PCON-C/CG/CF Controller Positioner Type

PCON-C/CG/CF Controller Positioner Type
PCON-C/CG/CF
Controller
Positioner Type
Operation Manual Seventeenth Edition
Please Read Before Use
Thank you for purchasing our product.
This Operation Manual explains the handling methods, structure and maintenance of this product, among others,
providing the information you need to know to use the product safely.
Before using the product, be sure to read this manual and fully understand the contents explained herein to
ensure safe use of the product.
The CD or DVD that comes with the product contains operation manuals for IAI products.
When using the product, refer to the necessary portions of the applicable operation manual by printing them out
or displaying them on a PC.
After reading the Operation Manual, keep it in a convenient place so that whoever is handling this product can
reference it quickly when necessary.
[Important]
x
x
x
x
x
x
This Operation Manual is original.
The product cannot be operated in any way unless expressly specified in this Operation Manual. IAI
shall assume no responsibility for the outcome of any operation not specified herein.
Information contained in this Operation Manual is subject to change without notice for the purpose of
product improvement.
If you have any question or comment regarding the content of this manual, please contact the IAI
sales office near you.
Using or copying all or part of this Operation Manual without permission is prohibited.
The company names, names of products and trademarks of each company shown in the sentences
are registered trademarks.
CAUTION
x
Changes to Zone Function
Applicable application versions: V0016 and later
Among the zone signal settings, those that result in “Zone setting+ < Zone setting-” are now effective.
V0015 and earlier: “Zone setting+ d Zone setting-” o A zone signal is not output.
V0016 and later: “Zone setting+ = Zone setting-” o This is the only condition in which a zone signal is not output.
Accordingly, you can now output a zone signal even when a rotary actuator is operated over the 0q position in
the index mode.
An example is given below.
[Rotary actuator in index mode]
Zone signal ON range
Set value
Zone setting+: 70q
Zone setting-: 315q
Set value
Zone setting+: 315q
Zone setting-: 70q
[Linear axis]
Current position
Zone signal output
Zone signal output
Set value
Zone setting+: 70 mm
Zone setting-: 30 mm
Set value
Zone setting+: 30 mm
Zone setting-: 70 mm
CAUTION
1. Use Environment
PCON controllers can be used in an environment of pollution degree 2 or equivalent.
2. 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.
PC software
Teaching pendant
Simple teaching pendant
Data setting unit
Touch panel display
Model number
RCM-101-***
CON-T, RCM-T
RCM-E
RCM-P
RCM-PM-01
Remarks
All are compatible with existing RCP2
controllers
Not compatible with RCP2 controllers
3. Recommendation for Backing up Latest Data
This product uses nonvolatile memory to store the position table and parameters. Normally the memory will
retain the stored data even after the power is disconnected. However, the data may be lost if the nonvolatile
memory becomes faulty.
We strongly recommend that the latest position table and parameter data be backed up so that the data
can be restored quickly when the controller must be replaced for a given reason.
The data can be backed up using the following methods:
[1] Save to a CD or FD from the PC software.
[2] Create a position table sheet or parameter sheet and keep a written record of backup.
CAUTION
4. Initial Parameter Settings at Startup
After applying power, at least the three parameters specified below must be set in accordance with the
specific application.
Inappropriate settings of these parameters will prevent the controller from operating properly, so exercise
due caution.
For details on how to set the parameters, refer to “Parameter Settings” in the operation manual for the PC
or teaching pendant.
[1]
Selecting the PIO pattern
This controller provides six PIO pattern types to meet the needs of various applications.
To select a desired type, set a corresponding value from 0 to 5 in parameter No. 25 (PIO pattern
selection).
The factory setting is “0 [Standard type].”
Parameter No.
25 setting
Feature of PIO pattern
0
Standard type
A basic type supporting 64 positioning points and two zone outputs.
* How to set zone boundaries within which to output a zone signal:
Zone boundaries are set using parameter Nos. 1 and 2 for one zone output, and in
the position table for another zone output.
1
Teaching type
In this type, 64 positioning points and one zone output (boundaries are set in the
position table) are supported.
In addition to the normal positioning mode, the user can also select the teaching
mode in which the actuator can be jogged via commands from a PLC and the
current actuator position can be written to a specified position.
