinates are
not stored in the controller and thus the current position is
not yet determined.
For this reason, a rear end move command must be
executed after the power has been turned on, in order to
establish coordinates.
The actuator performs homing first, and then moves to the
rear end.
[2]
[3]
Power-on position
[1]
Rear end
Position check upon
power on
Air cylinder
Home position
Item
[1] The actuator moves toward the mechanical end on
the motor side at the homing speed.
[2] The actuator contacts the mechanical end, reverses
its direction, and stops temporarily at the home
position.
[3] The actuator moves to the rear end at the speed set in
the “Speed” field of the position table.
(Note) Make sure there is no obstacle along the homing
path.
3
1.3
How to Read Model Name
<Series>
4
<Type>
CY: Dedicated controller for 3-point
positioning by I/Os
<Power-supply voltage>
0: 24 VDC
<Actuator characteristics>
[Motor flange size]
20P: 20, square
28P: 28, square
28SP: 28, square (RA3 type only)
42P: 42, square
56P: 56, square
[Encoder type]
I:
Incremental
<I/O flat cable length>
0: No cable
2: 2 m
3: 3 m
5: 5 m
<I/O signal type>
NPxxNPN [Sink]
PNxxPNP [Source]
1.4
System Configuration
This controller performs positioning to 3 points (rear end, intermediate point, front end) via a PLC and I/O signals.
Standard teaching
pendant
Host system <PLC>
PCON-CY controller
Flat cable
<supplied with the
controller>
Cable length: 2 m
* If a PLC will not be used,
disable the servo-on
input by the applicable
parameter.
24-VDC I/O
power supply
PC
PC software
(optional)
RS232C type
USB type
RCP2 actuator
Brake forced-release Power-supply
terminal block
switch
Input power
supply
24 VDC
External EMG switch
Caution: If the actuator is not equipped with a brake, the BK terminal need not be connected.
5
1.5
Steps from Unpacking to Adjustment by Trial Operation
If you are using this controller for the first time, refer to the steps explained below and perform the specified tasks carefully by
making sure you check all necessary items and connect all required cables.
1.
Checking the items in the package
Should you find any of the following items missing or of a wrong model type, please contact your IAI sales agent.
z Controller
PCON-CY
z Actuator
z I/O flat cable
CB-PACY-PIO ***
z Motor cycle
CB-RCP2-MA ***
z Encoder cable
CB-RCP2-PA ***
z Operation manual
<Options>
z Teaching pendant
RCM-T (standard)
RCM-E (simple)
RCM-P (data setting)
2.
[1]
[2]
z PC software
RS232C type
<RCM-101-MW>
USB type
<RCM-101-USB>
(Each software program comes with a cable.)
Installation
Affix the actuator and install the robot hand
Install the controller
3.
→ Refer to the operation manual for your actuator.
→ Chapter 3, “Installation and Wiring”
Wiring/connection
• Wire the 24-V power supply.
• Wire the brake forced-release switch (if the actuator is equipped with a brake).
• Connect the grounding wire to ground.
• Wire the emergency stop circuit and motor drive power supply.
• Connect the motor cable and encoder cable.
• Connect the I/O flat cable.
4.
Turning on the power and checking for alarms
Confirm first that the emergency stop circuit is not actuated, and then supply the 24-V power.
If the monitor LED [SV/ALM] on the front face of the controller illuminates in orange for 2 seconds and then turns off, the
controller is normal.
If the [SV/ALM] illuminates in red, it means that an alarm is present.
In this case, connect a PC or teaching pendant and check the nature of the alarm, and remove the cause by referring to Chapter
7, “Troubleshooting.”
5.
Setting a PIO pattern/safety speed
Set the MANU operation mode to [Teaching mode 1: Enable safety speed / Inhibit PIO] on the PC or teaching pendant.
In this condition, set appropriate values in parameter No. 25 (PIO pattern selection) and parameter No. 35 (Safety speed).
* The factory settings of PIC pattern and safety speed are “Standard type” and “100 mm/s or less,” respectively.
→ Chapter 6, “Parameter Settings”
6
6.
Operating when the servo is ON
Confirm that the slider or rod is not contacting a mechanical end.
If the slider or rod is contacting a mechanical end, move it away from the mechanical end.
If the actuator is equipped with a brake, move the actuator after turning ON the forced brake release switch to forcibly release
the brake.
At this time, be careful not to get your hand pinched or the robot hand damaged by the actuator dropping suddenly due to its
dead weight.
Turn ON the servo using the PC or teaching pendant.
If the actuator enters a servo lock state and the monitor LED [SV/ALM] on the front face of the controller illuminates in green, the
controller is normal.
7.
Confirming the safety circuit operation
Confirm that the emergency cutoff circuit (or motor drive-power cutoff circuit) operates normally.
→ Chapter 3, “Installation and Wiring”
8.
Setting a target position
Use the teaching pendant or PC to set a target position in the “Position” field of the position table (rear end, front end,
intermediate point).
* If any movement operation is started without setting a target position first, the message “No movement data” will be displayed.
Determine an appropriate target position by fine-tuning the work or robot hand.
* Once a target position is set, other items (speed, acceleration/deceleration, positioning band, etc.) will be set to their defaults
automatically.
→ Chapter 4, “Position Table Settings”
9.
Adjustment by test operation
Input a move command from the PLC to perform positioning.
If necessary, perform the following fine adjustments:
• Depending on the weight, material and/or shape of the work, vibration or noise may occur. If you notice undesirable vibration
or noise, lower the speed, acceleration and/or deceleration.
• You may also want to adjust the zone output signal limits and positioning band to prevent contact with peripheral equipment or
reduce the tact time.
• If push-motion operation will be performed, select optimal current-limiting value, push-motion completion judgment time and
push speed.
→ Chapter 4, “Position Table Settings”
→ Chapter 5, “Operation Using I/O Signals”
7
8
1.6
Warranty Period and Scope of Warranty
The controller you have purchased passed IAI’s strict shipping tests.
This product comes with IAI’s warranty, the details of which are described below.
1. Warranty period
The warranty period ends upon either of the following, whichever occurs first:
• Elapse of 18 months after the shipment from IAI
• Elapse of 12 months after the delivery to the specified location
2. Scope of warranty
IAI will repair free of charge any defect occurring within the above period despite using the product in appropriate conditions,
provided that the defect is clearly the responsibility of the manufacturer. Note, however, that the following items are not covered
by the warranty:
•
•
•
•
•
•
•
•
Natural fading of paint or other deterioration normally expected over time
Wear of consumable parts due to use
Noise and other perceptive phenomena that do not affect mechanical function
Problem resulting from an inappropriate handling or use by the customer
Problem resulting from insufficient or incorrect maintenance or inspection
Problem due to use of any part other than IAI’s genuine part
Problem resulting from alteration, etc., not authorized by IAI or its sales agent
Problem resulting from an act of God, accident, fire, etc.
The warranty only covers the product as delivered. IAI is not responsible for any losses arising from a defect in the delivered
product. The customer must hand-carry the product to IAI’s factory.
Please familiarize yourself with the warranty details specified above.
9
2.
2.1
Specifications
Basic Specifications
Specification item
Model
Number of controlled axes
Power-supply voltage
Power-supply capacity
Control method
Encoder resolution
Positioning command
Backup memory
PIO interface
LED indicator
Serial communication
Encoder interface
Forced release of electromagnetic brake
Cable length
Dielectric strength
Environment
Surrounding air temperature
Surrounding humidity
Surrounding environment
Storage temperature
Storage humidity
Vibration resistance
Protection class
Weight
External dimensions
10
Description
PCON-CY
1 axis per unit
24 VDC +10%/-10%
2 A max.
Field-weakening vector control (patent pending)
800 P/rev
Separate commands for positioning to rear end, front end and
intermediate point
Position number data and parameters are stored in the nonvolatile
memory.
Serial EEPROM life: Approx. 100,000 times of rewriting
24-VDC insulation
4 input points
• Front end move command
• Rear end move command
• Intermediate point move command
• Servo-on
6 output points
• Front end movement complete
• Rear end movement complete
• Intermediate point movement complete
• Ready (or zone output under the standard type)
• Homing complete
• *Alarm
SV (green) --- Whether or not the servo is on / ALM (red) --- Whether or
not an alarm is present.
RS485, 1 channel (conforming to the Modbus protocol)
Incremental specification conforming to EIA RS-422A/423A
24 V is applied to the BK terminal on the power-supply terminal block.
Actuator cable: 20 m or shorter
I/O flat cable: 5 m or shorter
500 VDC 10 mΩ
0 to 40°C
85% RH or below (non-condensing)
Free from corrosive gases.
-10 to 65°C
90% RH or below (non-condensing)
10 to 57 Hz in all X/Y/Z directions / Single amplitude: 0.035 mm
(continuous), 0.075 mm (intermittent)
Natural air cooling (IP20)
128 g or below
35 (W) x 120 (H) x 68 (D) mm
2.2
Name and Function of Each Part of the Controller
Status indicator LED
SV (Green) --- Indicates whether or not the
servo is on.
If this LED is blinking, the
controller is in the automatic
servo-off mode.
ALM (Red) --- Indicates whether or not an
alarm is present.
PIO connector
The PIO pattern number is indicated here.
If the PIO pattern is different for each
system, indicate the applicable PIO
pattern here to prevent confusion.
Connects the PLC and PIO.
SIO connector
Connects the teaching
pendant/PC.
The I/O signal type is indicated here.
NPN --- Sink type
PNP --- Source type
The model of the connected
actuator is indicated here.
Encoder connector
Motor connector
Connects the encoder cable.
Connects the motor cable.
Power-supply terminal block
BK
MPI, MPO
24 V
0V
EMG -
Connection terminal for the brake forced-release switch to be used when the actuator is equipped with a
brake. Connect the opposite side of the switch to 24 V.
Contacts for cutting off the motor drive power to achieve a safety level of safety category 1.
MPI and MPO connect to the input side and output side of the motor power supply, respectively.
(If these contacts are not used, connect them using a jumper cable. The controller is shipped with MPI and
MPO connected by a jumper cable.)
Positive side of the 24-VDC input power supply.
Negative side of the 24-VDC input power supply.
Connection terminal for the emergency stop circuit (for cutting of motor drive signals).
A common ground is used, so connect the opposite side of the emergency stop switch (or contacts) to the
positive side of the 24-VDC input power supply.
„ Model indication of the connected actuator type
The type, ball screw lead and stroke of the actuator are indicated. When connecting the cables, confirm that the actuator is
of the correct specifications.
Example of indication:
The actuator type is RA4C.
The ball screw lead is 5 mm.
The stroke is 200 mm.
11
2.3
External Dimensions
An external view and dimensions of this product are shown below.
12
3.
Installation and Wiring
Pay due attention to the environment where the controller is installed.
3.1
(1)
(2)
(3)
(4)
(5)
(6)
3.2
Installation Environment
When installing and wiring the controller, do not block the ventilation holes for cooling. (Insufficient ventilation may not only
prevent the controller from demonstrating its design performance fully, but it may also cause a breakdown.)
Prevent foreign matter from entering the controller through the ventilation holes. This controller is not dustproof or
splashproof (against water or oil), so avoid using the controller in a place subject to large amounts of dust, oil mist or
splashes of cutting fluid.
Keep the controller from direct sunlight or irradiated heat from large heat sources such as heat treatment furnaces.
Use the controller in an environment of 0 to 40°C in surrounding temperature and 85% or below in humidity
(non-condensing), where the surrounding air is free from corrosive or flammable gases.
Use the controller in an environment where it does not receive external vibration or impact.
Prevent electrical noise from entering the controller or connected cables.
Supplied Voltage
The controller takes a supplied voltage of 24 VDC ± 10%.
(Maximum power-supply current: 2 A)
3.3
Noise Elimination Measures and Grounding
The following explains the noise elimination measures that should be taken when using this controller.
(1) Wiring and power connection
[1]
Provide dedicated class-D grounding using a grounding wire with a size of 2.0 to 5.5 mm2 or larger.
Other
equipment
Controller
Controller
Other
equipment
Connect a cable of
the largest possible
size over the shortest
possible distance
Metal
enclosure
Class-D grounding
Good
Avoid this pattern.
13
[2]
Cautions on wiring method
Use a twisted cable to connect the 24-VDC external power supply.
Separate the controller wiring from high-power lines of motive power circuits, etc. (Do not tie them together or place in the same
cable duct.)
If you want to extend the motor or encoder cable beyond the length of the supplied cable, contact IAI.
(2) Noise sources and elimination
Noise generates from many sources, but the most common sources of noise you should consider when designing a system are
solenoid valves, magnet switches and relays. Noise generation from these components can be prevented by the method
explained below.
AC solenoid valves, magnet switches, relays
Method --- Install a surge absorber in parallel with the coil
Point
Connect to each coil over the shortest possible wiring distance.
When a surge absorber is installed on the terminal block, etc., its noise
elimination effect will decrease if the distance from the coil is long.
14
3.4
Heat Radiation and Installation
Design the control panel size, controller layout and cooling method so that the temperatures around the controller will always
be kept to 40°C or below.
Mount the controller vertically on the wall, as shown below. Since cooling is provided by means of natural convection, follow
this orientation and provide a minimum clearance of 50 mm above and below the controller to allow sufficient airflows to
circulate.
If you are installing multiple controllers side by side, provide a fan on top of the controllers to agitate the airflows as an
effective way to keep the surrounding air temperatures constant.
Provide a minimum clearance of 80 mm between the front face of the controller and the wall (cover).
Fan
At least 50 mm
At least 80 mm
At least 50 mm
Airflow
Regardless of whether you are installing one or more controllers, provide sufficient clearances around each controller to permit
easy access for installation and removal of the controller.
15
3.5
External Connection Diagram
An example of standard wiring is shown below.
(Note) The PIO signal names are those based on the proximity switch type.
The color of the encoder relay cable is different for the robot cable specification. Refer to 3.9.2, “Encoder Relay
Cable.”
PCON-CY controller
24-VDC power
supply for I/O signals
For teaching pendant/PC
connection
Brake release
switch
Terminal block
Brown 1
Red 1
Orange 1
Yellow 1
Green 1
Blue 1
Purple 1
Gray 1
White 1
Black 1
Brown 2
Red 2
0 V (NPN specification)
24 V (PNP specification)
Load
Load
Load
Load
Load
Load
Flat cable
0 V (NPN specification)
24 V (PNP specification)
Input power
supply
24 VDC
External EMG
switch
Motor relay cable
Actuator
Orange
Gray
White
Yellow
Pink
Motor
Yellow (Green)
Encoder relay cable
Yellow
Orange
(black 2)
Orange
(red 2)
Yellow
(black 1)
Yellow
(red 1)
White
(black 1)
Encoder
White
(red 1)
Light blue
(black 1)
Light blue
(red 1)
Holding brake
Tighten together with a mounting screw.
16
3.6
Wiring the Power Supply
Connect the positive side and negative side of the 24-VDC power supply to the 24-V terminal and N terminal on the
power-supply terminal block, respectively.
Push with a flat-head
screwdriver to open the cable
inlet.
Power-supply
terminal block
Cable inlet
Input power supply
24 VDC
(Max. 2 A per unit)
Use a wire satisfying the following specifications.
Item
Applicable wire
Specification
Twisted wire: AWG 22 (0.3 mm2) (copper wire)
(Note) Provide proper termination to prevent shorting due to contact with wire offcut.
If the wiring path is long, provide a relay terminal block and connect the original wire to
another wire of a different size.
Relay terminal block
Power-supply terminal block
Input power
supply
Temperature rating of
insulation sheath
Length of bare wire
3.7
60°C or above
Wiring the Brake Forced-release Switch
If the actuator is equipped with a brake, provide a forced-release switch to permit a reset means during startup adjustment or in
case of emergency.
The customer must provide the switch (24 VDC, with a minimum contact capacity of 0.2 A).
Connect one side of the switch to the positive side of the 24-VDC power supply, and connect the other side to the BK terminal
on the power-supply terminal block.
The brake will be released when the switch is closed.
Brake forced-release
Power-supply
switch
terminal block
Input power supply
24 VDC
(Max. 2 A per unit)
Danger: If the actuator is oriented vertically, exercise due caution when releasing the brake to prevent the slider/rod from
dropping unexpectedly to pinch your hand or damage the robot hand or work.
17
3.8
3.8.1
Wiring the Emergency Stop Circuit
Cutting Off the Drive Signal (Standard)
Connect one side of the external EMG switch to the positive side of the 24-VDC power supply, and connect the other side to the
BK terminal.
(Note) The EMG switch on the teaching pendant works only on the controller connected to the switch.
SIO connector
PCON-CY controller
Teaching pendant
EMG switch
Connection
SIO
detection
connector
signal (H)
connection
detection
circuit
EMG signal
detection (H)
24-VDC input power
supply
(Max. 2 A per unit)
Power-supply
terminal block
Drive stop
signal (L)
Time
constant
External EMG switch
Power-supply
terminal block (2nd)
Power-supply
terminal block (3rd)
18
Motor
drive
circuit
If a separate emergency stop circuit is provided to stop the entire system, or when multiple controllers are linked together and
each controller has a different power supply, connect external EMG relay contacts.
24-VDC control External EMG
power supply
reset switch
External EMG circuit
DC 0V
Relay
Power-supply
terminal block (1st)
24-VDC input power
supply
(Max. 2 A per unit)
Power-supply
terminal block (2nd)
24-VDC input power
supply
(Max. 2 A per unit)
Power-supply
terminal block (3rd)
24-VDC input power
supply
(Max. 2 A per unit)
19
3.8.2
Cutting Off the Motor Drive Power
If the motor drive power must be cut off in order to meet the required safety category of the entire system, connect external
EMG relay contacts between the MPI terminal and MPO terminal.
Also connect the 24-V controller power supply to the EMG terminal.
(Note) The EMG switch on the teaching pendant cuts off the motor driver signal. It does not cut off the motor drive power.
24-VDC control External EMG
power supply
reset switch
External EMG circuit
DC 0V
Relay
Power-supply
terminal block (1st)
For driving the motor
These lines are
shorted internally.
24-VDC input power
supply
(Max. 2 A per unit)
Power-supply
terminal block (2nd)
For driving the motor
These lines are
shorted internally.
24-VDC input power
supply
(Max. 2 A per unit)
Power-supply
terminal block (3rd)
24-VDC input power
supply
(Max. 2 A per unit)
20
For driving the motor
These lines are
shorted internally.
3.9
Connecting the Actuator
3.9.1
Motor Relay Cable
• Connect the motor relay cable to the MOT connector.
Signal table of controller-end connector (CN2)
Pin No.
A1
A2
A3
B1
B2
B3
Signal
A
VMM
B
A
VMM
B
Wire color
Orange
Gray
White
Yellow
Pink
Yellow (Green)
Description
Motor drive line (phase -A)
Motor power line
Motor drive line (phase -B)
Motor drive line (phase +A)
Motor power line
Motor drive line (phase +B)
Controller end
Actuator end
CN2 pin layout
CN1 pin layout
Cable color
Signal
abbreviation
Pin No.
Orange
Pin No.
Signal
abbreviation
Cable color
Yellow
Gray
Gray
White
Orange
Yellow
Pink
Yellow (Green)
Yellow (Green)
White
Housing: 1-1318119-3 (AMP)
Receptacle contact: 1318107-1
Pink
Housing: SLP-06V (J.S.T. Mfg.)
Socket contact: BSF-21T-P1.4
21
3.9.2
Encoder Relay Cable
• Connect the encoder relay cable to the PG connector.
Signal table of controller-end connector (CN2)
Pin No.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
Signal abbreviation
F.G
GND
5V
VPS
ENB
ENB
ENA
ENA
BK BK +
-
Description
Shielded wire
(Not used)
(Not used)
(Not used)
Encoder power output
Encoder control signal output
(Reserved)
Encoder differential signal phase-B input
Encoder differential signal phase-A input
Brake power –
Brake power +
(Not used)
Controller end
CN2 pin layout
Actuator end
CN1 pin layout
Standard cable
Robot cable
Enter the cable length (L) in *** (up to 20 m).
Example) 080 = 8 m
Cable color
Robot cable
Standard cable
Signal
abbreviation
Pin No.
Purple
Red
White (with purple)
Gray
Brown
Blue
White (with blue)
Yellow
Green
Purple
White (with yellow)
Pink
Green
Yellow
Orange
Pin No.
Signal
abbreviation
Cable color
Standard cable
Robot cable
Brown
Green
White (with blue)
Blue
Purple
Yellow
Pink
White (with yellow)
Blue
Orange
White (with red)
Yellow
Green
Red
Gray
White (with purple)
Drain
Drain
(Reserved)
Red
White (with red)
Drain
Housing:
Contact:
Blue
Red
Drain
PHDR-16VS (J.S.T. Mfg.)
SPHD-001T-P0.5
Purple
Housing: XMP-18V (J.S.T. Mfg.)
Contact: BXA-001T-P0.6
Retainer: XMS-09V
22
3.10 Connecting the I/O Flat Cable
Cable type:
Red 2
Brown 1
Housing:
Contact:
No.
1
2
3
4
Signal name
Proximity switch type
6
7
8
Rear end move command input
Front end move command input
Intermediate point move command
input
Servo-on command input
Rear end detection output
Front end detection output
9
Intermediate point detection output
10
11
12
Ready output
Homing complete output
Alarm output
5
Standard type
24 V
0V
Rear end move command
Front end move command
Color
Wiring
Brown-1
Red-1
Orange-1
Yellow-1
Intermediate point move command
Green-1
Servo-on command input
Rear end positioning complete output
Front end positioning complete output
Intermediate point positioning
complete output
Zone output
Homing complete output
Alarm output
Blue-1
Purple-1
Gray-1
Flat cable
(pressurewelded)
White-1
Black-1
Brown-2
Red-2
Warning: When checking the continuity of the flat cable, exercise due caution not to bend the female pins on the
connector outward. It may cause contact failure, resulting in malfunction.
23
3.11 Connecting the Communication Cable
Connect the communication cable to the SIO connector.
Pin layout of cable-end connector
RS485 conversion adapter end
Signal
Cable color abbreviation
Pin No.
Controller end
Pin No.
Signal
abbreviation
Cable color
Brown
Yellow
Yellow
Orange
Red
Orange
Brown/Green
Blue
Black
Green
Shorting wire UL1004AWG28 (Black)
Not connected to the shield.
24
Red/Blue
Black
Shield
4.
Position Table Settings
To move the actuator to a specified position, basically you must enter the target position in the “Position” field of the position
table.
A target position can be specified as an absolute coordinate indicating a distance from the home (absolute mode), or as a
relative coordinate indicating a relative travel from the current position (incremental mode).
Once a target position is entered, all other fields will be automatically populated by the defaults set by the corresponding
parameters.
The defaults vary depending on the actuator characteristics.
4.1
Details of the Position Table
The position table is explained by using the PC software screen as an example.
(The display on the teaching pendant is different.)
Position
[mm]
Speed
[mm/s]
Zone +
[mm]
Acceleration Deceleration
[G]
[G]
Zone –
[mm]
Acceleration/
deceleration
mode
Push
[%]
Incremental
Threshold
[%]
Positioning band
[mm]
Command Standstill
mode
mode
Comment
Rear end
Front end
Intermediate point
(1) No.
• Each number indicates a position data number. The respective numbers are defined as follows:
No. 0 --- Entry field for conditions to move to the rear end.
No. 1 --- Entry field for conditions to move to the front end.
No. 2 --- Entry field for conditions to move to the intermediate point.
(2) Position
• Enter a target position of the front end, rear end or intermediate point, in mm.
Absolute mode:
Enter a distance from the actuator home.
Incremental mode: The actuator is assumed to operate at a constant pitch. Enter a relative travel
from the current position.
For example, you can move the actuator to the front end from the intermediate
point via incremental moves at a 30-mm pitch.
(Use of the standard type is recommended because zone output signals are
available in this type.)
Position
Absolute mode:
The rear end is positioned 5 mm away from the home.
Incremental mode: The front end is positioned 30 mm away from the current position.
Absolute mode:
The intermediate point is positioned 200 mm away from the home.
* On the teaching pendant, an equal sign indicates that the applicable position is set in the incremental mode.
25
(3) Speed
• Enter a speed at which to move the actuator, in mm/sec.
The default speed varies depending on the actuator type.
(4) Acceleration/
deceleration
• Enter an acceleration/deceleration at which to move the actuator, in G.
Basically, specify values inside the rated acceleration/deceleration range shown in the catalog.
The input range is greater than the rated range specified in the catalog. This is to accommodate
situations where “the tact time must be reduced when the work is substantially lighter than the rated
load capacity.”
If the work generates detrimental vibration during acceleration/deceleration, decrease the
acceleration/deceleration settings.
Speed
Target position
Start position
Acceleration Deceleration
0.3 G
0.2 G
Time
Increasing the set value makes deceleration/deceleration quicker, while decreasing it makes
deceleration/deceleration more gradual.
Caution:
When setting speed and acceleration/deceleration, refer to the supplied specification list of supported
actuators and also consider the installation condition and load shape to determine appropriate values that will
not cause the actuator to receive excessive impact or vibration.
To set values higher than the recommended values, the payload should be considered and the actuator
characteristics vary depending on the model. Therefore, for the maximum settings allowed for each actuator
model, please contact IAI’s Sales Engineering Section.
(5) Push
• Select “positioning operation” or “push-motion operation.”
The factory setting is “0.”
0:
Normal positioning operation
Other than 0: The set value indicates a current-limiting value, meaning that push-motion operation
is performed.
(6) Threshold
• This field is not used with this controller.
The factory setting is “0.”
26
(7) Positioning band
• What this field means is different in “positioning operation” and “push-motion operation.”
“Positioning operation”:
In the proximity switch type, this field defines the width within which the movement complete signal
turns ON.
In the standard type, this field defines how far before the target position the movement complete
signal turns ON.
The factory setting is “0.1” mm.
Proximity switch type
Movement complete signal
Target position
Positioning band
Standard type
Increasing the positioning band quickens the
starting of next sequence operation, and
consequently the tact time becomes shorter.
Set an optimal value by considering the
balance of the entire system.
The movement complete
signal turns ON here.
“Push-motion operation”:
This field defines the maximum push distance to be applied during
push-motion operation from the target position.
Consider the mechanical variation of the work and set an appropriate
positioning band so that positioning will not complete before the work is
contacted.
Target position
Positioning band
The work is contacted and push-motion
operation is deemed complete, so the
movement complete signal turns ON here.
Work
Target position
Positioning band (maximum push distance)
27
• This field defines the range within which the zone output signal turns ON during operation of the
standard type.
To increase flexibility, a different range can be set for each target position.
(8) Zone +/–
[Setting example]
Position
[mm]
Zone +
[mm]
Zone –
[mm]
Comment
Rear end
Front end
Rear end
Move command to the rear end
Home
Intermediate point
Front end
Move command to the front end
+ side limit
Zone output signal
Move command to the intermediate
point
Intermediate
point
Zone output signal
Zone output signal
(9) Acceleration/
deceleration
mode
• This field is not used with this controller.
The factory setting is “0.”
(10) Incremental
• This field defines whether to use the absolute mode or incremental mode.
The factory setting is “0.”
0: Absolute mode
1: Incremental mode
Warning: When using the proximity switch type, be sure to specify the absolute mode. If the incremental mode is
specified, a position data error will occur.
(11) Command mode
28
• This field is not used with this controller.
The factory setting is “0.”
(12) Standstill mode
• This field defines the power-saving mode to be applied while the actuator is standing by after
completing the positioning to the target position set in the “Position” field under the applicable
position number.
0: All power-saving modes are disabled. * The factory setting is “0” (disabled).
1: Automatic servo-off mode. The delay time is defined by Parameter No. 36.
2: Automatic servo-off mode. The delay time is defined by Parameter No. 37.
3: Automatic servo-off mode. The delay time is defined by Parameter No. 38.
4: Full servo control mode
Full servo control mode
The pulse motor is servo-controlled to reduce the holding current.
Although the specific level of current reduction varies in accordance with the actuator model, load condition, etc.,
generally the holding current drops to around a half to one-fourth.
The servo remains on, so position deviation does not occur.
The actual holding current can be checked in the current monitor screen of the PC software.
Automatic servo-off mode
The servo automatically turns off after elapse of a specified time following the completion of positioning. (Since no
holding current is required, power consumption decreases.)
When the PLC issues the next move command, the servo will turn on again and the actuator will start moving.
Move command
Automatic servo-off mode
(The green LED blinks.)
Servo status
Servo on
Actuator movement
Target position
Delay time after completion of positioning until
the servo turns off (sec)
This delay time is set by a parameter.
29
4.2
Notes on the ROBO Gripper
(1) Finger Operation
[1] Definition of position
With the two-finger type, the stroke specification indicates the total sum of travels by both fingers. In other words, the
travel by one finger is one-half this stroke.
A position is specified as a travel by one finger from the home position toward the closing direction.
Therefore, the maximum command value is 5 mm for the GRS type, and 7 mm for the GRM type.
[2] Definition of speed and acceleration
The command value applies to one finger.
With the two-finger type, the relative speed and acceleration are double the command values, respectively.
[3] Gripper operation mode
In applications where the work is to be gripped, be sure to use the “push-motion mode.”
(Note) If the “positioning mode” is used, a servo error may occur while the work is gripped.
Gripping force (N)
Gripping force (N)
[Diagram of gripping force and current-limiting value]
Current-limiting value (%)
Gripping force P (N)
Gripping force P (N)
Current-limiting value (%)
Current-limiting value (%)
30
Current-limiting value (%)
Gripping force P (N)
Gripping force P (N)
Current-limiting value (%)
Current-limiting value (%)
(2) Removing the gripped work
The ROBO Gripper is structured in such a way that even when the controller power is cut off, the work gripping force will still be
maintained by a self-lock mechanism.
If you must remove the gripped work while the power is cut off, turn the open/close screw or remove one of the finger
attachments to release the work.
[Two-finger type]
Turn the open/close screw or remove one of the finger attachments.
Finger attachment
Opening
direction
OPEN
Open/close screw
Turn counterclockwise using a
flat-head screwdriver.
Affixing bolt
[Three-finger type]
Remove one of the finger attachments.
Finger attachment
Affixing bolt
31
5.
Operation Using I/O Signals
This chapter explains the wiring/connection and operation timings you should know to perform positioning operation using a
PLC and I/O signals.
For PIO pattern, two types are available. The movement complete signals have different meanings in each type, so select an
appropriate type according to your specific application.
* The factory setting is to use the LS mode.
5.1
Interface Circuit
The standard interface circuit conforms to the NPN specification, but the PNP specification type is also available as an option.
To simplify wiring, a common power line is used for both the NPN specification and PNP specification. Accordingly you need not
reverse the power connections when using the PNP specification.
5.1.1
External Input Specifications
Item
Number of input points
Specification
4 points
Input voltage
24 VDC ± 10%
Input current
5 mA per circuit
ON voltage: Min. 18 V (3.5 mA)
OFF voltage: Max. 6 V (1 mA)
Max. 1 mA per point
Operating voltage
Leak current
Insulation method
Photocoupler
Controller
Internal circuit configuration
[NPN specification]
Internal circuit
+24-V external
power supply
Each
input
Controller
[PNP specification]
Internal circuit
+24-V external
power supply
Each
input
32
5.1.2
External Output Specifications
Item
Specification
Number of input points
6 points
Rated load voltage
24 VDC
Maximum current
50 mA per point
Residual voltage
Max. 2 V
Insulation method
Photocoupler
Internal circuit configuration
[NPN specification]
Controller
Load
Internal circuit
Each output
Load
+24-V external
power supply
[PNP specification]
Controller
Internal circuit
+24-V external
power supply
Each output
Load
Load
33
5.1.3
Recognition of Input Signals
The input signals of this controller have an input time constant to prevent malfunction due to chattering, noise, etc.
Each input signal is switched when the new signal state has continued for at least 6 msec.
In other words, when the input is switched from OFF to ON, the controller will recognize that the input signal is ON after 6 msec.
The same applies when the input is switched from ON to OFF.
Input signal
Recognition by the controller
34
Not recognized
Not recognized
5.2
Proximity Switch Type
This type assumes applications where the servo is turned on/off frequently by the PLC or the automatic servo-off function is
used. Use this type if your application meets the following conditions:
[1] The servo is turned off as a secondary safety measure when the emergency stop circuit is configured to directly cut off
the input power.
(Note) When the servo-on signal is turned OFF, the actuator will decelerate to a stop at the emergency stop torque for
a specified time, after which the servo will turn off.
[2] The servo is turned off to reduce power consumption in case the standby time is long.
[3] The actuator is equipped with a brake, and when reactive force is applied upon stopping due to clamping of the work,
etc., the servo is turned off to apply brake force to supplement the built-in brake.
* Do not use push-motion operation.
Caution:
5.2.1
The controller is shipped with the proximity switch type pre-selected, so you need not change any parameter
if the proximity switch type is to be used.
Explanation of I/O Signals
Pin No. Wire color
Signal name
1
Brown 1 +24 V
2
Red 1
0V
Rear end move
3
Orange 1
command input
Front end move
4
Yellow 1
command input
Intermediate point move
5
Green 1
command input
Signal abbreviation
Function overview
P24V
I/O power supply
N
ST0
Move command to the rear end
ST1
Move command to the front end
ST2
Move command to the intermediate point
6
Blue 1
Servo-on command input SON
7
Purple 1
8
Gray 1
9
White 1
10
Black 1
Rear end detection
output
Front end detection
output
Intermediate point
detection output
Ready output
11
Brown 2
Homing complete output HEND
12
Red 2
Alarm output
LS0
LS1
LS2
SV
*ALM
The servo remains on while this signal is ON.
The servo remains off while this signal is OFF.
This signal remains ON while the rear end is
recognized.
This signal remains ON while the front end is
recognized.
This signal remains ON while the intermediate point
is recognized.
This signal is output when the servo is on.
This signal is OFF immediately after the power is
turned on, and turns ON once homing is completed.
This signal remains ON while the actuator is normal,
and turns OFF if an alarm has occurred.
„ Move Command Input for Each Position (ST0, ST1, ST2)
Since the number of positioning points is limited to three, you can use these inputs just like when controlling an air cylinder.
While each signal remains ON, the actuator moves to the target position.
If the signal turns OFF before the movement is completed, the actuator will decelerate to a stop.
Before executing each move command, enter a target position as an absolute coordinate in the “Position” field under one of
Nos. 0 to 2 in the position table.
Input signal
Target position
Remarks
ST0
Rear end
The target position is defined in the “Position” field under Position No. 0.
ST1
Front end
The target position is defined in the “Position” field under Position No. 1.
ST2
Intermediate point The target position is defined in the “Position” field under Position No. 2.
„ Servo-on Command Input (SON)
The servo remains on while this signal is ON.
To ensure safety, it is recommended that the PLC be configured to monitor the condition of the entire system and turn ON
this signal once all conditions required for movement are satisfied.
35
„ Detection Output for Each Position (LS0, LS1, LS2)
Just like the LS signals of an air cylinder, each signal turns ON when the current actuator position is inside the positioning
band set for the applicable target position.
(Note) Even if the servo turns off or an emergency stop is actuated while the actuator is standing still at the target position,
the signal will remain ON as long as the actuator position is inside the positioning band.
Output signal
Position detected
LS0
Rear end
LS1
Front end
LS2
Intermediate point
Remarks
The detection position is defined in the “Position” and “Positioning band” fields
under Position No. 0.
The detection position is defined in the “Position” and “Positioning band” fields
under Position No. 1.
The detection position is defined in the “Position” and “Positioning band” fields
under Position No. 2.
„ Ready Output (SV)
This signal is a monitor signal indicating that the servo is on and the motor can be driven.
While this signal is ON, the SV LED (green) on the front face of the enclosure is lit.
The SV LED (green) blinks during the auto servo-off mode.
Use this signal as a condition for starting a move command on the PLC side.
„ Homing Complete Output (HEND)
This signal is OFF immediately after the power is turned on.
To establish the initial coordinate, only a rear end move command is accepted after power on. Once a rear end move
command has been input, the actuator performs homing and then moves to the rear end.
This signal will turn ON after the homing is completed.
Once turned ON, this signal will remain ON until the input power is cut off.
Use this signal as an interlock signal before homing.
(Reference)
Acceptance of each move command before homing is explained below:
[1] A rear end move command is accepted.
[2] An intermediate point move command is not accepted.
[3] A front end move command is accepted, but once the actuator moves forward at the homing speed and
contacts the mechanical end, the actuator will stop and a front end detection output (LS1) will turn ON.
In this case, the LS1 signal should be recognized as a tentative signal.
Movement to the front end is permitted to accommodate a situation where there is an obstacle between
the actuator and the rear end.
„ Alarm Output (*ALM)
This signal remains ON while the actuator is normal, and turns OFF if an alarm has occurred.
Cause the PLC to monitor the OFF state of this signal and provide an appropriate safety measure for the entire system.
Check the nature of each alarm by connecting a PC/teaching pendant, and remove the cause. For details of alarms, refer to
Chapter 7, “Troubleshooting.”
36
5.2.2
Timings after Power On
z Steps from Initial Startup to Actuator Adjustment
[1] Confirm that the slider or rod is not contacting a mechanical end or that the work is not contacting any peripheral
equipment.
[2] Cancel the emergency stop or connect the motor drive power.
[3] Supply the 24-VDC I/O power (PIO connector pins 1 and 2).
[4] Supply the 24-VDC controller power (24-V and 0-V terminals on the power-supply terminal block).
[5] Set the minimum required parameters.
(Example) • To temporarily disable the servo-on input because the PLC is not yet ready to accept the input, change
the value of Parameter No. 21 (Servo-on input disable selection) to “1.”
• To change the feed speed during teaching, change the value of Parameter No. 35 (Safety speed).
[6] Input a servo-on signal from the PLC (if the servo-on input is enabled).
[7] Connect a PC or teaching pendant to adjust the actuator.
• Set optimal values in the “Position,” “Speed,” “Acceleration,” “Deceleration” and other fields under Nos.
0 to 2 in the position table.