(Note 1) Jog commands from a PLC are also accepted in the positioning mode.
(Note 2) Positions can be rewritten by approximately 100,000 times.
2
256-point positioning type
The number of positioning points is increased to 256, so only one zone output is
available (boundaries are set in the position table).
3
512-point positioning type
The number of positioning points is increased to 512, so no zone output is available.
4
7-point type
The number of positioning points is limited to seven to offer separate direct
command inputs and position complete outputs for respective positions.
PLC ladder sequence circuits can be designed easily.
5
3-point type
Use of the controller as an air cylinder is assumed in this type.
Position complete output signals function differently in this type, compared to the 7point type.
Specifically, the signal functions not only to “indicate position complete,” but also to
“detect a position” in the same manner as auto-switches of an air cylinder.
CAUTION
[2]
Enabling/disabling the servo ON input signal (SON)
The servo ON input signal has been added to allow for servo ON/OFF control on the PLC side.
Depending on the needs, therefore, the user must enable/disable this signal.
To select a desired setting, set “0” or “1” in parameter No. 21 (Servo ON input disable selection).
Enable (use)
0
Disable (do not use)
The factory setting is “0 [Enable].”
[3]
1
Enabling/disabling the pause signal (*STP)
The pause signal uses the contact b logic to provide a failsafe function.
Therefore, this signal must remain ON in normal conditions of use.
Since there are applications where this signal is not used, a parameter is provided to disable the pause
signal so it doesn’ t have to be turned ON.
To select a desired setting, set “0” or “1” in parameter No. 15 (Pause input disable selection).
Enable (use)
Disable (do not use)
The factory setting is “0 [Enable].”
0
1
5. Using a Rotary Actuator in Multi-rotation Specification
Rotary actuators of multi-rotation specification models let you select multi-rotation operation or limited-rotation
operation using a parameter.
5.1 Notes
Pay attention to the setting of the PIO pattern parameter for the controllers specified below.
Each controller does not support relative coordination specification in the PIO pattern specified.
[1] PCON-C/CG: PIO pattern = 5 (User parameter No. 25)
[2] PCON-CY:
PIO pattern = 0 (User parameter No. 25)
5.2
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-*
CE Marking
If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual
(ME0287) that is provided separately.
Table of Contents
Safety Guide .................................................................................................................... 1
1. Overview ................................................................................................................... 9
1.1
1.2
1.3
1.4
1.5
Introduction..........................................................................................................................9
How to Read the Model Specification ................................................................................10
System Configuration ........................................................................................................ 11
1.3.1 Internal Drive-Power Cutoff Relay Type (PCON-C/CF) ................................................ 11
1.3.2 External Drive-Power Cutoff Relay Type (PCON-CG).................................................. 12
Procedure from Unpacking to Test Operation and Adjustment ..........................................13
Warranty............................................................................................................................ 15
1.5.1 Warranty Period............................................................................................................. 15
1.5.2 Scope of Warranty.........................................................................................................15
1.5.3 Honoring the Warranty...................................................................................................15
1.5.4 Limited Liability..............................................................................................................15
1.5.5 Conditions of Conformance with Applicable Standards/Regulations, Etc.,
and Applications ........................................................................................................... 16
1.5.6 Other Items Excluded from Warranty............................................................................ 16
2. Specifications .......................................................................................................... 17
2.1
2.2
2.3
Basic Specifications...........................................................................................................17
Name and Function of Each Part of the Controller ............................................................18
External Dimensions..........................................................................................................20
3. Installation and Noise Elimination............................................................................ 21
3.1
3.2
3.3
3.4
Installation Environment ....................................................................................................21
Power Supply ....................................................................................................................21
Noise Elimination and Grounding ......................................................................................22
Heat Radiation and Installation..........................................................................................23
4. Wiring ...................................................................................................................... 24
4.1
4.2
4.3
4.4
4.5
Internal Drive-Power Cutoff Relay Type (PCON-C/CF) .....................................................24
4.1.1 External Connection Diagram....................................................................................... 24
4.1.2 Wiring the Power Supply/Emergency-Stop Switch ....................................................... 25
External Drive-Power Cutoff Relay Type (PCON-CG) .......................................................32
4.2.1 External Connection Diagram....................................................................................... 32
4.2.2 Wiring the Power Supply/Emergency-Stop Switch ....................................................... 33
Connecting the I/O Cables ................................................................................................36
z PIO pattern 0 [Standard Type].............................................................................................. 36
z PIO pattern 1 [Teaching Type] ............................................................................................. 37
z PIO pattern 2 [256-piont mode] ............................................................................................ 38