Emergency stop cancelled
Safety circuit status
Supply of 24-VDC I/O
power
Supply of 24-VDC
controller power
Initial parameter
settings
* Servo-on input
(SON)
SV lamp (front panel)
An orange light comes
on for 2 seconds, and
then turns off.
Ready output (SV)
Max. 170 msec
*
Green
Use a teaching pendant or PC to set
optimal values in the respective fields
under Nos. 0 to 2 in the position table.
If you have changed the value of Parameter No. 21 (Servo-on input disable selection) to “1,” the servo-on input signal is
not required.
Caution:
In the “Emergency stop actuated → Turn on the power → Servo-on input → Cancel the emergency stop”
sequence, the servo will turn on up to 170 msec after the emergency stop is cancelled.
Servo-on input
Emergency stop cancelled
Servo on
Max. 170 msec
37
z Normal Operating Procedure
The operating procedure in a normal condition is explained below.
[1] Confirm that the slider or rod is not contacting a mechanical end or that the work is not contacting any peripheral
equipment.
[2] Cancel the emergency stop or connect the motor drive power.
[3] Supply the 24-VDC I/O power.
[4] Supply the 24-VDC controller power.
[5] Input a servo-on signal from the PLC (if the servo-on input is enabled).
[6] First, input a rear end move command signal from the PLC (to cause the actuator to stand by at the rear end).
[7] Start automatic operation.
Emergency stop cancelled
Safety circuit status
Supply of 24-VDC
I/O power
Supply of 24-VDC
controller power
Servo-on input
(SON)
Green
SV lamp
(front panel)
Ready output (SV)
Max. 170 msec
Input a move command after the SV has turned
ON. (If a move command is input when the SV
is OFF, the command will be ignored.)
Rear end move
command input (ST0)
Homing complete
output (HEND)
Rear end detection
output (LS0)
38
Rear end
Home position
Mechanical end
Power-on position
Max. 6 msec
Start of continuous
operation
Warning: Since the drive motor is a pulse motor, the excited phase is detected when the servo is turned on for the
first time after turning on the power.
Therefore, one condition for the servo to turn on is that the actuator can move once the servo is turned
on.
If the slider or rod is contacting a mechanical end or the work is contacting any peripheral equipment, the
excited phase may not be detected correctly and an erroneous movement or excitation detection error
may occur.
In this case, move the actuator manually to an appropriate position before turning the servo on.
If the actuator is equipped with a brake, the brake must be forcibly released by turning on the brake
release switch. At this time, be careful not to pinch your hand or damage the robot hand or work by the
slider/rod, as the slider/rod may drop unexpectedly by its dead weight. If the actuator cannot be moved by
hand, you can change Parameter No. 28 (Direction of excited phase signal detection). Before changing
this parameter, contact IAI.
39
5.2.3
Position Table and Parameter Settings Required for Operation
„ Test Operation
Immediately after the system has been started, the movement speed can be reduced as follows to ensure safety of the
operator and prevent damage to the jigs, etc.
Change the applicable parameters as necessary.
→ For details on the change operation, refer to the operation manual for the PC/teaching pendant you are using.
Safety speed during manual feed
The feed speed that applies when the actuator is moved with a PC/teaching pendant is defined by Parameter No. 35.
The factory setting of this parameter is 100 mm/s. Change the setting if necessary.
Note that the maximum speed is limited to 250 mm/s.
Speed override for move commands from the PLC
You can reduce the feed speed that applies when the actuator is moved by outputting a rear end, front end or intermediate
point move command from the PLC.
You can override the “Speed” field of the position table based on the value of Parameter No. 46, in order to reduce the
actual speed to below the speed set in the “Speed” field.
Actual movement speed = [Speed set in the position table] x [Value of Parameter No. 46] ÷ 100
Example) Value in the “Speed” field of the position table 500 (mm/s)
Value of Parameter No. 46
20 (%)
Under the above settings, the actual movement speed becomes 100 mm/s.
The minimum setting unit is 1 (%), and the input range is 1 to 100 (%). The factory setting is 100 (%).
40
„ Full-scale Operation
In situations where the actuator remains standstill for a long time at a standby position, this controller provides several modes
to reduce power consumption in such standstill state as part of the controller’s energy-saving function.
Use these modes after confirming that they will not cause problems in any part of the system.
Power-saving when the standby time after power on is long
In this case, you can select full servo control by Parameter No. 53 (Default standstill mode). (The setting in the “Standstill
mode” field of the position table is ignored.)
→ For details, refer to 5.4, “Power-saving Modes at Standby Positions” and 6.2.2, “Parameters Relating to Actuator
Operating Characteristics.”
Power-saving when the standby time at the target position is long
In this case, you can select one of two modes depending on the value set in the “Standstill mode” field of the position table.
(The setting of Parameter No. 53 is ignored.)
[1] Full servo control
[2] Automatic servo-off
→ For details, refer to 5.4, “Power-saving Modes at Standby Positions” and 6.2.2, “Parameters Relating to Actuator
Operating Characteristics.”
41
5.2.4
Homing
This controller adopts an incremental position detector (encoder), so once the power is cut off, the mechanical coordinates will
be lost.
Accordingly, homing must be performed to establish the initial mechanical coordinate every time the power is turned on.
To perform homing, input a rear end move command (ST0).
Operation timings
PLC processing 1:
Operation:
PLC processing 2:
PLC processing 3:
The rear end move command signal (ST0) turns ON when the start button is pressed.
[1] The actuator starts moving toward the mechanical end on the home side.
[2] After contacting the mechanical end, the actuator reverses its direction and temporarily
stops at the home position.
→ The homing complete signal (HEND) turns ON.
[3] The actuator moves toward the rear end, and stops at the rear end.
→ The rear end detection output (LS0) turns ON.
The rear end move command signal (ST0) turns OFF.
The actuator starts continuous operation.
Rear end move
command input (ST0)
Homing complete
output (HEND)
Rear end detection
output (LS0)
Max. 6 msec
[3]
Caution:
42
Rear end
Home position
[2]
Mechanical end
Power-on position
[1]
Take note of the following points regarding homing:
[1] Confirm that no obstacle exists between the actuator and the rear end.
[2] If an obstacle exists between the actuator and the rear end, move the actuator toward the front end and
remove the obstacle. The controller accepts a front end move command prior to homing to
accommodate the aforementioned condition.
In this case, the actuator moves forward at the homing speed and once the mechanical end is reached,
the front end detection output (LS1) will turn ON.
This LS1 signal should be recognized as a tentative signal.
[3] Do not input an intermediate move command. (Even if an intermediate move command is input, it will
be ignored.)
5.2.5
Positioning Operation
This section explains how to move the actuator from the rear end to the front end, by using an actuator with a 400-mm stroke
as an example.
Although the actuator is not stopped at the intermediate point in this example, you can increase the positioning band and use
the intermediate point detection output signal (LS2) just like the zone output signal.
Example of position table
Position
[mm]
Speed
[mm/s]
Acceleration Deceleration
[G]
[G]
Push
[%]
Positioning
band [mm]
Comment
Rear end
Front end
Intermediate point
Operation timings
PLC processing 1:
The rear end move command signal (ST0) and intermediate point move command signal (ST2)
turn OFF, and the front end move command signal (ST1) turns ON.
[1] The actuator starts moving toward the front end.
[2] When the actuator passes the position corresponding to 5.1 mm, the rear end detection
output (LS0) turns OFF.
[3] When the actuator reaches the position corresponding to 150 mm, the intermediate point
detection output (LS2) turns ON. The LS2 turns OFF once the actuator passes the position
corresponding to 250 mm.
If necessary, use the intermediate point detection output (LS2) as a trigger signal for peripheral
equipment.
[4] The actuator starts decelerating after reaching the position corresponding approx. 365 mm.
[5] When the actuator passes the position corresponding to 379.9 mm, the front end detection
output (LS1) turns ON.
[6] The actuator stops after reaching the position corresponding to 380 mm.
When the front end detection output (LS1) turns ON, the sequence processing is performed at the
front end. Once the sequence processing is completed, the front end move command signal
(ST1) turns OFF.
Operation:
PLC processing 2:
PLC processing 3:
Front end move
command input (ST1)
Rear end detection
output (LS0)
Intermediate point
detection output (LS2)
Front end detection
output (LS1)
Sequence is
performed at
the front end
Speed
Time
Rear end
5 mm
Caution:
Intermediate point
200 mm
Front end
380 mm
Design a ladder sequence circuit where only one move command signal turns ON at a given time. If two or
more signals are input simultaneously, the signals will be processed according to the set priorities.
Priorities: [1] Rear end, [2] front end, [3] intermediate point
43
z Meaning of Position Detection Output Signals (LS0, LS1, LS2)
These signals are handled in the same way as limit switches (LSs). They turn ON when the following conditions are met:
[1] The homing complete output signal (HEND) is ON.
[2] The current position is within the allowable distance before or after each target position (inside the positioning band).
Accordingly, each output signal also turns ON when the actuator is manually moved while the servo is off, in addition to
when the actuator is moving following the applicable move command.
If an emergency stop is actuated while the actuator is moving and operation must be resumed from the PLC when none of
the position detection output signals (LS0, LS1, LS2) is ON, move the actuator manually to the target position to turn on
the corresponding position detection output signal.
Caution:
All position detection outputs will turn OFF once a phase A/B open detection alarm generates.
z Notes on Setting the Positioning Band
The positioning band setting defines the range of coordinates at which the position detection output signal will turn ON.
Condition for a position detection output signal to turn ON = Target position ± (positioning band)
With a normal move command, once the position detection output signal turns ON, the sequence processing will be
performed and the move command input signal will turn OFF.
Take note that if the positioning band is wide and the move command input signal turns OFF too quickly, the target position
may not be achieved.
(Example) If the feed speed is 300 mm/s and deceleration is 0.3 G, the deceleration distance is approx. 15 mm. If the
positioning band is set to 30 mm, the position detection output signal will turn ON before the actuator starts
decelerating. If the PLC turns OFF the move command input signal immediately thereafter, the controller will
start the deceleration stop processing. As a result, the actuator will stop before the target position.
Front end move
command input (ST1)
Front end detection
output (LS1)
Correct starting point
of deceleration
The actuator stops before
the front end.
Front end
Positioning band
The positioning band is greater
than the deceleration distance.
44
z Speed Change during Movement
If the work is made of soft material or is a bottle or has other shape that tips over easily, one of the following two methods
can be used to prevent the work from receiving vibration or impact upon stopping:
[1] Decrease the deceleration to make the deceleration curve more gradual.
[2] Initially move the actuator at the rated speed, and decrease the feed speed shortly before the target position.
An example of [2], or decreasing the feed speed, is explained.
(Example) When moving the actuator from the rear end to the front end, use the intermediate point as a dummy point.
Set the feed speed to 300 mm/s to the intermediate point, and decrease it to 20 mm/s after the
intermediate point.
Example of position table
Position
[mm]
Speed
[mm/s]
Acceleration Deceleration
[G]
[G]
Push
[%]
Positioning
band [mm]
Comment
Rear end
Front end
Intermediate point
Operation timings
PLC processing 1:
The rear end move command signal (ST0) and front end move command signal (ST1) turn OFF,
and the intermediate point move command signal (ST2) turns ON.
[1] The actuator starts moving toward the intermediate point.
[2] When the actuator reaches the position corresponding to 270 mm, the intermediate point
detection output (LS2) turns ON.
The intermediate point move command signal (ST2) turns OFF, and the front end move
command signal (ST1) turns ON.
[3] The actuator decelerates from 300 mm/s to 20 mm/s, and stops at the front end.
Operation:
PLC processing 2:
Intermediate move
command input (ST2)
Front end move
command input (ST1)
Intermediate point
detection output (LS2)
Front end detection
output (LS1)
Speed
Time
Rear end
5 mm
Caution:
Intermediate point
300 mm
Front end
380 mm
By setting a wide positioning band for the intermediate point, smooth speed change can be achieved without
the actuator stopping at the intermediate point.
45
z Pausing during Movement
Move commands are implemented based on signal levels. Accordingly, the actuator moves while the signal is ON, and
once the signal turns OFF, the actuator will decelerate to a stop and the operation will end.
If you want to pause the actuator as a secondary safety measure, turn the move command signals OFF.
(Example) Pausing the actuator while moving toward the front end
Front end move
command input (ST1)
Front end detection
output (LS1)
Speed
Moving
Stopped
Moving
Time
Front end
z Forced Return in Case of Emergency
The following example explains how to return the actuator to the standby position (rear end) after an emergency situation
occurred while the actuator was moving.
(Example) Return the actuator to the standby position (rear end) after an emergency situation occurred while the actuator
was moving toward the front end
Operation timings
PLC processing 1:
Operation:
PLC processing 2:
Upon occurrence of an emergency situation, the rear end move command signal (ST0) turns ON,
and then the front end move command signal (ST1) turns OFF.
[1] After the front end move command signal (ST1) turns OFF, the actuator decelerates to a
stop.
[2] The actuator reverses its direction and starts moving toward the rear end.
[3] When the actuator reaches the rear end, the rear end positioning complete output (PE0)
turns ON.
The rear end move command signal (ST0) turns OFF.
Occurrence of
emergency situation
Front end move
command input (ST1)
Rear end move
command input (ST0)
Rear end detection
output (LS0)
Speed
Moving to + direction
Moving to - direction
Time
Rear end
46
5.3
Standard Type
This type assumes situations where the system must achieve high productivity or uses push-motion operation. Use this type if
your application meets the following conditions:
[1] Use the zone output signal to quicken the operation timings with respect to the respective equipment and thereby
reduce the tact time.
[2] Use the zone output signal as an interlock signal to prevent contact with peripheral equipment.
[3] When missed work must be detected in push-motion operation, use the zone output signal as a “simple yardstick” to
determine if the work has been contacted properly or missed.
Caution:
5.3.1
The controller is shipped with the proximity switch type pre-selected. If you want to use the standard type, set
the value of Parameter No. 25 (PIO pattern selection) to “1.”
→ Refer to Chapter 6, “Parameter Settings”
Explanation of I/O Signals
Pin No. Wire color
Signal name
1
Brown 1 +24 V
2
Red 1
0V
Rear end move
3
Orange 1
command input
Front end move
4
Yellow 1
command input
Intermediate point move
5
Green 1
command input
6
Blue 1
7
Purple 1
8
Gray 1
9
White 1
10
Black 1
11
Brown 2
12
Red 2
Signal abbreviation
Function overview
P24V
I/O power supply
N
ST0
Move command to the rear end
ST1
Move command to the front end
ST2
Move command to the intermediate point
Servo-on command input SON
Rear end positioning
complete output
Front end positioning
complete output
Intermediate point
positioning complete output
PE0
PE1
PE2
Zone output
PZONE
Homing complete output HEND
Alarm output
*ALM
The servo remains on while this signal is ON.
The servo remains off while this signal is OFF.
This signal turns ON upon completion of movement
to the rear end.
This signal turns ON upon completion of movement
to the front end.
This signal turns ON upon completion of movement
to the intermediate point.
This signal remains ON while the actuator is inside the
range set in the “Zone +” and “Zone –” fields of the
position table.
This signal is OFF immediately after the power is
turned on, and turns ON once homing is completed.
This signal remains ON while the actuator is
normal, and turns OFF if an alarm has occurred.
„ Move Command Input for Each Position (ST0, ST1, ST2)
Since the number of positioning points is limited to three, you can use these inputs just like when controlling an air cylinder.
While each signal remains ON, the actuator moves to the target position.
If the signal turns OFF before the movement is completed, the actuator will decelerate to a stop.
Before executing each move command, enter a target position as an absolute coordinate in the “Position” field under one
of Nos. 0 to 2 in the position table.
Input signal
Target position
Remarks
ST0
Rear end
The target position is defined in the “Position” field under Position No. 0.
ST1
Front end
The target position is defined in the “Position” field under Position No. 1.
ST2
Intermediate point The target position is defined in the “Position” field under Position No. 2.
„ Servo-on Command Input (SON)
The servo remains on while this signal is ON.
To ensure safety, it is recommended that the PLC be configured to monitor the condition of the entire system and turn ON
this signal once all conditions required for movement are satisfied.
47
„ Positioning Complete Output for Each Position (PE0, PE1, PE2)
After a move command, the corresponding positioning complete output turns ON when the actuator has entered the
positioning band before the target position.
When the next move command to a different position is issued, the positioning complete output turns OFF.
(Note) If the servo turns off or an emergency stop is actuated while the actuator is standing still at the target position, the
positioning complete output will turn OFF. When the servo subsequently turns on, the output will turn ON again if
the actuator is still inside the positioning band.
Output signal
Position detected
PE0
Rear end
PE1
Front end
PE2
Intermediate point
Remarks
The output position is defined in the “Position” and “Positioning band” fields under
Position No. 0.
The output position is defined in the “Position” and “Positioning band” fields under
Position No. 1.
The output position is defined in the “Position” and “Positioning band” fields under
Position No. 2.
„ Zone Output (PZONE)
This signal can be used as a limit switch (LS) at the intermediate point, or as a simple yardstick during push-motion
operation.
The zone output signal remains ON while the actuator is inside the range specified by the “Zone +” and “Zone –” fields of
the position table, and turns OFF once the actuator leaves the range.
(Note) This signal is enabled after the coordinate system has been established following the completion of homing. It will
not be output immediately after the power is turned on.
As long as homing has already been completed, this signal remains effective while the servo is off or an
emergency stop is actuated.
„ Homing Complete Output (HEND)
This signal is OFF immediately after the power is turned on.
To establish the initial coordinate, only a rear end move command is accepted after power on. Once a rear end move
command has been input, the actuator performs homing and then moves to the rear end.
This signal will turn ON after the homing is completed.
Once turned ON, this signal will remain ON until the input power is cut off.
Use this signal as an interlock signal before homing.
(Reference) Acceptance of each move command before homing is explained below:
[1] A rear end move command is accepted.
[2] An intermediate point move command is not accepted.
[3] A front end move command is accepted, but once the actuator moves forward at the homing speed and
contacts the mechanical end, the actuator will stop and a front end positioning complete output (PE1) will
turn ON.
In this case, the PE1 signal should be recognized as a tentative signal.
Movement to the front end is permitted to accommodate a situation where there is an obstacle between
the actuator and the rear end.
„ Alarm Output (*ALM)
This signal remains ON while the actuator is normal, and turns OFF if an alarm has occurred.
Cause the PLC to monitor the OFF state of this signal and provide an appropriate safety measure for the entire system.
Check the nature of each alarm by connecting a PC/teaching pendant, and remove the cause. For details of alarms, refer
to Chapter 7, “Troubleshooting.”
48
5.3.2
Timings after Power On
z Steps from Initial Startup to Actuator Adjustment
[1] Confirm that the slider or rod is not contacting a mechanical end or that the work is not contacting any peripheral
equipment.
[2] Cancel the emergency stop or connect the motor drive power.
[3] Supply the 24-VDC I/O power (PIO connector pins 1 and 2).
[4] Supply the 24-VDC controller power (24-V and 0-V terminals on the power-supply terminal block).
[5] Set the minimum required parameters.
(Example) • To switch to the standard type, change the value of Parameter No. 25 (PIO pattern selection) to “1.”