z PIO pattern 3 [512-piont mode] ............................................................................................ 39
z PIO pattern 4 [Solenoid valve mode 1]................................................................................. 40
z PIO pattern 5 [Solenoid valve mode 2]................................................................................. 41
Connecting the Actuator ....................................................................................................43
4.4.1 Connecting the PCON-C/CG and Actuator................................................................... 43
4.4.2 Connecting the PCON-CF and Actuator ....................................................................... 45
Connecting the Communication Cable ..............................................................................46
5. I/O Signal Control and Signal Functions.................................................................. 47
5.1
5.2
5.3
Interface Circuit .................................................................................................................47
5.1.1 External Input Specifications......................................................................................... 47
5.1.2 External Output Specifications...................................................................................... 48
PIO Patterns and Signal Assignments...............................................................................49
5.2.1 Explanation of Signal Names........................................................................................ 50
z PIO pattern = 0: Positioning mode [Standard type].............................................................. 50
z PIO pattern = 1: Teaching mode [Teaching type] ................................................................ 51
z PIO pattern = 2: 256-point mode [256-point type] ................................................................ 52
z PIO pattern = 3: 512-point mode [512-point type] ................................................................ 53
z PIO pattern = 4: Solenoid valve mode 1 [7- point type]........................................................ 54
z PIO pattern = 5: Solenoid valve mode 2 [3-point type]......................................................... 55
5.2.2 Signal Assignment Table for Respective PIO Patterns................................................. 56
Details of I/O Signal Functions ..........................................................................................57
5.3.1. Details of Each Input Signal.......................................................................................... 57
„ Operating mode (RMOD) ..................................................................................................... 57
„ Start (CSTR) ......................................................................................................................... 57
„ Command position number (PC1 to PC256)........................................................................ 57
„ Pause (*STP)........................................................................................................................ 58
„ Home return (HOME) ........................................................................................................... 58
„ Servo ON (SON)................................................................................................................... 58
„ Alarm reset (RES) ................................................................................................................ 58
„ Brake release (BKRL)........................................................................................................... 59
„ Operation mode (MODE)...................................................................................................... 59
„ Current-position write (PWRT) ............................................................................................. 59
„ Manual operation switching (JISL) ....................................................................................... 59
„ Jog (JOG+, JOG-) ................................................................................................................ 60
„ Direct position command (ST0 to ST6) [7-point type] .......................................................... 60
„ Movement to each position (ST0 to ST2) [3-point type]....................................................... 61
5.3.2 Details of Each Output Signal....................................................................................... 62
„ Operating mode status (RMDS) ........................................................................................... 62
„ Completed position number (PM1 to PM256) ...................................................................... 62
„ Moving (MOVE) .................................................................................................................... 62
„ Position complete (PEND).................................................................................................... 62
„ Home return completion (HEND) ......................................................................................... 63
„ Zone (ZONE1, ZONE2) ........................................................................................................ 63
„ Current operation mode (MODES)....................................................................................... 63
„ Write completion (WEND) .................................................................................................... 63
„ Movement complete at each position (PE0 to PE6) [7-point type]....................................... 64
„ Position detection output at each position (LS0 to LS2) [3-point type] ................................ 64
„ Ready (SV) ........................................................................................................................... 64
„ Alarm (*ALM) ........................................................................................................................ 64
„ Emergency stop (*EMGS) .................................................................................................... 65
„ Load output judgment status (LOAD)................................................................................... 65
„ Torque level status (TRQS).................................................................................................. 65
„ Output Signal Changes in Each Mode ................................................................................. 65
6. Data Entry <Basics>................................................................................................ 66
6.1
6.2
6.3
6.4
6.5
Description of Position Table .............................................................................................66
6.1.1 Relationship of Push Force at Standstill and Current-Limiting Value ........................... 70
Explanation of Modes ........................................................................................................70