• To temporarily disable the servo-on input because the PLC is not yet ready to accept the input, change
the value of Parameter No. 21 (Servo-on input disable selection) to “1.”
• To change the feed speed during teaching, change the value of Parameter No. 35 (Safety speed).
[6] Input a servo-on signal from the PLC.
[7] Connect a PC or teaching pendant to adjust the actuator.
• Set optimal values in the “Position,” “Speed,” “Acceleration,” “Deceleration” and other fields under Nos.
0 to 2 in the position table.
Emergency stop cancelled
Safety circuit status
Supply of 24-VDC
I/O power
Supply of 24-VDC
controller power
Initial parameter
settings
* Servo-on input
(SON)
SV lamp
(front panel)
*
An orange light comes
on for 2 seconds, and
then turns off.
Max. 170 msec
Green
Use a teaching pendant or PC to set
optimal values in the respective fields
under Nos. 0 to 2 in the position table.
If you have changed the value of Parameter No. 21 (Servo-on input disable selection) to “1,” the servo-on input signal
is not required.
Caution:
In the “Emergency stop actuated → Turn on the power → Servo-on input → Cancel the emergency stop”
sequence, the servo will turn on up to 170 msec after the emergency stop is cancelled.
Servo-on input
Emergency stop cancelled
Servo on
Max. 170 msec
49
z Normal Operating Procedure
The operating procedure in a normal condition is explained below.
[1] Confirm that the slider or rod is not contacting a mechanical end or that the work is not contacting any peripheral
equipment.
[2] Cancel the emergency stop or connect the motor drive power.
[3] Supply the 24-VDC I/O power.
[4] Supply the 24-VDC controller power.
[5] Input a servo-on signal from the PLC.
[6] First, input a rear end move command signal from the PLC (to cause the actuator to stand by at the rear end).
[7] Start automatic operation.
Emergency stop cancelled
Safety circuit status
Supply of 24-VDC
I/O power
Supply of 24-VDC
controller power
Servo-on input
(SON)
SV lamp
(front panel)
Green
Max. 170 msec
Input a move command following a delay time of at
least 170 msec after a SON input. (If the delay time
is shorter, the move command will be ignored.)
Rear end move
command input (ST0)
Homing complete
output (HEND)
50
Rear end
Home position
Mechanical end
Power-on position
Rear end positioning
complete output (PE0)
Max. 6 msec
Start of continuous
operation
Warning: Since the drive motor is a pulse motor, the excited phase is detected when the servo is turned on for the
first time after turning on the power.
Therefore, one condition for the servo to turn on is that the actuator can move once the servo is turned
on.
If the slider or rod is contacting a mechanical end or the work is contacting any peripheral equipment,
the excited phase may not be detected correctly and an erroneous movement or excitation detection
error may occur.
In this case, move the actuator manually to an appropriate position before turning the servo on.
If the actuator is equipped with a brake, the brake must be forcibly released by turning on the brake
release switch. At this time, be careful not to pinch your hand or damage the robot hand or work by the
slider/rod, as the slider/rod may drop unexpectedly by its dead weight. If the actuator cannot be moved
by hand, you can change Parameter No. 28 (Direction of excited phase signal detection). Before
changing this parameter, contact IAI.
51
5.3.3
Position Table and Parameter Settings Required for Operation
„ Test Operation
Immediately after the system has been started, the movement speed can be reduced as follows to ensure safety of the
operator and prevent damage to the jigs, etc.
Change the applicable parameters as necessary.
→ For details on the change operation, refer to the operation manual for the PC/teaching pendant you are using.
Safety speed during manual feed
The feed speed that applies when the actuator is moved with a PC/teaching pendant is defined by Parameter No. 35.
The factory setting of this parameter is 100 mm/s. Change the setting if necessary.
Note that the maximum speed is limited to 250 mm/s.
Speed override for move commands from the PLC
You can reduce the feed speed that applies when the actuator is moved by outputting a move command from the PLC.
You can override the “Speed” field of the position table based on the value of Parameter No. 46, in order to reduce the
actual speed to below the speed set in the “Speed” field.
Actual movement speed = [Speed set in the position table] x [Value of Parameter No. 46] ÷ 100
Example) Value in the “Speed” field of the position table 500 (mm/s)
Value of Parameter No. 46
20 (%)
Under the above settings, the actual movement speed becomes 100 mm/s.
The minimum setting unit is 1 (%), and the input range is 1 to 100 (%). The factory setting is 100 (%).
52
„ Full-scale Operation
In situations where the actuator remains standstill for a long time at a standby position, this controller provides several modes
to reduce power consumption in such standstill state as part of the controller’s energy-saving function.
You can also select the positioning complete signal state to be applied when the servo turns off or “position deviation” occurs
while the actuator is standing still after completion of positioning.
Use these modes after confirming that they will not cause problems in any part of the system.
Power-saving when the standby time after power on is long
In this case, you can select full servo control by Parameter No. 53 (Default standstill mode). (The setting in the “Standstill
mode” field of the position table is ignored.)
→ For details, refer to 5.4, “Power-saving Modes at Standby Positions” and 6.2.2, “Parameters Relating to Actuator
Operating Characteristics.”
Power-saving when the standby time at the target position is long
In this case, you can select one of two modes depending on the value set in the “Standstill mode” field of the position table.
(The setting of Parameter No. 53 is ignored.)
[1] Full servo control
[2] Automatic servo-off
→ For details, refer to 5.4, “Power-saving Modes at Standby Positions” and 6.2.2, “Parameters Relating to Actuator
Operating Characteristics.”
Complete signal output mode
You can select the positioning complete signal state to be applied when the servo turns off or “position deviation” occurs
while the actuator is standing still after completion of positioning.
This setting uses Parameter No. 39. Select an appropriate mode by considering the characteristics of the specific control.
→ For details, refer to 6.2.3, “Parameters Relating to External Interface.”
53
5.3.4
Homing
This controller adopts an incremental position detector (encoder), so once the power is cut off, the mechanical coordinates will
be lost.
Accordingly, homing must be performed to establish the initial mechanical coordinate every time the power is turned on.
To perform homing, input a rear end move command (ST0).
Operation timings
PLC processing 1:
Operation:
PLC processing 2:
PLC processing 3:
The rear end move command signal (ST0) turns ON when the start button is pressed.
[1] The actuator starts moving toward the mechanical end on the home side.
[2] After contacting the mechanical end, the actuator reverses its direction and temporarily
stops at the home position.
→ The homing complete signal (HEND) turns ON.
[3] The actuator moves toward the rear end, and stops at the rear end.
→ The rear end positioning complete output (PE0) turns ON.
The rear end move command signal (ST0) turns OFF.
The actuator starts continuous operation.
Rear end move
command input (ST0)
Homing complete
output (HEND)
Rear end positioning
complete output (PE0)
Max. 6 msec
Caution:
54
Home position
Rear end
[3]
[2]
Mechanical end
Power-on position
[1]
Take note of the following points regarding homing:
[1] Confirm that no obstacle exists between the actuator and the rear end.
[2] If an obstacle exists between the actuator and the rear end, move the actuator toward the front end and
remove the obstacle. The controller accepts a front end move command prior to homing to
accommodate the aforementioned condition.
In this case, the actuator moves forward at the homing speed and once the mechanical end is reached,
the front end positioning complete output (PE1) will turn ON.
This PE1 signal should be recognized as a tentative signal.
[3] Do not input an intermediate move command. (Even if an intermediate move command is input, it will
be ignored.)
5.3.5
Positioning Operation
This section explains how to move the actuator from the rear end to the intermediate point and then to the front end, by using
an actuator with a 400-mm stroke as an example.
Example of position table
Position
[mm]
Acceleration Deceleration
[G]
[G]
Speed
[mm/s]
Push
[%]
Positioning
band [mm]
Comment
Rear end
Front end
Intermediate point
Operation timings
PLC processing 1:
Operation:
PLC processing 2:
PLC processing 3:
The rear end move command signal (ST0) and front end move command signal (ST1) turn OFF,
and the intermediate point move command signal (ST2) turns ON.
[1] The actuator starts moving toward the intermediate point, and the rear end positioning
complete output (PE0) turns OFF.
[2] When the actuator reaches the position corresponding to 199.9 mm, the intermediate point
positioning complete output (PE2) turns ON.
[3] After reaching the position corresponding to 200 mm, the actuator stops.
When the intermediate point positioning complete output (PE2) turns ON, the sequence
processing is performed at the intermediate point.
Once the sequence processing is completed, the intermediate point move command signal (ST2)
turns OFF, and the front end move command signal (ST1) turns ON.
[4] The actuator starts moving toward the front end, and the intermediate point positioning
complete output (PE2) turns OFF.
[5] When the actuator reaches the position corresponding to 379.9 mm, the front end
positioning complete output (PE1) turns ON.
[6] After reaching the position corresponding to 380 mm, the actuator stops.
When the front end positioning complete output (PE1) turns ON, the sequence processing is
performed at the front end.
Once the sequence processing is completed, the front end move command signal (ST1) turns OFF.
Intermediate point move
command input (ST2)
Front end move command
input (ST1)
Rear end positioning
complete output (PE0)
Intermediate point positioning
complete output (PE2)
Front end positioning
complete output (PE1)
Speed
Sequence is
performed at the
intermediate
point
Sequence is
performed at
the front end
Time
Rear end
5 mm
Caution:
Intermediate point
200 mm
Front end
380 mm
Design a ladder sequence circuit where only one move command signal turns ON at a given time. If two or
more signals are input simultaneously, the signals will be processed according to the set priorities.
Priorities: [1] Rear end, [2] front end, [3] intermediate point
55
z Meaning of Positioning Complete Output Signals (PE0, PE1, PE2)
These signals indicate that the target position has been reached. They turn ON when the following conditions are met:
[1] The homing complete output signal (HEND) is ON.
[2] The actuator has entered the positioning band before the target position.
Each signal can be used as trigger signal for peripheral equipment when the target position is reached.
Increasing the positioning band quickens the timing of the next command issued to peripheral equipment, and
consequently the tact time becomes shorter.
(Note) If the servo turns off or an emergency stop is actuated while the actuator is standing still at the target position,
the output will turn OFF. When the servo subsequently turns on, the output will turn ON again if the actuator is
still inside the positioning band.
Caution:
All position detection outputs will turn OFF once a phase A/B open detection alarm generates.
z Notes on Setting the Positioning Band
The positioning band setting defines the range of coordinates at which the positioning complete output signal will turn ON.
Condition for a positioning complete output signal to turn ON = The actuator enters the positioning band before the target
position
With a normal move command, once the positioning complete output signal turns ON, the sequence processing will be
performed and the move command input signal will turn OFF.
Take note that if the positioning band is wide and the move command input signal turns OFF too quickly, the target position
may not be achieved.
(Example) If the feed speed is 300 mm/s and deceleration is 0.3 G, the deceleration distance is approx. 15 mm. If the
positioning band is set to 30 mm, the positioning complete output signal will turn ON before the actuator starts
decelerating.
If the PLC turns OFF the move command input signal immediately thereafter, the controller will start the
deceleration stop processing.
As a result, the actuator will stop before the target position.
Front end move
command input (ST1)
Front end positioning
complete output (PE1)
Correct starting point
of deceleration
The actuator stops before
the front end.
Front end
Positioning band
The positioning band is greater
than the deceleration distance.
56
z Speed Change during Movement
If the work is made of soft material or is a bottle or has other shape that tips over easily, one of the following two methods
can be used to prevent the work from receiving vibration or impact upon stopping:
[1] Decrease the deceleration to make the deceleration curve more gradual.
[2] Initially move the actuator at the rated speed, and decrease the feed speed shortly before the target position.
An example of [2], or decreasing the feed speed, is explained.
(Example) When moving the actuator from the rear end to the front end, use the intermediate point as a dummy point.
Set the feed speed to 300 mm/s to the intermediate point, and decrease it to 20 mm/s after the
intermediate point.
Example of position table
Position
[mm]
Speed
[mm/s]
Acceleration Deceleration
[G]
[G]
Push
[%]
Positioning
band [mm]
Comment
Rear end
Front end
Intermediate point
Operation timings
PLC processing 1:
Operation:
PLC processing 2:
The rear end move command signal (ST0) and front end move command signal (ST1) turn OFF,
and the intermediate point move command signal (ST2) turns ON.
[1] The actuator starts moving toward the intermediate point.
[2] When the actuator reaches the position corresponding to 270 mm, the intermediate point
positioning complete output (PE2) turns ON.
The intermediate point move command signal (ST2) turns OFF, and the front end move
command signal (ST1) turns ON.
[3] The actuator decelerates from 300 mm/s to 20 mm/s, and stops at the front end.
Intermediate point move
command input (ST2)
Front end move command
input (ST1)
Intermediate point positioning
complete output (PE2)
Front end positioning
complete output (PE1)
Speed
Time
Rear end
5 mm
Caution:
Intermediate point
200 mm
Front end
380 mm
By setting a wide positioning band for the intermediate point, smooth speed change can be achieved without
the actuator stopping at the intermediate point.
57
z Pausing during Movement
Move commands are implemented based on signal levels. Accordingly, the actuator moves while the signal is ON, and
once the signal turns OFF, the actuator will decelerate to a stop and the operation will end.
If you want to pause the actuator as a secondary safety measure, turn the move command signals OFF.
(Example) Pausing the actuator while moving toward the front end
Front end move
command input (ST1)
Front end positioning
complete output (PE1)
Speed
Moving
Stopped
Moving
Time
Front end
z Forced Return in Case of Emergency
The following example explains how to return the actuator to the standby position (rear end) after an emergency situation
occurred while the actuator was moving.
(Example) Return the actuator to the standby position (rear end) after an emergency situation occurred while the actuator
was moving toward the front end
Operation timings
PLC processing 1:
Operation:
PLC processing 2:
Upon occurrence of an emergency situation, the rear end move command signal (ST0) turns ON,
and then the front end move command signal (ST1) turns OFF.
[1] After the front end move command signal (ST1) turns OFF, the actuator decelerates to a
stop.
[2] The actuator reverses its direction and starts moving toward the rear end.
[3] When the actuator reaches the rear end, the rear end positioning complete output (PE0)
turns ON.
The rear end move command signal (ST0) turns OFF.
Occurrence of
emergency situation
Front end move
command input (ST1)
Rear end move
command input (ST0)
Rear end positioning
complete output (PE0)
Speed
Moving to + direction
Moving to - direction
Time
Rear end
58
z Constant Pitch Feed
Since a target position can also be set as a relative distance, an application where the actuator performs positioning to a
series of works placed at equal intervals is also possible.
(Example) How to move the actuator from the intermediate point to the front end at a 50-mm pitch is explained.
Under No. 1 in the position table, enter “50” (mm) in the “Position” field and “1” in the “Incremental” field. (1
defines that 50 mm is a relative distance.)
The PLC manages the number of movements to determine the end of positioning. To be doubly sure, the zone
output signal can also be used concurrently.
To front end
Rear
end
50-mm
pitch
Intermediate
point
Last work
Zone output signal
Set the coordinate immediately before the last work as the
+ side limit.
Example of position table
Position
[mm]
Zone +
[mm]
Zone –
[mm]
Incremental
Comment
Rear end (Standby position)
Front end (Pitch)
Intermediate point (Starting point)
(Note)
*
When issuing a rear end move command and different zone limits must be set, change the zone
limits.
On the teaching pendant, an equal sign indicates that the applicable position is set in the incremental mode.
59
Operation timings
PLC processing 1:
Operation:
PLC processing 2:
PLC processing 3:
*
The rear end move command signal (ST0) and front end move command signal (ST1) turn OFF,
and the intermediate point move command signal (ST2) turns ON.
[1] The actuator starts moving, and when it reaches the intermediate point, the intermediate
point positioning complete output (PE2) turns ON. The zone output signal also turns ON.
The intermediate point move command signal (ST2) turns OFF and the sequence processing is
performed.
Once the sequence processing is completed, the front end move command signal (ST1) turns
ON.
[2] When the actuator starts moving toward the front end, the intermediate point positioning
complete output (PE2) turns OFF.
When the actuator moves 50 mm thereafter, the front end positioning complete output (PE1)
turns ON.
The front end move command signal (ST1) turns OFF, and the sequence processing is
performed.
Once the sequence processing is completed, the front end move command signal (ST1) turns
ON.
[3] When the actuator starts moving toward the front end, the front end positioning complete
output (PE1) turns OFF.
When the actuator moves 50 mm thereafter, the front end positioning complete output (PE1)
turns ON again.
The same steps are repeated for the number of works.
The PLC should be programmed so that if the zone output signal is OFF when the signal ON/OFF state is checked
upon completion of positioning, the PLC will recognize that the applicable work is the last work.
If the PLC count and the zone output signal state do not match, the signal timings may not be synchronized.
Intermediate point move
command input (ST2)
Front end move command
input (ST1)
Intermediate point positioning
complete output (PE2)
Front end positioning
complete output (PE1)
Zone output (ZONE)
Speed
[1]
[2]
PLC
processing
Intermediate
point
Caution:
60
[3]
PLC
processing
PLC
processing
Time
Note on checking positioning complete signals
When a move command signal turns ON, the relevant positioning complete output signal turns OFF
temporarily. To determine if positioning has completed, therefore, check the leading edge of the positioning
complete output signal after it has turned OFF.
5.3.6
Zone Output Signal
This signal remains ON while the actuator is inside the zone set in the position table.
The zone output signal can be set only at a single point, but a different zone can be set for the move command corresponding
to each target position (rear end, front end, or intermediate point).
Use the zone output signal in the following situations.
[1] Set an interlock signal to prevent contact with peripheral equipment.
[2] Set a trigger signal for peripheral equipment to reduce the tact time.
[3] Detect missed work during push-motion operation.
[4] Determine the end point when positioning to a series of aligned works via constant pitch feed.
(Note) In constant pitch feed, the “Position” field indicates a relative distance. However, the zone is still set as an
absolute coordinate from the home.
[Setting example]
Position
[mm]
Zone +
[mm]
Zone –
[mm]
Comment
Rear end
Front end
Home
Move command to the rear end
Rear end
Intermediate point
Front end
Zone output signal
Move command to the front end
+ side limit
Move command to the intermediate point
Intermediate
point
Zone output signal
Zone output signal
61
5.3.7
Push-motion Operation
Just like you can with an air cylinder, you can maintain the actuator in a condition where the tip of the rod is pushing a work.
Accordingly, the actuator can be used with systems that clamp, press-fit or otherwise push works.
This function is enabled by entering a current-limiting value in the “Push” field of the position table.
* If the “Push” field contains “0,” positioning operation is applied. If the value in this field is other than “0,” push-motion
operation is applied.
The push torque [N] is determined by the current-limiting value [%] in the “Push” field.
[Basics of push-motion operation]
[1] Enter a current-limiting value in the “Push” field for the front end (Position No. 1) to define that a front end command will
be implemented as push-motion operation.
* Determine an appropriate push force based on the characteristics of the work (shape, material, etc.), and obtain a
current-limiting value by using the “push force vs. current-limiting value” correlation diagram (explained later) of the
actuator as a reference.
[2] In the “Positioning band” field, enter the maximum travel (relative distance) from the front end permitted during
push-motion operation.