6.2.1 Positioning Mode Push = 0 ........................................................................................... 70
6.2.2 Push & Hold Mode Push = Other than 0 ...................................................................... 70
6.2.3 Torque Check Function in Push & Hold Operation ....................................................... 73
6.2.4 Speed Change during Movement ................................................................................. 75
6.2.5 Operation at Different Acceleration and Deceleration Settings .................................... 75
6.2.6 Pause............................................................................................................................ 76
6.2.7 Zone Signal Output ....................................................................................................... 76
6.2.8 Home Return................................................................................................................. 77
6.2.9 Overview of Teaching Type........................................................................................... 78
6.2.10 Overview of 7-point Type .............................................................................................. 79
6.2.11 Overview of 3-point Type .............................................................................................. 81
Notes on the ROBO Gripper..............................................................................................83
Power-saving Modes at Standby Positions........................................................................85
Using a Rotary Actuator in Multi-rotation Specification ......................................................88
6.5.1 How to Use ................................................................................................................... 88
7. Operation <Practical Steps> .................................................................................... 89
How to Start .......................................................................................................................89
7.1.1 Timings after Power On ................................................................................................ 89
„ Procedure after initial startup until actuator adjustment .................................................... 89
„ Procedure of Normal Operation ......................................................................................... 91
7.1.2 Position Table and Parameter Settings Required for Operation................................... 93
„ Startup adjustment............................................................................................................. 93
Safety speed during manual feed ...................................................................................... 93
Speed override for movement commands from the PLC .................................................. 93
„ Full-scale operation............................................................................................................ 94
Saving energy when the actuator stands by for a long time
after the power has been turned on................................................................................... 94
Saving energy when the actuator stands by after completing
the home return operation effected by the HOME input signal.......................................... 94
Saving energy when the actuator stands by for a long time at the target position ............ 94
Output mode of complete signal ........................................................................................ 94
7.2 Home Return Operation ....................................................................................................95
7.2.1 Method Using the HOME Input Signal (PIO Pattern = 0 to 4) ...................................... 95
7.2.2 Method Used When No HOME Input Signal Is Available (PIO Pattern = 5)................. 97
7.3 Positioning Mode (Back and Forth Movement between Two Points).................................98
7.4 Push & Hold Mode........................................................................................................... 100
7.4.1 Return Action after Push & Hold by Relative Coordinate Specification ...................... 102
7.5 Speed Change during Movement ....................................................................................103
7.6 Operation at Different Acceleration and Deceleration Settings ........................................105
7.7 Pause ..............................................................................................................................107
7.8 Zone Signal Output..........................................................................................................109
7.9 Incremental Moves .......................................................................................................... 112
7.9.1 Judgment Method of End Position.............................................................................. 114
7.9.2 Notes on Incremental Mode........................................................................................ 115
7.10 Jogging/Teaching Using PIO ........................................................................................... 118
7.11 Operation in 7-point Type ................................................................................................ 120
7.12 Operation in 3-point Type ................................................................................................124
7.1
8. Parameter Settings................................................................................................ 128
8.1
8.2
Parameter Table ..............................................................................................................128
Detail Explanation of Parameters ....................................................................................130
8.2.1 Parameters Relating to the Actuator Stroke Range.................................................... 130
z Soft limit (No.3/4 LIMM/LIML) ..................................................................................... 130
z Software limit margin (No. 88 SWLM) ........................................................................ 130
z Zone boundary (1: No.1/2 ZONM/ZONL 2: No.23/24 ZNM2/ZNL2)........................... 131
z Home return direction (No.5 ORG) ............................................................................. 132
z Home return offset (No.22 OFST) .............................................................................. 132
8.2.2 Parameters Relating to the Actuator Operating Characteristics................................. 132
z PIO jog speed (No.26 IOJV) ....................................................................................... 132
z Software limit margin (No. 88 SWLM) ........................................................................ 130
z Zone boundary (1: No.1/2 ZONM/ZONL 2: No.23/24 ZNM2/ZNL2)........................... 131