(Consider a position error that may generate when the work is installed, as well as a possible depression if the work is
made of elastic material.)
[3] If it is possible for the system to miss the work, use the zone output signal to detect missed work. To do this, enter
appropriate values in the “Zone +” and “Zone –” fields to specify a range within which the work is deemed to have been
contacted successfully.
[4] Change the value of Parameter No. 6 (Push-motion completion judgment time), if necessary.
(The factory setting is 255 msec, which is the maximum value that can be set for this parameter.)
[5] Change the value of Parameter No. 34 (Push speed), if necessary.
(The factory setting is different in accordance with the actuator model.)
* For details on these parameters, refer to Chapter 6, “Parameter Settings.”
(Example) An example with a rod actuator with a 200-mm stroke, where the current-limiting value is set to 40%,
maximum travel in push-motion operation to 20 mm, and successful contact range to between 180 and
185 mm, is explained.
Under No. 1 in the position table, enter “160” (mm) in the “Position” field, “40” (%) in the “Push” field, “30”
mm in the “Positioning band” field, “185” (mm) in the “Zone +” field, and “180” (mm) in the “Zone –” field.
Example of position table
Position
[mm]
Push
[%]
Positioning
band [mm]
Zone +
[mm]
Zone –
[mm]
Comment
Rear end (Standby position)
Front end
Intermediate point
62
Operation timings
PLC processing 1:
Operation:
PLC processing 2:
PLC processing 3:
If the zone output signal dose not turn ON when the front end positioning complete output (PE1) is ON, the condition
should be interpreted as “missed work” or “abnormal work installation position.”
Front end move
command input (ST1)
Rear end move
command input (ST0)
Front end positioning
complete output (PE1)
Rear end positioning
complete output (PE0)
Zone output
Sequence
processing
Speed
Work
Rear end
Stop position upon
contact
– direction
Front end
command position
+ direction
Rear end
*
The rear end move command signal (ST0) and intermediate point move command signal (ST2)
turn OFF, and the front end move command signal (ST1) turns ON.
[1] The actuator starts moving and upon reaching the front end (160 mm), the actuator
decelerates to the push speed and continues moving at the new speed.
When the actuator contacts the work and the “push-motion completion” condition is satisfied,
the front end positioning complete output (PE1) turns ON.
If the stopped position is between 180 and 185 mm, the zone output signal turns ON.
When the zone output signal turns ON to indicate that the work has been successfully contacted,
the sequence processing is performed in a “condition where the work is being pushed.”
Once the sequence processing is completed, the front end move command signal (ST1) turns
OFF and the rear rend move command signal (ST0) turns ON.
[2] When the actuator starts moving toward the rear end, the front end positioning complete
output (PE1) turns OFF and the zone output signal also turns OFF temporarily. Once the
actuator returns to the position corresponding to 100 mm, the zone output signal turns ON
again. When the actuator reaches the rear end thereafter, the rear end positioning complete
output (PE0) turns ON.
To issue a command to peripheral equipment while the actuator is returning to the rear end, in
order to reduce the tact time, you can use the zone output signal as a trigger signal (the signal
turns ON once the actuator has returned to the position corresponding to 100 mm).
Time
Positioning band
63
The correlation diagram of current-limiting value [%] and push force [N] is shown below for each actuator.
Note:
For the specific data with the RCP3, check the operation manual for the RCP3.
z Slider Type
(1) SA5C/SA6C/SS7C type
(2) SA7C type
Low-speed type
(lead: 4 mm)
Push force (N)
Push force (N)
Low-speed type
(lead: 3 mm)
Current-limiting value (%)
Current-limiting value (%)
Medium-speed type
(lead: 8 mm)
Push force (N)
Push force (N)
Medium-speed type
(lead: 6 mm)
Current-limiting value (%)
Current-limiting value (%)
Current-limiting value (%)
Caution:
64
High-speed type
(lead: 16 mm)
Push force (N)
Push force (N)
High-speed type
(lead: 12 mm)
Current-limiting value (%)
Accuracy of push force while the actuator is standing still is not guaranteed. The above figures should be
used for reference purposes only.
Take note that if the push force is too small, the actuator may malfunction during push-motion operation due
to slide resistance, etc.
The maximum current-limiting values are as shown in the graphs above. The minimum current-limiting
values should be at least 20%.
(3) SS8C type
Push force (N)
Low-speed type
(lead: 5 mm)
Current-limiting value (%)
Push force (N)
Medium-speed type
(lead: 10 mm)
Current-limiting value (%)
Push force (N)
High-speed type
(lead: 20 mm)
Current-limiting value (%)
Caution:
Accuracy of push force while the actuator is standing still is not guaranteed. The above figures should be
used for reference purposes only.
Take note that if the push force is too small, the actuator may malfunction during push-motion operation due
to slide resistance, etc.
The maximum current-limiting values are as shown in the graphs above. The minimum current-limiting
values should be at least 20%.
65
z Rod Type
(1) RA2C type
(2) RA3C type
Push force (N)
Push force (N)
Low-speed type
(lead: 2.5 mm)
Current-limiting value (%)
Current-limiting value (%)
Push force (N)
Medium-speed type
(lead: 5 mm)
Current-limiting value (%)
Caution:
66
Accuracy of push force while the actuator is standing still is not guaranteed. The above figures should be
used for reference purposes only.
Take note that if the push force is too small, the actuator may malfunction during push-motion operation due
to slide resistance, etc.
The maximum current-limiting values are as shown in the graphs above. The minimum current-limiting
values should be at least 20%.
(3) RA4C type
(4) RA6C type
Low-speed type
(lead: 4 mm)
Push force (N)
Push force (N)
Low-speed type
(lead: 2.5 mm)
Current-limiting value (%)
Current-limiting value (%)
Medium-speed type
(lead: 8 mm)
Push force (N)
Push force (N)
Medium-speed type
(lead: 5 mm)
Current-limiting value (%)
Current-limiting value (%)
Current-limiting value (%)
Caution:
High-speed type
(lead: 16 mm)
Push force (N)
Push force (N)
High-speed type
(lead: 10 mm)
Current-limiting value (%)
Accuracy of push force while the actuator is standing still is not guaranteed. The above figures should be
used for reference purposes only.
Take note that if the push force is too small, the actuator may malfunction during push-motion operation due
to slide resistance, etc.
The maximum current-limiting values are as shown in the graphs above. The minimum current-limiting
values should be at least 20%.
67
5.3.8
Examples of Tact Time Reduction Combining Zone Outputs and 3 Stop Points
This section explains how the tact time is reduced differently between an application with two stop points only, and an
application with three stop points where zone output signals are also used.
z 2 Stop Points
[Carry-out actuator]
Rear end
Front end
[Carry-in actuator]
Front end
Rear end
Machine M
Assume that Machine M has completed processing. If there are two stop points, the vertical axis rises from the condition
shown above, and thereafter the carry-in side cannot move toward the front end unless it is confirmed that the carry-out
side is at the rear end.
Machine M stands by during the sequence of “Carry-out side drops → Carry-out side rises → Carry-out side moves
backward → Carry-out side is confirmed to be at the rear end → Carry-in side moves forward → Carry-in side is confirmed
to be at the front end → Carry-in side drops → Carry-in side rises.”
Because there are only two stop points, the up/down heights must also be aligned between the actuators.
z 3 Stop Points Combined with Zone Output Signals
[Carry-out actuator]
Rear end
Intermediate
Front end
point
[Carry-in actuator]
Front end
Intermediate
point
Rear end
Zone II
Zone I
Machine M
If there are three stop points, the carry-in side can move to the intermediate point regardless of the condition of the
carry-out side. Also, a desired passing point can be set using a zone output signal. In the above example, when the Zone I
signal turns ON while the carry-out side is rising, Machine M becomes operable and the carry-out side can move backward.
When the Zone II signal turns ON, the carry-in side can move forward. As both actuators can move independently, the tact
time can be reduced.
Because there are three stop points, there is no need to align the up/down heights between the actuators and a desired
layout can be implemented.
Control is also simple. When the carry-out side is inside the contact range (the Zone II signal is OFF), the carry-in side is
moved to the intermediate point if currently at the top end with the chucks closed. If the Zone II signal turns ON during the
aforementioned movement, the command is switched to one that moves the carry-in side toward the front end. Since the
carry-in side moves all the way to the front end, the tact time can be further reduced.
68
(Reference)
Timing Charts and Example of Ladder Sequence Circuit
Rear end move command
for carry-out side
Zone II
Intermediate point move
command for carry-in side
Front end move command
for carry-in side
Horizontal movement of
carry-in side
Stopped/standing by
Intermediate
point
Front end
Machine M is processing.
Chuck
closed
Top end
Processing
R2
Flat speed
Intermediate Front end
point
The Zone II signal turns ON while
moving to the intermediate point.
Automatic
operation
Intermediate point
move command for
carry-in side
Intermediate point
Rear end move
command for Automatic move command for
operation
Zone II carry-in side
carry-in side
69
5.4
Power-saving Modes at Standby Positions
One general characteristic of pulse motors is that their holding current in standstill state is greater than AC servo motors.
For this reason, in situations where the actuator remains standstill for a long time at a standby position, this controller provides
several modes to reduce power consumption in such standstill state as part of the controller’s energy-saving function.
Use these modes after confirming that they will not cause problems in any part of the system.
The respective modes can be used for effective power-saving in the applicable situations specified below. Each mode
provides different power-saving benefits, and is suitable for a different standstill condition.
The actuator is standing by while the servo is on after power on
In this case, you can select full servo control by Parameter No. 53 (Default standstill mode). Automatic servo-off cannot be
selected. If this parameter is set to “1,” “2” or “3” by mistake, the setting will be ignored. (The setting in the “Standstill mode”
field of the position table is ignored.)
The actuator is standing by upon completion of positioning to the target position set in the “Position” field under each
position number
In this case, you can select one of two modes depending on the value set in the “Standstill mode” field of the position table.
(The setting of Parameter No. 53 is ignored.)
[1] Full servo control
[2] Automatic servo-off
Meaning of the setting in the “Standstill mode” field of the position table and setting of Parameter No. 53:
All power-saving modes are disabled. (The actuator is completely stopped.)
Automatic servo-off mode. The delay time is defined by Parameter No. 36.
Automatic servo-off mode. The delay time is defined by Parameter No. 37.
Automatic servo-off mode. The delay time is defined by Parameter No. 38.
Full servo control mode
70
Setting
0
1
2
3
4
„ Full Servo Control Mode
The pulse motor is servo-controlled to reduce the holding current.
Although the specific level of current reduction varies in accordance with the actuator model, load condition, etc., generally
the holding current drops to around a half to one-fourth.
The servo remains on, so position deviation does not occur.
The actual holding current can be checked in the current monitor screen of the PC software.
Note that in a condition where external force is applied or depending on the stopped position, micro-vibration or noise may
occur.
Do not use this mode in applications where such micro-vibration or noise may be detrimental.
„ Automatic Servo-off Mode
The servo automatically turns off after elapse of a specified time following the completion of positioning. (Since no holding
current is required, power consumption decreases.)
When the PLC issues the next move command, the servo will turn on again and the actuator will start moving.
* Since the servo turns off temporarily, slight position deviation may occur.
Do not use this mode at a standby position where such position deviation may be detrimental.
Move command
Automatic servo-off mode
(The green LED blinks.)
Servo status
Servo on
Actuator movement
Target position
Delay time after completion of positioning until
the servo turns off (sec)
This delay time is set by a parameter.
In the standard type, the positioning complete signals (PE0, PE1, PE2) turn OFF.
However, you can set the applicable parameter to keep these signals ON in conditions where allowing the positioning
complete signals to turn OFF will cause problems due to the sequence circuit of the PLC.
Setting of Parameter No. 39
Positioning complete signal (PE0, PE1, PE2) state
(Positioning complete signal output mode)
0 [PEND]
When the servo is off, the positioning complete signal turns OFF
unconditionally.
Even when the next move command is issued and the servo turns on again,
the signal will remain OFF because the actuator has already started moving
to the next target position.
1 [INP]
Even when the servo is off, the positioning complete signal turns ON if the
current position is close enough to the target position, or specifically inside
the range corresponding to the value set in the “Positioning band” field of
the position table. The signal turns OFF if the current position is outside this
range.
(Note) The factory setting is “0.”
71
Warning: If the next move command is an incremental move command (via constant pitch feed), never use automatic
servo-off.
The current position may deviate slightly as the servo turns on.
Caution:
72
In push-motion operation, both the full servo control mode and automatic servo-off mode are not effective if
the work has been contacted successfully.
They are effective when the actuator has missed the work.
As a basic rule of thumb, do not use either the full servo control mode or automatic servo-off mode in
push-motion operation.
5.5
Using Rotary Actuators in Multi-rotation Specification
Rotary actuators of multi-rotation specification models can be set to operate in the multi-rotation mode or
limited-rotation mode using a parameter.
5.5.1
How to Use
(1)
Homing
When a homing command is issued, a signal of the limit switch located in the home direction is detected. Once a limit
switch signal is detected, the actuator reverses its direction. Thereafter, the actuator moves until a limit switch signal
is no longer detected, and then moves further by the distance specified in Parameter No. 22, “Home offset,” upon
which the homing is completed.
(2)
Operation commands
Limited-rotation specification
(Normal mode [Selected by parameter No. 79])
Push-motion operation permitted
Multi-rotation specification
(Index mode [Selected by parameter No. 79])
Push-motion operation inhibited
Absolute coordinate specification
Relative coordinate specification
Absolute coordinate specification
Relative coordinate specification
- 0.15° to 360.15°
- 360.15° to 360.15°
0.00° to 359.99°
- 360.00° to 360.00°
Note
Pay attention to the PIO pattern parameter for the following controllers.
Each controller does not support relative coordinate specification in the PIO pattern specified below:
[1] PCON-C/CG: PIO pattern = 5 (User parameter No. 25)
[2] PCON-CY:
PIO pattern = 0 (User parameter No. 25)
•
Rotational axes of simple absolute unit specification do not support the index mode. Accordingly, the multi-rotation
specification cannot be selected for these axes.
Applicable Models
Actuators
RCP2-RTBL-I-28P-20-360-*
RCP2-RTBL-I-28P-30-360-*
RCP2-RTCL-I-28P-20-360-*
RCP2-RTCL-I-28P-30-360-*
Controllers
PCON-C-28PI-*
PCON-CG-28PI-*
PCON-CY-28PI-*
PCON-SE-28PI-*
73
6.
Parameter Settings
6.1
Parameter List
The parameters are classified into the following four types depending on their function:
Types:
a: Parameter relating to actuator stroke range
b: Parameter relating to actuator operating characteristics
c: Parameter relating to external interface
d: Servo gain adjustment
No. Type
1
a
2
a
3
a
4
a
5
a
6
b
7
d
8
b
9
b
10
b
12
b
13
16
b
c
17
c
18
B
21
c
22
23
24
25
a
a
a
c
28
b
29
31
32
33
34
35
36
37
38
b
d
d
d
b
b
b
b
b
39
c
42
43
45
46
53
77
78
79
80
83
b
b
c
b
b
b
b
b
b
b
(Note)
74
Symbol
ZONM
ZONL
LIMM
LIML
ORG
PSWT
PLG0
VCMD
ACMD
INP
Name
Zone limit 1 + side
Zone limit 1 – side
Soft limit + side
Soft limit – side
Home direction [0: Reverse / 1: Forward]
Push-motion completion judgment time
Servo gain number
Default speed
Default acceleration/deceleration
Default positioning band (in-position)
Current-limiting value at standstill after
SPOW
positioning
ODPW Current-limiting value during homing
BRSL SIO communication speed
Minimum delay time for slave transmitter
RTIM
activation
LS
Home sensor input polarity
Servo-on input disable selection [0: Enable
FPIO
/ 1: Disable]
OFST Home offset
ZNM2 Zone limit 2 + side
ZNL2 Zone limit 2 – side
IOPN PIO pattern selection
Default direction of excited phase signal
PHSP1
detection [0: Reverse / 1: Forward]
PHSP2 Excited phase signal detection time
VLPG Speed loop proportional gain
VLPT Speed loop integral gain
TRQF Torque filter time constant
PSHV Push speed
SAFV Safety speed
ASO1 Automatic servo-off delay time 1
ASO2 Automatic servo-off delay time 2
ASO3 Automatic servo-off delay time 3
Positioning complete signal output mode
FPIO
[0: PEND / 1: INP]
FPIO Enable function [0: Enable / 1: Disable]
AIOF Home check sensor input polarity
SIVM Silent interval multiplication factor
OVRD Speed override
CTLF Default standstill mode
LEAD Ball screw lead
ATYP Axis operation type
ATYP Rotational axis mode selection
ATYP Shortcut selection for rotational axis
ETYP Absolute unit [0: Do not use / 1: Use]
Unit
mm
mm
mm
mm
msec
mm/sec
G
mm
Factory default
Effective length of the actuator
Effective length of the actuator
Effective length of the actuator
Effective length of the actuator
(As specified at the time of order)
255
Set individually in accordance with the actuator characteristics.
Set individually in accordance with the actuator characteristics.
Set individually in accordance with the actuator characteristics.
0.10
%
Set individually in accordance with the actuator characteristics.
%
bps
Set individually in accordance with the actuator characteristics.
38400
msec
mm
mm
mm
-
5
Set individually in accordance with the actuator characteristics.
0 [Enable]
Set individually in accordance with the actuator characteristics.
Effective length of the actuator
Effective length of the actuator
0 [Proximity switch type]
-
Set individually in accordance with the actuator characteristics.
msec
mm/sec
mm/sec
sec
sec
sec
Set individually in accordance with the actuator characteristics.
Set individually in accordance with the actuator characteristics.
Set individually in accordance with the actuator characteristics.
Set individually in accordance with the actuator characteristics.
Set individually in accordance with the actuator characteristics.
100
0
0
0
times
%
-
0 [PEND]
1 [Disable]
(As specified at the time of order)
0 [Multiplication factor disabled]
100
0 [Complete stop]
Set individually in accordance with the actuator characteristics.
Set individually in accordance with the actuator characteristics.
Set individually in accordance with the actuator characteristics.
Set individually in accordance with the actuator characteristics.
Set individually in accordance with the actuator characteristics.
The parameter numbers are shown in the PC software, but not on the teaching pendant.
Missing numbers are not used and therefore skipped.
The classification symbols are provided for the sake of convenience and are not shown either in the PC software or on the
teaching pendant.
6.2
Detail Explanation of Parameters
If you have changed any parameter, be sure to restart the controller via a software reset or reconnect the controller power.
6.2.1
Parameters Relating to Actuator Stroke Range
z Soft Limits (No.3/4 LIMM/LIML)
Set the + soft limit in parameter No. 3 and – soft limit in parameter No. 4.
Both parameters have been set to the effective actuator length at the factory. Change the parameter settings if necessary,
such as when an obstacle is present and collision between the actuator and obstacle must be prevented or when the actuator
must be operated beyond the effective length.
Exercise due caution when setting these parameters, as wrong settings will cause collision with the mechanical end.
The minimum setting unit is 0.01 mm.
(Note) To change these parameters, set values corresponding to positions that are 0.3 mm wider than the desired effective
range.
Example) Set the effective range to between 0 and 80 mm
Parameter No. 3 (+ side): 80.3
Parameter No. 4 (– side): -0.3
Soft limits set in the controller
Approx. 0.3 mm
Approx. 0.3 mm
Effective range
Approx. 0.1 mm
Approx. 0.1 mm
Jogging/inching range permitted after homing
z Home Direction (No.5 ORG)
If not specified by the user, the home direction is set to the motor side before shipment.
If you must change the home direction after the actuator has been assembled to your equipment, change the setting of
parameter No. 5.
Also change the parameters for home offset, soft limits and default direction of excited phase signal detection, if necessary.
Caution:
Rod-type actuators do not permit reversing of the home direction.
75
z Home Offset (No.22 OFST)
Parameter No. 22 has been set to an optimal value at the factory so that the distance from the mechanical end to home will
remain constant.
The minimum setting unit is 0.01 mm.
This parameter can be adjusted in the following conditions:
[1] Align the actuator’s home with the mechanical home on the equipment after the actuator has been assembled to the
equipment.
[2] Set the home position again after reversing the factory-set home direction.
[3] Correct the minor position deviation that has generated after the actuator was replaced.
Caution:
If you have changed the home offset, the soft limit parameters must also be reviewed.
z Zone Limits (1: No. 1/2 ZONM/ZONL
2: No. 23/24 ZNM2/ZNL2)
This parameter is not used with this controller. It applies to controllers of general-purpose and serial communication types.
If this parameter is to be used, set the range within which the zone output signal (ZONE1 or ZONE2) will turn ON.
The zone output signal turns ON when the current coordinate is between the (-) setting and (+) setting.
For the ZONE1 signal, set the positive-side coordinate in Parameter No. 1 and negative-side coordinate in Parameter No. 2.
For the ZONE2 signal, set the positive-side coordinate in Parameter No. 23 and negative-side coordinate in Parameter No. 24.
The minimum setting unit is 0.01 mm.
Example) On an actuator with a 300-mm stroke, ZONE1 is used as an intermediate point LS in a range of 100 to 200
mm, while ZONE2 is used as a simple yardstick in a range of 270 to 275 mm.
Parameter No. 1 (+ side):
200
Parameter No. 2 (– side):
100
Parameter No. 23 (+ side):
275
Parameter No. 24 (– side):
270
(Home)
ZONE1 turns ON.
76
ZONE2 turns ON.
6.2.2
Parameters Relating to Actuator Operating Characteristics
z Default Speed (No.8 VCMD)
The factory setting is the rated speed of the actuator.
This value is recognized as speed data corresponding to each position number when a target position is entered for that
position in the position table where speed is not yet entered.
To decrease the default speed from the rated speed, change the value set in Parameter No. 8.
z Default Acceleration/Deceleration (No.9 ACMD)
The factory setting is the rated acceleration/deceleration of the actuator.
This value is recognized as acceleration/deceleration data corresponding to each position number when a target position is
entered for that position in the position table where acceleration/deceleration is not yet entered.
To decrease the default acceleration/deceleration from the rated acceleration/deceleration, change the value set in Parameter
No. 9.
z Default Positioning Band (In-position) (No.10 INP)
The factory setting is “0.10” mm.
This value is recognized as positioning band data corresponding to each position number when a target position is entered for
that position in the position table where positioning band is not yet entered.
Increasing this parameter value causes the positioning complete signal to output more quickly. If necessary, change the value
set in Parameter No. 10.
z Current-limiting Value during Homing (No.13 ODPW)
Before shipment, this parameter is set to a current level appropriate for the standard specification of the actuator.
Increasing this parameter value increases the homing torque.
This parameter need not be changed in normal conditions of use. However, if the actuator is used in vertical orientation and
the slide resistance increases due to the affixing method, load condition, etc., homing may complete before the correct
position. In this case, the value set in Parameter No. 13 must be increased.
(As a guide, the setting should not exceed 100% for the RXA type or 75% for all other types.)
z Current-limiting Value at Standstill after Positioning (No.12 SPOW)
Before shipment, this parameter is set to a current level appropriate for the standard specification of the actuator.
Increasing this parameter value increases the holding torque.
This parameter need not be changed in normal conditions of use. If the actuator receives large external force while standing
still, however, hunting will occur. In this case, the value set in Parameter No. 12 must be increased.
(As a guide, the setting should not exceed 100% for the RA3C/RGD3C type or 75% for all other types.)
z Speed Override (No.46 OVRD)
Use this parameter if you want to move the actuator at a slow speed to prevent danger during test operation.
When issuing move commands from the PLC, the movement speed set in the “Speed” field of the position table can be
overridden based on the value set in Parameter No. 46.
Actual movement speed = [Speed set in the position table] x [Value of Parameter No. 46] ÷ 100
Example) Value in the “Speed” field of the position table
500 (mm/s)
Value of Parameter No. 46
20 (%)
Under the above settings, the actual movement speed becomes 100 mm/s.
The minimum setting unit is 1 (%), and the input range is 1 to 100 (%). The factory setting is “100” (%).
(Note) This function is not effective on move commands issued from the PC or teaching pendant.
77
z Default Direction of Excited Phase Signal Detection (No.28 PHSP)
The excited phase is detected when the servo is turned on for the first time after turning on the power. This parameter defines
the direction of this detection.
This parameter need not be changed in normal conditions of use. However, if the actuator is contacting a mechanical end or
any obstacle when the power is turned on and cannot be moved by hand, change the direction of detection to one in which the
motor can be driven easily.
To do this, set the value of Parameter No. 28 to either “0” or “1.” If the direction of detection is to be the same as the home
direction, specify the same value currently set in Parameter No. 5, “Home direction.”
To set the direction opposite to the home direction, specify the value different from the one currently set in Parameter No. 5,
“Home direction.”
(Example 1) The power is turned on when the slider is contacting the bottom mechanical end in a configuration where the
motor is positioned at the top.
Top
Home direction
Home position
Set to the same value.
Direction of excited
phase signal detection
Bottom
The slider is contacting the bottom mechanical end.
(Example 2) The power is turned on when the slider is contacting the bottom mechanical end in a configuration where the
motor is positioned at the bottom.
Top
Direction of excited
phase signal detection
Home position
The slider is contacting the bottom mechanical end.
Bottom
Set to different values.
Home direction
z Excited Phase Signal Detection Time (No.29 PHSP)
The excited phase is detected when the servo is turned on for the first time after turning on the power. This parameter defines
the time of this detection.
Before shipment, this parameter is set to a detection time appropriate for the standard specification of the actuator, and thus
the setting need not be changed in normal conditions of use.
Should an excitation detection error or abnormal operation occur when the servo is turned on for the first time after turning on
the power, you can try changing the detection time set in Parameter No. 29 as a possible countermeasure.
Before changing this parameter, contact IAI.
z Safety Speed (No.35 SAFV)
This parameter defines the feed speed during manual operation.
The factory setting is “100” [mm/sec].
To change the speed, set an optimal value in Parameter No. 35.
Since the maximum speed is limited to 250 mm/sec, set the safety speed to below this level.
78
z Automatic Servo-off Delay Time (No.36 ASO1/ No.37 ASO2/ No.38 ASO3)
This parameter defines the delay time after positioning is completed until the servo turns off automatically when the “Standstill
mode” field in the position table is set to any value from “1” to “3” (the automatic servo-off mode is enabled) or the setting of
Parameter No. 53 (Default standstill mode) is set to any value from “1” to “3” (the automatic servo-off mode is enabled).
Meaning of set value:
If this parameter is set to “1,” T takes the value of Parameter No. 36.
If this parameter is set to “2,” T takes the value of Parameter No. 37.
If this parameter is set to “3,” T takes the value of Parameter No. 38.
The factory setting is “0” [sec].
Move command
Automatic servo-off mode
(The green LED blinks.)
Servo status
Servo on
Actuator movement
Target position
Delay time after completion of positioning until
the servo turns off (sec)
z Default Standstill Mode (No.53 CTLF)
This parameter defines the power-saving mode to be applied when the standby time while the servo is on is long after power
on.
You can select the full servo control mode.
* Even when the automatic servo-off mode is selected, the selection will be ignored.
In Parameter No. 53, define whether or not to implement power-saving.
All power-saving modes are disabled
Automatic servo-off mode. The delay time is defined by Parameter No. 36.
Automatic servo-off mode. The delay time is defined by Parameter No. 37.
Automatic servo-off mode. The delay time is defined by Parameter No. 38.
Full servo control mode
The factory setting is “0” [Disable].
Setting
0
1
2
3
4
Auto servo-off mode
The servo automatically turns off after elapse of a specified time following the completion of positioning. (Since no holding
current is required, power consumption decreases.)
When the PLC issues the next move command, the servo will turn on again and the actuator will start moving.
Refer to the timing chart above.
Full servo control mode
The pulse motor is servo-controlled to reduce the holding current.
Although the specific level of current reduction varies in accordance with the actuator model, load condition, etc., generally
the holding current drops to around a half to one-fourth.
The servo remains on, so position deviation does not occur.
The actual holding current can be checked in the current monitor screen of the PC software.
79
z Push Speed (No.34 PSHV)
This parameter defines the push speed that applies after the target position has been reached in push-motion operation.
Before shipment, a default speed appropriate for the actuator characteristics is set.
Depending on the material and shape of the work, etc., set an appropriate speed in Parameter No. 34.
Note that, while the maximum speed varies according to the actuator, it should not exceed 20 mm/sec even with the
high-speed type. Set a push speed below the maximum speed.
Push speed
Speed
Work
Positioning band
Caution:
It is recommended that the push speed be set to 5 mm/sec or above to reduce the effect of varying push
force.
z Push-motion Completion Judgment Time (No.6 PSWT)
This parameter is used as a condition for determining if the work is contacted and push-motion operation is completed.
Specifically, push-motion operation is deemed complete if the current-limiting value set in the position table has been
maintained for the time set in Parameter No. 6.
Depending on the material and shape of the work, etc., set an optimal value in combination with the current-limiting value.
The minimum setting unit is 1 msec, and the maximum value is 9,999 msec. The factory setting is “255” [msec].
(Note) The following shows a case in which the work has shifted and current has changed during push-motion completion
judgment. In this example, the judgment time is set to 255 msec.
Push current
Start position
Target position
Counting starts
Count to 200
Decrement to 180
Count to 255
Completion of push-motion operation is determined.
If the push current is maintained for 200 msec and then drops for 20 msec thereafter, the counter is decremented by 20. Upon
recovery of the push current, counting resumes from 180. If the push current is maintained for 75 msec, the counter will have
counted up to 255 and thus completion of push-motion operation is determined.
In this case, the judgment requires a total of 295 msec.
80
z Enable Function (No.42 FPIO)
Whether to enable or disable the deadman switch function on the ANSI-type teaching pendant is set in Parameter No. 42.
* The ANSI-type teaching pendant is currently under development.
Setting
Enable (Use)
0
Disable (Do not use)
1
The factory setting is “1” [Disable].
z Home Check Sensor Input Polarity (No.43 AIOF)
The home check sensor is not included in the standard specification, but it can be installed as an option.
This parameter need not be changed in normal conditions of use. To change the factory-set mode, change the value of
Parameter No. 43.
Definition of settings:
0 (Standard specification; no sensor)
1 (Use the home check sensor, and the sensor polarity conforms to “contact a” logic)
2 (Use the home check sensor, and the sensor polarity conforms to “contact b” logic)
[Explanation of operation]
[1] When a homing command is issued, the actuator moves until it contacts a mechanical end, upon which a home check
sensor signal is detected.
[2] Next, the actuator reverses its direction and stops at the home position.
[3] If the home check sensor signal has changed its signal state, the controller determines that the homing was completed
successfully. If the signal state has not changed, the controller recognizes “position deviation.” Accordingly, the controller
generates a “home sensor non-detection error” and outputs an alarm signal.
Mechanical end
Power input position
Home check sensor
Home position
81
z Home Sensor Input Polarity (No. 18, LS)
This parameter is supported by the rotational axes of RCP2-RTB/RTC types adopting the home sensor method.
Definition of settings: 0 (Sensor not used)
1 (Sensor polarity of contact a)
2 (Sensor polarity of contact b)
z Ball Screw Lead (No. 77, LEAD)
This parameter defines the ball screw lead.
Before shipment, a default value appropriate for the actuator characteristics is set.
z Axis Operation Type (No. 78, ATYP)
This parameter defines the type of the actuator used.
Definition of settings: 0 (Linear axis)
1 (Rotational axis)
z Rotational Axis Mode Selection (No. 79, ATYP)
If the axis operation type (No. 78) is set to “Rotational axis,” selecting the index mode fixes the current value to within a
range of 0 to 359.99. If the index mode is selected, short-cut control is enabled.
Definition of settings: 0 (Normal mode)
1 (Index mode)
Note:
82
Push-motion operation cannot be performed in the index mode. Even if data is set in the “Push” field of the
position data, in the index mode the data becomes invalid and the actuator moves as normal. Also in the index
mode, the positioning band corresponds to the default positioning band set by a parameter.
z Shortcut Selection for Rotational Axis (No. 80, ATYP)
This parameter is set in certain conditions, such as when you want to turn a rotational axis in a specific direction.
Shortcut refers to operating an actuator in such a way that it always moves to a point that is closest to the next point.
Setting
0
1
Do not select
Select
You can cause the actuator to rotate in a specific direction by selecting the shortcut mode.
Point No. 1
Positions
Point No. 4
Point No. 2
Point No.
1
2
3
4
Setting
0
90
180
270
As for position data, 1° corresponds to 1 mm.
Point No. 3
If the actuator is to be moved in the sequence of 1 → 2 → 3 → 4, the specific operation will vary depending on whether or
not the shortcut mode is selected, as shown below.
Shortcut mode is not selected
Point No. 1
Point No. 1
Point No. 2
Point No. 2
Point No. 3
Point No. 4
Point No. 4
Point No. 3
Shortcut mode is selected
Point No. 1
Point No. 1
Point No. 2
Point No. 2
Point No. 3
Point No. 4
Point No. 4
Point No. 3
z Absolute Unit (No. 83, ETYP)
Parameter No. 83 sets whether or not to use the optional simple absolute unit.
Do not use
Use
Setting
0
1
83
6.2.3
Parameters Relating to External Interface
z PIO Pattern Selection (No.25 IOPN)
Parameter No. 25 is used to select a desired PIO operation pattern.
This is a basic operation parameter, so be sure to set it at the beginning.
Setting of Parameter
No. 25
Features of PIO pattern
0
Proximity switch type
Each movement complete signal is handled in the same manner as an auto switch of an air cylinder.
A movement complete signal is output as the actuator passes the applicable position, even when
positioning is not performed.
A ready output signal is provided, but no zone output signal is available.
1
Standard type
A movement complete signal is output upon completion of positioning following a move command.
A zone output signal is provided, but no ready output signal is available.
The factory setting is “0” [Proximity switch type].
z Positioning Complete Signal Output Mode (No.39FPIO)
This parameter defines the positioning complete signal state to be applied when the servo turns off or “position deviation”
occurs while the actuator is standing still after completion of positioning in the standard type.
The following two scenarios can be considered:
[1] The actuator position has deviated beyond the value set in the “Positioning band” field of the position table, due to external
force applied while the servo was on.
[2] The actuator position has deviated beyond the value set in the “Positioning band” field of the position table, due to external
force applied while the servo was off.
This parameter provides flexibility as to how the “positioning complete signal state” is monitored in accordance with the
characteristics of the applicable system or sequence circuit of the PLC.
The table below shows how the ON/OFF state of a positioning complete signal changes in accordance with each setting of
Parameter No. 39.
Setting of Parameter
No. 39
0 [PEND]
1 [INP]
Definition of rear end complete (PE0), front end complete (PE1),
and intermediate point complete (PE2) signal state
[1] When the servo is on
The signal remains ON even when the current position has deviated from the range corresponding
to the value set for the target position in the “Positioning band” field of the position table.
[2] When the servo is off
The signal turns OFF unconditionally regardless of the current position.
Regardless of the servo on/off status, the signal turns ON if the current position is inside the
corresponding to the value set for the target position in the “Positioning band” field of the position
table, and turns OFF if it the current position is outside the range.
* The signal effectively functions in the same manner as an auto switch of an air cylinder.
The factory setting is “0” [PEND].
84
z Servo-on Input Disable Selection (No.21 FPIO)
Parameter No. 21 is used to set whether enable or disable the servo-on input signal.
Setting
Enable (Use)
0
Disable (Do not use)
1
The factory setting is “0” [Enable].
z SIO Communication Speed (No.16 BRSL)
This parameter is not used with this controller. It applies to controllers of serial communication type.
If this parameter is set, it sets the communication speed to be used when the controller implements serial communication
control via the PLC’s communication module.
Set Parameter No. 16 to a value appropriate for the specification of the communication module.
9600, 19200, 38400 or 115200 bps can be selected as the communication speed.
The factory setting is “38400” bps.
z Minimum Delay Time for Slave Transmitter Activation (No.17 RTIM)
This parameter is not used with this controller. It applies to controllers of serial communication type.
If this parameter is set, it defines the minimum delay before the controller’s transmitter is activated following the completion of
command reception, when the controller implements serial communication control via the PLC’s communication module.
The factory setting is “5” msec. If the communication module specification exceeds 5 msec, set the required time in Parameter
No. 17.
z Silent Interval Multiplication Factor (No.45 SIVM)
This parameter is not used with this controller. It applies to RS485 serial communication commands.
If this parameter is set, it defines the multiplication factor of silent interval time to be used for delimiter judgment in the RTU
mode.
The factory setting is the communication time corresponding to 3.5 characters in accordance with the Modbus specification.
This parameter need not be changed in normal conditions of use where the actuator is operated using a PC or teaching
pendant.
If the character sending interval exceeds the silent interval because the scan time of the PLC is not ideal, however, you can
extend the silent interval time through Parameter No. 45.
The minimum setting unit is 1 (times), and the input range is 0 to 10. If “0” is set, it means that the silent interval multiplication
factor is disabled.
85
6.2.4
Servo Gain Adjustment
Since the servo has been adjusted at the factory in accordance with the standard specification of the actuator, the servo gain
need not be changed in normal conditions of use.
However, vibration or noise may occur depending on how the actuator is affixed, specific load condition, and so on, and
therefore the parameters relating to servo adjustment are disclosed to allow the customer to take quick actions should
adjustment become necessary.
Particularly with custom models (whose ball screw lead or stroke is longer than the that of the standard model), vibration/noise
may occur due to external conditions.
In this case, the parameters shown below must be changed. Contact IAI for details.
z Servo Gain Number (No.7 PLG0)
Parameter number
Unit
Input range
Default
7
5 rad/sec
0 ~ 31
6
This parameter determines the level of response with respect to a position control loop.
Increasing the setting improves compliance with the position command.
However, increasing the setting too much increases the tendency of the actuator to overshoot.
If the setting is low, compliance with the position command drops and the positioning time increases as a result.
Speed
Setting is high (overshoot)
Setting is low
Time
z Speed Loop Proportional Gain (No.31 VLPG)
Parameter number
Unit
Input range
Default
31
---
1 ~ 27661
Set individually in accordance with the actuator characteristics.
This parameter determines the level of response with respect to a speed control loop.
Increasing the setting improves compliance with the speed command (i.e., servo rigidity increases).
The greater the load inertia, the higher the setting should be.
However, increasing the setting too much increases the tendency of the actuator to overshoot or oscillate, resulting in
increased mechanical vibration.
Speed
Setting is high (overshoot)
Setting is low
Time
86
z Speed Loop Integral Gain (No.32 VLPT)
Parameter number
Unit
Input range
Default
32
---
1 ~ 217270
Set individually in accordance with the actuator characteristics.
This parameter determines the level of response with respect to a speed control loop.
Increasing the setting results in lower response with the speed command and decreases the reactive force upon load
change.
Decreasing the setting too much increases the tendency of the actuator to overshoot or oscillate, resulting in increased
mechanical vibration.
If the setting is low, compliance with the position command drops and the positioning time increases as a result.
Speed
Setting is low (overshoot)
Setting is high
Time
z Torque Filter Time Constant (No.33 TRQF)
Parameter number
Unit
Input range
Default
33
---
1 ~ 2500
Set individually in accordance with the actuator characteristics.
This parameter determines the filter time constant applicable to the torque command.
If the mechanical resonance frequency is equal to or lower than the servo loop response frequency, the motor will vibrate.
This mechanical resonance can be suppressed by increasing the setting of this parameter.
It should be noted, however, that increasing the setting too much may affect the stability of the control system.
87
7.
7.1
Troubleshooting
What to Do When A Problem Occurs
If you encountered a problem, follow the steps below to conduct the specified checks to gather information needed to
implement quick recovery and prevent recurrence of the problem.
a. Check the status indicator lamps
SV (green) --- The servo is on.
ALM (red) --- An alarm is present or emergency stop has been actuated, or the motor drive power is cut off.
b. Check the host controller for abnormality.
c. Check the voltage of the 24-VDC main power supply.
d. Check the voltage of the 24-VDC power supply for I/O signals.
e. Check for alarms.
Check the details of each alarm on the PC or teaching pendant.
f. Check the cables for miswiring, disconnection and pinching.
Before checking the continuity of cables, turn off the power (to prevent a runaway actuator) and disconnect all wirings (to
prevent the power from being supplied unexpectedly due to a sneak path).
g. Check the I/O signals.
h. Check the noise elimination measure (ground connection, surge killer installation, etc.).
i. Identify how the problem occurred and the operating condition when the problem occurred.
j. Check the serial numbers of the controller and actuator.
k. Analyze the cause.
l. Take an action.
Before contacting IAI, please check the items in a through j above. Provide the information to our technical staff.
(Reference) Changes in indicators and *ALM output signal in each status
Servo off
Servo on
Emergency stop actuated
Motor drive power cut off
SV (lamp)
Unlit
Lit
Unlit
Unlit
ALM (lamp)
Unlit
Unlit
Lit
Lit
*ALM (signal)
OFF
OFF
ON
ON
(Note 2) The *ALM output signal is a contact-b signal.
After the power is input, these signals remain ON while the controller is normal. They turn OFF when the power is cut
off.
These signals cannot be used for providing a contact-b interlock when the power is not supplied to the controller.
88
7.2
Alarm Level Classification
The alarms are classified into three levels based on the corresponding symptoms.
Alarm level
Operation
cancellation
ALM lamp
Lit
Output
Cold start
Lit
Output
Note:
*ALM signal
Condition at occurrence of alarm
The actuator decelerates to a stop,
and then the servo turns off.
The actuator decelerates to a stop,
and then the servo turns off.
How to reset
Execute reset using the PC/teaching
pendant.
Reconnect the power.
Whatever the alarm, always investigate the cause of the alarm and remove the cause before resetting the alarm. If the
cause of the alarm cannot be removed, or when the alarm cannot be reset even after the cause has been removed,
please contact IAI.
If the same error occurs again after a reset, the cause of the alarm still exists.
89
7.3
Alarms, Causes and Actions
(1) Operation Cancellation Alarms
Code
0A1
Error
Parameter data error
Cause/action
Cause:
Action:
0A2
Position data error
Cause:
Action:
0A7
Command deceleration
error
The parameter data does not meet the specified input range.
(Example) This alarm generates when a pair of values clearly has an
inappropriate magnitude relationship, such as when the soft
limit + setting is 200.3 mm, while the soft limit – setting is 300
mm.
Change the settings to appropriate values.
[1] A move command was input when a target position was not yet set in the
“Position” field.
[2] The target position in the “Position” field is outside the soft limit range.
[3] A target position was specified as a relative coordinate in the “Position”
field when the proximity switch type was selected.
[1] Set a target position first.
[2] Change the target position to a value inside the soft limit range.
[3] Specify the target position as an absolute coordinate.
If the target position is near a soft limit and the deceleration setting is low, issuing a
command that specifies this position number while the actuator is moving may cause
the actuator to overshoot beyond the soft limit.
The soft limit is not exceeded if
deceleration is started here.
The soft limit is
exceeded if a command
is issued here.
Soft limit
Cause:
Action:
When the speed was changed while the actuator was moving, the next
move command was not issued quick enough.
Quicken the switching timing so that the actuator will not overshoot beyond
the soft limit.
0BA
Home sensor not yet
detected
This alarm indicates that the actuator equipped with a home check sensor did not
complete homing successfully.
Cause: [1] The work contacted peripheral equipment during the homing.
[2] The slide resistance of the actuator is large in some areas.
[3] The home check sensor is not installed properly, or the sensor is faulty
or its circuit is open.
Action: If the work is not contacting any peripheral equipment, [2] and [3] are
suspected. Contact IAI.
0BE
Homing timeout
Cause:
Action:
90
After the start of homing, homing does not complete after elapse of the time
set by the manufacturer’s parameter. (This alarm does not generate during
normal operation.)
As one possible cause, the controller and actuator combination may be
incorrect. Contact IAI.
Code
0C0
Error
Excessive actual speed
Cause/action
Cause:
Action:
The motor speed exceeds the maximum speed set by the manufacturer’s
parameter.
This alarm does not generate during normal operation, but it may occur if the
load decreased before a servo error was detected and the motor speed has
increased as a result. This condition occurs due to the following reasons:
[1] The slide resistance of the actuator is large in some areas.
[2] The load increased due to momentary application of external force.
Check the assembly condition of mechanical parts for any abnormality. If the
actuator itself is suspected as the cause, contact IAI.
0C1
Servo error
This alarm indicates that after the acceptance of the move command, the motor could
not operate for 2 seconds or more before the actuator reached the target position.
Cause: [1] The connector of the motor relay cable is loose or its circuit is open.
[2] If the actuator is equipped with a brake, the brake cannot be released.
[3] The load increased due to application of external force.
[4] The sliding resistance of the actuator itself is high.
Action: [1] Check the wiring condition of the motor relay cable.
[2] Check the wiring condition of the brake cable, and also turn on/off the
brake release switch to check if “click” sound is heard.
[3] Check the assembly condition of mechanical parts for any abnormality.
[4] If the load is normal, cut off the power and move the actuator by hand to
check the slide resistance.
If the actuator itself is suspected as the cause, contact IAI.
0C9
Excessive motor
power-supply voltage
This alarm indicates that the voltage of the motor power supply is excessive (24 V +
20%: 28.8 V or above).
Cause: [1] The voltage of the 24-V input power supply is high.
[2] Faulty part in the controller
Action: Check the input power-supply voltage.
If the voltage is normal, contact IAI.
0CA
Overheat
This alarm indicates that the temperature around the power transistor in the controller
is excessive (95°C or above).
Cause: [1] High surrounding temperature
[2] Defective part in the controller
Action: [1] Lower the temperature around the controller.
If the condition in [1] is not applicable, contact IAI.
0CC
Excessive control
power-supply voltage
This alarm indicates that the voltage of the 24-V input power supply is excessive (24 V
+ 20%: 28.8 V or above).
Cause: [1] The voltage of the 24-V input power supply is high.
[2] Faulty part in the controller
Action: Check the input power-supply voltage.
If the voltage is normal, contact IAI.
91
Code
Error
Cause/action
0CE
Low control power-supply
voltage
This alarm indicates that the voltage of the 24-V input power supply is low (24 V - 20%:
19.2 V or below).
Cause: [1] The voltage of the 24-V input power supply is low.
[2] Faulty part in the controller
Action: Check the input power-supply voltage.
If the voltage is normal, contact IAI.
0D8
Deviation overflow
The position deviation counter has overflowed.
Cause: [1] The speed dropped while the actuator was moving due to external force,
etc.
[2] Unstable excitation detection operation after the power was turned on
Action: [1] Check the load condition, such as whether the work is contacting any
peripheral equipment or the brake is released, and remove the cause of
the identified problem.
[2] Overload condition is suspected, so check the load.
0D9
Software limit overshoot
error
Cause:
Action:
92
[1] The actuator installed in vertical configuration overshot and exceeded a
soft limit when the target position was near the soft limit and the load was
large or the deceleration setting was high.
[2] The actuator was moved to a position outside the soft limits with the
servo turned OFF, and then the servo was turned ON.
[1] Set a deceleration curve that will not cause the actuator to overshoot
when stopping.
[2] Return the actuator to within the soft limits first, and then turn ON the
servo.
(2) Cold Start Alarms
Code
Error
Cause/action
0B8
Excitation detection error
This controller detects the excited phase when the servo is turned on for the first time
after turning on the power. This alarm indicates that the specified encoder signal level
cannot be detected after excitation for the time set by Parameter No. 29 (Excited
phase signal detection time).
Cause: [1] The connector of the motor relay cable is loose or its circuit is open.
[2] If the actuator is equipped with a brake, the brake cannot be released.
[3] The load increased due to application of external force.
[4] The power was turned on when the actuator was contacting a
mechanical end.
[5] The sliding resistance of the actuator itself is high.
Action: [1] Check the wiring condition of the motor relay cable.
[2] Check the wiring condition of the brake cable, and also turn on/off the
brake release switch to check if “click” sound is heard.
[3] Check the assembly condition of mechanical parts for any abnormality.
[4] Move the actuator away from the mechanical end, and then turn on the
power again.
[5] If the load is normal, cut off the power and move the actuator by hand to
check the slide resistance.
If the actuator itself is suspected as the cause, contact IAI.
0E5
Encoder receive error
Cause:
Action:
[1] When the 24-V power is turned on, the controller is powered up before
the simple absolute unit.
[2] When the detail code is H’0001:
The controller cannot communicate with the simple absolute unit
properly due to noise, etc.
[3] When the detail code is H’0002:
The controller cannot communicate with the simple absolute unit
properly due to disconnection of the communication wire in the encoder
cable, etc.
[1] Always turn on the power to the simple absolute unit before
(or simultaneously as) the controller power.
[2] Change the installation location of the controller. Implement noise
measures such as installing a FG, noise filter or clamp filter.
[3] Check the encoder relay cable between the controller and simple
absolute unit for a loose connector or connectors. If both connectors on
the cable are engaged properly, replace the cable.
0E8
Open phase A/B detected
Encoder signals cannot be detected correctly.
0E9
Open phase A detected
Cause:
0EA
Open phase B detected
Action:
[1] The connector of the encoder relay cable is loose or its circuit is open.
[2] The connector of the supplied actuator cable is loose or its circuit is
open.
Check the connection condition of the encoder relay cable and perform
continuity check. If no abnormality is found, contact IAI.
93
Code
0ED
Error
Cause/action
Absolute encoder error (1) Cause:
Action:
0EE
Absolute encoder error (2) Cause:
0EF
Absolute encoder error (3) Cause:
94
[1] When the power was turned off and then on again following an absolute
reset, the current position changed due to an external factor, etc., while
the controller was communicating with the absolute unit.
[2] When an absolute reset was executed, the current position changed
due to an external factor, etc., while the controller was communicating
with the absolute unit.
[1] When the detail code is H’0001:
Turn off the power and then turn it back on in a condition where the
actuator is not receiving vibration, etc.
[2] When the detail code is H’0002:
Perform homing again in a condition where the actuator is not receiving
vibration, etc.
[1] The power has been turned on for the first time after the battery was
connected to the simple absolute unit.
[2] When the detail code is H’0001:
The battery voltage has dropped to a level where the encoder counter in
the simple absolute unit can no longer retain data.
[3] When the detail code is H’0002:
The encoder connector was unplugged during a power outage, or the
encoder cable became disconnected.
[4] When the detail code is H’0003:
A related parameter was changed.
Action:
If [1], [3] or [4] is the case, perform an absolute reset by referring to the
operation manual for the simple absolute unit (5.2, “How to Perform an
Absolute Reset”).
If [2] is the case, supply power for at least 48 hours to fully charge the
battery, and then perform an absolute reset.
The current value has changed at a speed corresponding to or exceeding
the rotational speed setting, due to an external factor, etc., while the power
was cut off.
Action:
Change the applicable setting of the simple absolute unit and also
implement measures to prevent the actuator from moving at a speed
corresponding to or exceeding the set speed while the power is cut off.
When the battery has enough retention time, set the motor speed setting
high.
Reference: Refer to: 5.1.1, “Piano Switch Settings” in the operation manual for the
simple absolute unit.
Should this error occur, perform an absolute reset according to the
specified procedure (5.2, “How to Perform an Absolute Reset”).
Code
Error
Cause/action
0F4
Inconsistent PCB
This controller uses a different motor drive circuit depending on the motor capacity,
and therefore the installed printed circuit board (PCB) is also different with each
controller.
During the initialization after starting, the controller checks if the motor type set by the
manufacturer’s parameter matches the actual PCB installed.
This alarm indicates that the two do not match.
Cause: The parameter may not be entered correctly or the PCB may not be
assembled correctly.
Action: If you have encountered this error, contact IAI.
0F5
Nonvolatile memory
When data has been written to the nonvolatile memory, the written data is read and
verification error after write compared (verified) against the written data for confirmation.
This alarm indicates that the read data does not match the written data.
Cause: [1] Faulty nonvolatile memory
[2] The memory has been rewritten more than 100,000 times. (The nominal
life of the nonvolatile memory is 100,000 rewrite operations.)
Action: If the problem still persists after the power has been reconnected, contact
IAI.
0F6
Nonvolatile memory
timeout after write
This alarm indicates that no response was received within the specified time after
writing data to the nonvolatile memory.
Cause: [1] Faulty nonvolatile memory
[2] The memory has been rewritten more than 100,000 times. (The nominal
life of the nonvolatile memory is 100,000 rewrite operations.)
Action: If the problem still persists after the power has been reconnected, contact
IAI.
0F8
Damaged nonvolatile
memory
Abnormal data was detected in the nonvolatile memory check after starting.
Cause: [1] Faulty nonvolatile memory
[2] The memory has been rewritten more than 100,000 times. (The nominal
life of the nonvolatile memory is 100,000 rewrite operations.)
Action: If the problem still persists after the power has been reconnected, contact
IAI.
0FA
CPU error
The CPU is not operating correctly.
Cause: [1] Faulty CPU
[2] Malfunction due to noise
Action: If the problem still persists after the power has been reconnected, contact
IAI.
95
7.4
Messages Displayed during Teaching Pendant Operation
This section explains the warning messages that may be displayed while operating the teaching pendant.
Code
Message
Description
112
Input data error
An inappropriate value was input as a user parameter setting.
(Example) “9601” was input as the serial communication speed by mistake.
Input an appropriate value again.
113
114
Input value too small
Input value too large
The input value is under the setting range.
The input value is over the setting range.
Input an appropriate value again by referring to the actuator specifications and
parameter list.
115
Homing not yet complete
The current position was written before homing was complete.
Perform homing first.
117
No movement data
No target position is set under the selected position number.
Input a target position first.
11E
Inconsistent data pair
The magnitude relationship of a pair of data is inappropriate.
(Example) The same value is set in both the + and – soft limit parameters.
Input appropriate values again.
11F
Absolute value too small
The minimum travel toward a target position is determined by the lead of the drive
system and encoder resolution.
This message indicates that the input target position is less than this minimum
travel.
(Example) If the lead is 20 mm, the encoder resolution is 800 pulses and therefore
the minimum travel is calculated as 0.025 mm/pulse (20 ÷ 800).
If 0.02 mm is input as the target position, this message will be
displayed.
121
Push search end over
The final position in push-motion operation exceeds a soft limit.
No harm is done as long as the actuator contacts the work. If it misses the work,
however, the actuator will reach the soft limit and this message will be displayed.
Change either the target position or positioning band.
122
Multiple axes connected at
assignment
An axis number was assigned when multiple axes were connected.
Always assign an axis number when only one axis is connected.
180
181
182
183
Axis number change OK
Controller initialization OK
Home change all clear
I/O function changed
This is an operation check message.
(It does not indicate misoperation or error.)
202
Emergency stop
An emergency stop is currently actuated.
20A
Servo OFF during movement
The servo ON signal (SON) was turned OFF by the PLC while the actuator was
moving. As a result, the servo turned OFF and the actuator stopped.
96
Code
Message
Description
20C
CSTR-ON during operation
A move command signal from the PLC turned ON while the actuator was moving,
resulting in redundant move commands.
20E
Soft limit over
A soft limit was reached.
221
Write inhibited in monitor
mode
A position table field or parameter was written in the monitor mode.
223
Operation inhibited in monitor
mode
The actuator was moved in the monitor mode.
301
302
304
305
306
308
30A
30B
Overrun error (M)
Framing error (M)
SCIR-QUE OV (M)
SCIS-QUE OV (M)
R-BF OV
Response timeout (M)
Packet R-QUE OV
Packet S-QUE OV
An error occurred in serial communication with the controller.
Cause: [1] Garbage data due to noise
[2] Duplicate slave numbers when multiple actuators are controlled via
serial communication
Action: [1] Revise the wiring, equipment layout, etc., to eliminate noise.
[2] Change the slave numbers to eliminate duplication.
If the message persists, please contact IAI.
307
Memory command denied
A command was denied in serial communication with the controller.
309
Write address error
An indeterminable write address error occurred in serial communication with the
controller.
These messages do not generate during normal operation. Should either of them
occur, record the entire error list before turning off the power. The recorded error
list will help us identify the cause of the problem.
Also contact IAI.
30C
No connected axis
The controller axis number cannot be recognized.
Cause: [1] The controller is not operating properly.
[2] Only the communication line of the supplied cable (SGA/SGB) is
open.
[3] If the SIO converter is used, the link cable is not connected although
the converter is receiving 24 V.
[4] When multiple controllers are linked, the ADRS switch is set to the
same number by mistake on two or more controllers.
Action: [1] Check if the RDY LED on the controller is lit. If this LED is not lit, the
controller is faulty.
[2] If you have a spare teaching pendant, change to the spare teaching
pendant. Or, switch to the PC software mode and see if the message
will disappear.
[3] Connect all pairs of converter and controller using link cables, and
then supply the power.
[4] Set each ADRS switch to a unique number.
If the message persists, please contact IAI.
97
7.5
Common Problems and Recommended Actions
z I/O Signals Cannot Be Sent or Received to/from the PLC.
Cause:
Action:
[1] The 24-V I/O power supply is connected in reverse polarities.
(In this case, input circuits are not affected, but output circuits will be damaged.)
[2] If an output circuit presents this problem, electrical current exceeding the maximum current flowed due to a
large load and a circuit component was damaged.
[3] Poor contact at the connector or relay terminal block on the PLC side.
[4] The female pins on the flat cable connector are bent outward, thus causing contact failure with the male pins
on the controller connector.
Check the connection condition of the power supply and connector, as well as the load on the output side.
If [1] or [2] is suspected, the controller must be replaced. If [4] is likely, the flat cable must be replaced. Either
way, contact IAI.
Warning: When checking the continuity of the flat cable, exercise due caution not to bend the female pins on the
connector outward. It may cause contact failure, resulting in malfunction.
z The ALM Lamp Illuminates after the Power Is Turned On.
(An alarm is present, emergency stop is actuated, or the motor power is cut off.)
* If the ALM output signal is OFF, an alarm is present. Connect a PC or teaching pendant to check the nature of the error
and remove the cause.
* If the ALM output signal is ON, the emergency stop circuit is actuated.
Check the following items:
[1] Is the emergency stop switch on the operation panel pressed by mistake? Is the necessary interlock canceled?
[2] Is the emergency stop switch on the teaching pendant pressed by mistake?
[3] Is Parameter No. 42 (Enable function) enabled by mistake when a teaching pendant is connected that does not support
the enable switch?
[4] If multiple controllers are linked together, are they wired correctly?
z After Turning On the Power, the SV Lamp Does Not Illuminate upon Servo-on Signal Input.
(The Servo Does Not Turn On.)
Cause:
[1] Contact failure of the flat cable
[2] Faulty controller
Check the servo-on signal (SON) in the I/O monitor screen on the PC or teaching pendant.
If the signal is input, the controller may be faulty. Contact IAI.
98
z With an Actuator Installed in Vertical Orientation, Positioning Completes Prematurely.
Cause:
Action:
[1] The load exceeds the rated load capacity.
[2] The ball screw is receiving torsional stress due to the actuator affixing method, uneven tightening of bolts,
etc.
[3] The slide resistance of the actuator itself is high.
If [1] is suspected, increase the value of User Parameter No. 13 (Current-limiting value during homing).
Increasing the parameter value increases the homing torque. As a guide, however, the setting should not
exceed 100% for the RA3C/RGD3C types or 75% for all other types.
[2] To check if the condition in [2] is present, loosen the affixing bolts and check if the slider moves smoothly. If
the slider moves smoothly, adjust the affixing method and bolt tightening method.
[3] If the slide resistance of the actuator itself is high, contact IAI.
z With an Actuator Installed in Vertical Orientation, Noise Generates during Downward Movement.
Cause:
Action:
The load exceeds the rated load capacity.
[1] Decrease the speed.
[2] Decrease the value set in User Parameter No. 7 (Servo gain number). As a guide, do not decrease the
setting to below 3.
z Vibration Occurs when the Actuator Is at Standstill.
Cause:
Action:
The slider is receiving external force.
If external force cannot be removed, increase the value set in User Parameter No. 12 (Current-limiting value at
standstill after positioning).
Increasing the setting of this parameter increases the holding torque. As a guide, keep the current limiting value
to 70% or below.
z The Actuator Overshoots while Decelerating to a Stop.
Cause:
Action:
The load inertia is high due to an inappropriate balance of the load and deceleration.
Decrease the set deceleration.
z Stopped Position Sometime Deviates from the Home Position or Target Position.
Cause:
Action:
[1] Encoder waveforms are disturbed due to noise.
[2] If the actuator is of rod type, non-rotational error increased due to application of rotational moment to the
rod.
[1] Check if the grounding is provided correctly, and also check for any equipment that may be generating
noise.
[2] Depending on the condition, the actuator may have to be replaced. Contact IAI.
z The Actuator Moves Slow during Push-motion Operation.
Cause:
Action:
The set current-limiting value is low with respect to the load and slide resistance.
Increase the current-limiting value during push-motion operation.
z The Actuator Moves Only a Half, or as Much as Twice, the Specified Travel.
Cause:
Action:
[1] The controller and actuator combination is incorrect.
The ball screw lead varies according to the actuator type. If the actuator is not combined with an appropriate
controller, the travel and speed will change.
[2] Pre-shipment setting error at IAI
[1] If multiple actuators of different types are used, check the label on each actuator or use other means to see
if they are connected to correct controllers.
[2] Contact IAI.
99
z A Servo Error Occurred while the ROBO Gripper Was Moving.
Cause:
Action:
The work was not positioned properly and a finger attachment contacted the work in the positioning mode.
Consider how much the work deviates and adjust the start position of push-motion operation, as well as the
thickness of the finger attachment (including buffer material), so that the work can be clamped properly in the
push-motion mode.
Before resetting the error, be sure to turn the open/close screw and loosen the finger attachments first, because
the feed mechanism may be locked.
Caution:
If the alarm is reset when the servo-on signal is disabled or while the servo-on signal is ON, the servo will
turn on.
Turning the open/close screw in this condition only results in the screw returning to the original position, and
the feed mechanism remains locked. Therefore, the alarm will generate again the next time a move
command is issued.
[Two-finger type]
OPEN
Open/close screw
Turn counterclockwise using a flat-head screwdriver.
[Three-finger type]
Remove one of the finger attachments and take out the work, and then turn the open/close screw clockwise.
Remove one of the finger attachments.
Turn clockwise.
Open/close
screw
100
Opening direction
z The Actuator Malfunctions when the Servo Is Turned On after Turning On the Power.
Cause:
Action:
Excited phase detection is not performed properly when the servo is turned on, because one of the following
conditions exists when the power was turned on:
[1] The slider or rod was contacting a mechanical end.
[2] The work was pushed by a strong external force.
[1] Check if the slider or rod is not contacting a mechanical end. If the slider/rod is contacting a mechanical end,
separate the slider/rod from the mechanical end.
If the actuator is equipped with a brake, turn on the brake release switch to forcibly release the brake before
moving the actuator. At this time, be careful not to pinch your hand or damage the robot hand or work by the
slider/rod, as the slider/rod may drop unexpectedly by its dead weight.
If the actuator cannot be moved by hand, one measure is to check the direction of excited phase signal
detection and change the direction of detection as necessary. If you wish to change the direction, contact IAI
beforehand.
For details, refer to the applicable parameter explained in 6.2.2, “Parameters Relating to Actuator Operating
Characteristics.”
[2] Check if the work is not contacting any peripheral equipment.
If the work is contacting peripheral equipment, separate the work from the equipment by providing a
minimum clearance of 1 mm in between.
If neither [1] nor [2] applies, contact IAI.
z The SV Lamp Blinks.
The automatic servo-off mode is active. (This is not an error or failure.)
101
102
Appendix
* Appendix
Specification List of Supported Actuators
z Slider Ball Screw Drive
Stroke (mm), maximum speed (mm/sec) *1
Loading capacity *2
Rated acceleration
Horizontal
Horizontal
Vertical
Vertical
Motor reversing
Motor straight
Model
*1:
*2:
The figure in the elongated circle indicates the maximum speed for each stroke. The figures
in parentheses apply to a vertical application.
The loading capacity is calculated by assuming actuator operation at the rated acceleration.
z Slider Belt Drive
Model
102
Stroke (mm), maximum speed (mm/sec)
Loading capacity
Horizontal
Vertical
Rated acceleration
Horizontal
Vertical
103
Appendix
z Rod Type
Stroke (mm), maximum speed (mm/sec) *1
Loading capacity *2
Rated acceleration
Horizontal
Horizontal
Vertical
Vertical
Double-guide
Single-guide
Splashproof
Standard
Model
*1:
*2:
The figure in the elongated circle indicates the maximum speed for each stroke. The figures
in parentheses apply to a vertical application.
The loading capacity is calculated by assuming actuator operation at the rated acceleration.
103
104
Appendix
z Gripper
Three-finger
Twofinger
Model
Maximum speed
Lead
Rated
acceleration
Stroke
Maximum gripping force
RCP2-GRS-I-PM-1-10-P1
10 mm (5 mm per finger)
21 N
33.3 mm/s (per finger) 1.0 mm
0.3 G
RCP2-GRS-I-PM-1-14-P1
14 mm (7 mm per finger)
80 N
36.7 mm/s (per finger) 1.1 mm
0.3 G
RCP2-GR3SS-I-PM-30-10-P1 10 mm (5 mm per finger)
23 N
40 mm/s (per finger)
2.5 mm
0.2 G
RCP2-GR3SM-I-PM-30-14-P1 14 mm (7 mm per finger)
120 N
50 mm/s (per finger)
3.0 mm
0.2 G
RCP2-GR3LS-I-PM-30-19-P1
19 deg
17 N
200 deg/s (per finger)
12 deg
0.2 G
RCP2-GR3LM-I-PM-30-19-P1
19 deg
62 N
200 deg/s (per finger)
12 deg
0.2 G
Oscillation angle
Maximum torque
Maximum speed
Gear
ratio
Rated
acceleration
RCP2-RTB-I-PM-20-330-P1
330 deg
1.1 Nm
600 deg/s
1/20
0.3 G
RCP2-RTB-I-PM-30-330-P1
330 deg
1.7 Nm
400 deg/s
1/30
0.3 G
RCP2-RTBL-I-28P-20-360-P1
360 deg
1.1 Nm
600 deg/s
1/20
0.3 G
RCP2-RTBL-I-28P-30-360-P1
360 deg
1.7 Nm
400 deg/s
1/30
0.3 G
RCP2-RTC-I-PM-20-330-P1
330 deg
1.1 Nm
600 deg/s
1/20
0.3 G
RCP2-RTC-I-PM-30-330-P1
330 deg
1.7 Nm
400 deg/s
1/30
0.3 G
RCP2-RTCL-I-28P-20-360-P1
360 deg
1.1 Nm
600 deg/s
1/20
0.3 G
RCP2-RTCL-I-28P-30-360-P1
360 deg
1.7 Nm
400 deg/s
1/30
0.3 G
z Rotary
Flat
Vertical
Model
104
105
Appendix
• Slider type
Loading capacity *2
Model
Stroke (mm), maximum speed (mm/sec) *1
Horizontal
Vertical
Rated acceleration
Horizontal
Vertical
• Table type
Model
Stroke (mm), maximum speed (mm/sec) *1
Loading capacity *2
Horizontal
Vertical
Rated acceleration
Horizontal
Vertical
(Note 1): The figure in the elongated circle indicates the maximum speed for
each stroke. The figures in parentheses apply to a vertical application.
(Note 2): The loading capacity is calculated by assuming actuator operation at
the rated acceleration.
(Note 3) Also refer to the specification sections in the catalog and operation
manual for the applicable actuator.
(Note 4) The maximum speed specified above may not be reached if the stroke
is short or depending on the distance traveled.
105
106
Appendix
z Correlation Diagrams of Speed and Load Capacity – Slider Type (Motor Straight Type)
Vertical installation
Load capacity (kg)
Load capacity (kg)
High-speed type
Horizontal installation
Speed (mm/sec)
Load capacity (kg)
Load capacity (kg)
Medium-speed type
Speed (mm/sec)
Speed (mm/sec)
Load capacity (kg)
Load capacity (kg)
Low-speed type
Speed (mm/sec)
Speed (mm/sec)
Speed (mm/sec)
(Note) In the above graphs, the number following the type name indicates the lead.
106
107
Appendix
z Correlation Diagrams of Speed and Load Capacity – Slider Type (Motor-Reversing Type)
Vertical installation
Load capacity (kg)
Load capacity (kg)
High-speed type
Horizontal installation
Speed (mm/sec)
Load capacity (kg)
Load capacity (kg)
Medium-speed type
Speed (mm/sec)
Speed (mm/sec)
Load capacity (kg)
Load capacity (kg)
Low-speed type
Speed (mm/sec)
Speed (mm/sec)
Speed (mm/sec)
(Note) In the above graphs, the number following the type name indicates the lead.
107
108
Appendix
z Correlation Diagrams of Speed and Load Capacity – Standard Rod Type
Vertical installation
Load capacity (kg)
Load capacity (kg)
High-speed type
Horizontal installation (Note 1)
Speed (mm/sec)
Load capacity (kg)
Load capacity (kg)
Medium-speed type
Speed (mm/sec)
Speed (mm/sec)
Load capacity (kg)
Load capacity (kg)
Low-speed type
Speed (mm/sec)
Speed (mm/sec)
Speed (mm/sec)
(Note) In the above graphs, the number following the type name indicates the lead.
(Note 1) The figures for horizontal installation assume use of an external guide or guides.
108
109
Appendix
z Correlation Diagrams of Speed and Load Capacity – Single-guide Type
Vertical installation
Load capacity (kg)
Load capacity (kg)
High-speed type
Horizontal installation
Speed (mm/sec)
Load capacity (kg)
Load capacity (kg)
Medium-speed type
Speed (mm/sec)
Speed (mm/sec)
Load capacity (kg)
Load capacity (kg)
Low-speed type
Speed (mm/sec)
Speed (mm/sec)
Speed (mm/sec)
(Note) In the above graphs, the number following the type name indicates the lead.
109
110
Appendix
z Correlation Diagrams of Speed and Load Capacity – Double-guide Type
Vertical installation
Load capacity (kg)
Load capacity (kg)
High-speed type
Horizontal installation
Speed (mm/sec)
Load capacity (kg)
Load capacity (kg)
Medium-speed type
Speed (mm/sec)
Speed (mm/sec)
Load capacity (kg)
Load capacity (kg)
Low-speed type
Speed (mm/sec)
Speed (mm/sec)
Speed (mm/sec)
(Note) In the above graphs, the number following the type name indicates the lead.
110
111
Appendix
z Correlation Diagrams of Speed and Load Capacity – Dustproof/Splashproof Type
Vertical installation (Note 2)
Load capacity (kg)
Load capacity (kg)
High-speed type
Horizontal installation (Note 1)
Speed (mm/sec)
Load capacity (kg)
Load capacity (kg)
Medium-speed type
Speed (mm/sec)
Speed (mm/sec)
Load capacity (kg)
Load capacity (kg)
Low-speed type
Speed (mm/sec)
Speed (mm/sec)
Speed (mm/sec)
(Note) In the above graphs, the number following the type name indicates the lead.
(Note 1) The figures for horizontal installation assume use of an external guide or guides.
(Note 2) If the actuator carries a load reaching or exceeding the maximum load capacity at a given speed, the actuator
may overshoot due to vibration. Select an appropriate combination of the actuator and load so that the load is
always kept to around 70% of the maximum load capacity.
111
112
Appendix
z Correlation Diagrams of Speed and Load Capacity – RCP3 Slider Type
Vertical installation
Lead 2
Lead 4
Lead 6
Load capacity (kg)
Load capacity (kg)
Horizontal installation
Speed (mm/sec)
Lead 2
Lead 4
Lead 6
Speed (mm/sec)
Lead 5
Lead 10
Load capacity (kg)
Load capacity (kg)
Lead 2.5
Speed (mm/sec)
Lead 12
Load capacity (kg)
Load capacity (kg)
Lead 10
Lead 3
Lead 6
Speed (mm/sec)
Lead 12
Load capacity (kg)
Lead 6
Speed (mm/sec)
Lead 6
Lead 12
Speed (mm/sec)
Lead 3
Load capacity (kg)
Lead 5
Speed (mm/sec)
Lead 3
112
Lead 2.5
Lead 3
Lead 6
Lead 12
Speed (mm/sec)
113
Appendix
z Correlation Diagrams of Speed and Load Capacity – RCP3 Table Type
Horizontal installation
Vertical installation
Lead 2.5
Lead 2.5
Speed (mm/sec)
Load capacity (kg)
Lead 3
Lead 5
Load capacity (kg)
Lead 10
Lead 10
Speed (mm/sec)
Lead 12
Load capacity (kg)
Load capacity (kg)
Lead 5
Lead 6
Speed (mm/sec)
Lead 3
Lead 6
Lead 12
Speed (mm/sec)
Lead 6
Lead 12
Speed (mm/sec)
Load capacity (kg)
Load capacity (kg)
Lead 3
Lead 3
Lead 6
Lead 12
Speed (mm/sec)
113
114
2
1
0
No.
Position
[mm]
Speed
[mm/s]
Acceleration
[G]
Position Table Record
Deceleration
[G]
Push
[%]
Threshold
[%]
Positioning
band
[mm]
Zone + Zone –
[mm]
[mm]
Acceleration/
deceleration
mode
Incremental
Command Standstill
mode
mode
Date Recorded:
114
Appendix
115
Appendix
Parameter Record
Recorded date:
Types: a:
b:
c:
d:
No.
Type
1
2
3
4
5
6
7
8
9
10
12
13
16
17
18
21
22
23
24
25
a
a
a
a
a
b
d
b
b
b
b
b
c
c
b
c
a
a
a
c
28
b
29
31
32
33
34
35
36
37
38
39
42
43
45
46
53
77
78
79
80
83
b
d
d
d
b
b
b
b
b
c
b
b
c
b
b
b
b
b
b
b
Parameter relating to actuator stroke range
Parameter relating to actuator operating characteristics
Parameter relating to external interface
Servo gain adjustment
Name
Zone limit 1 + side
Zone limit 1 – side
Soft limit + side
Soft limit – side
Home direction [0: Reverse / 1: Forward]
Push-motion completion judgment time
Servo gain number
Default speed
Default acceleration/deceleration
Default positioning band (in-position)
Current-limiting value at standstill after positioning
Current-limiting value during homing
SIO communication speed
Minimum delay time for slave transmitter activation
Home sensor input polarity
Servo-on input disable selection [0: Enable / 1: Disable]
Home offset
Zone limit 2 + side
Zone limit 2 – side
PIO pattern selection
Default direction of excited phase signal detection [0:
Reverse / 1: Forward]
Excited phase signal detection time
Speed loop proportional gain
Speed loop integral gain
Torque filter time constant
Push speed
Safety speed
Automatic servo-off delay time 1
Automatic servo-off delay time 2
Automatic servo-off delay time 3
Positioning complete signal output mode [0: PEND / 1: INP]
Enable function [0: Enable / 1: Disable]
Home check sensor input polarity
Silent interval multiplication factor
Speed override
Default standstill mode
Ball screw lead
Axis operation type
Rotational axis mode selection
Shortcut selection for rotational axis
Absolute unit [0: Do not use / 1: Use]
Unit
Data
mm
mm
mm
mm
msec
mm/sec
G
mm
%
%
bps
msec
mm
mm
mm
msec
mm/sec
mm/sec
sec
sec
sec
times
%
mm
-
115
107
108
Catalog No.: PCON-CY-MJ0156-3A
Head Office: 2690 W. 237th Street, Torrance, CA 90505
TEL (310) 891-6015 FAX (310) 891-0815
Chicago Office: 1261 Hamilton Parkway, Itasca, IL 60143
TEL (630) 467-9900 FAX (630) 467-9912
Atlanta Office: 1220 Kenneston Circle, Marrietta, GA 30066
TEL (678) 354-9470 FAX (678) 354-9471
Home page: www.intelligentactuator.com
Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany
TEL 06196-88950 FAX 06196-889524
The information contained in this document is subject to change without notice for the purpose of product improvement.
Copyright © 2007. Oct. IAI Corporation. All rights reserved.
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