z Home return direction (No.5 ORG) ............................................................................. 132
z Home return offset (No.22 OFST) .............................................................................. 132
8.2.2 Parameters Relating to the Actuator Operating Characteristics................................. 132
z PIO jog speed (No.26 IOJV) ....................................................................................... 132
z PIO inching distance (No.48 IOID) ............................................................................. 132
z Default speed (No.8 VCMD) ....................................................................................... 132
z Default acceleration/deceleration (No.9 ACMD)......................................................... 133
z Default positioning band (in-position) (No.10 INP) ..................................................... 133
z Current-limiting value at standstill during positioning (No.12 SPOW) ........................ 133
z Current-limiting value during home return (No.13 ODPW) ......................................... 133
z Home sensor input polarity (No. 18, LS)..................................................................... 133
z Speed override (No.46 OVRD) ................................................................................... 133
z Default direction of excited-phase signal detection (No.28 PHSP) ............................ 134
z Excited-phase signal detection time (No.29 PHSP) ................................................... 134
z Safety speed (No.35 SAFV) ....................................................................................... 134
z Automatic servo-off delay time (No.36 ASO1/No.37 ASO2/No.38 ASO3) ................. 135
z Default standstill mode (No.53 HSTP)........................................................................ 135
z Push speed (No.34 PSHV) ......................................................................................... 136
z Push completion judgment time (No.6 PSWT) ........................................................... 136
z Enable function (No.42 FDIO4) .................................................................................. 137
z Polarity of home check sensor input (No.43 AIOF) .................................................... 137
z Load output judgment time (No.50 LDWT)................................................................. 137
z Torque check range (No.51 TRQZ) ............................................................................ 138
z Ball screw lead length (No.77 LEAD) ......................................................................... 138
z Axis operation type (No.78 ATYP).............................................................................. 138
z Rotational axis mode selection (No.79 ATYP) ........................................................... 138
z Shortcut selection for rotational axis (No.80 ATYP) ................................................... 138
z Absolute unit (No.83 ETYP)........................................................................................ 139
z Current-limiting value at standstill after missing work part in push & hold operation
(No. 91 PSFC)................................................................................................................. 139
8.2.3 Parameters Relating to the External Interface............................................................ 140
z PIO pattern selection (No.25 IOPN) ........................................................................... 140
z Movement command type (No.27 FPIO) .................................................................... 141
z Pause input disable selection (No.15 FPIO)............................................................... 142
z Servo ON input disable selection (No.21 FPIO) ......................................................... 142
z Home-return input disable selection (No.40 FPIO)..................................................... 142
z Operating-mode input disable selection (No.41 FPIO)............................................... 142
z Output mode of position complete signal (No.39 FPIO) ............................................. 143
z SIO communication speed (No.16 BRSL) .................................................................. 143
z Minimum delay time for slave transmitter activation (No.17 RTIM)............................ 143
z Silent interval multiplier (No.45 SIVM) ........................................................................ 144
8.2.4
z
z
z
z
Servo Gain Adjustment ............................................................................................... 145
Servo gain number (No.7 PLG0) ................................................................................ 145
Speed loop proportional gain (No.31 VLPG) .............................................................. 145
Speed loop integral gain (No.32 VLPT) ...................................................................... 146
Torque filter time constant (No.33 TRQF) .................................................................. 146
9. PC/Teaching Pendant Connection Method in Multi-axis Configurations ................ 147
9.1
9.2
9.3
9.4
9.5
Connection Example .......................................................................................................147
SIO Converter (Optional).................................................................................................148
Address Switch................................................................................................................150
Connection Cables ..........................................................................................................150
Detail Connection Diagram..............................................................................................151
10. Troubleshooting..................................................................................................... 152
10.1
10.2
10.3
10.4
Action to Be Taken upon Occurrence of Problem ............................................................152
Alarm Level Classification ...............................................................................................153
Alarm Description Output Using PIO ...............................................................................154
Alarm Description and Cause/Action ...............................................................................155
(1) Message level alarms......................................................................................................... 155
(2) Cold-start level alarms........................................................................................................ 160
10.5 Messages Displayed during Operation Using the Teaching Pendant ..............................162
10.6 Specific Problems ............................................................................................................165
z I/O signals cannot be exchanged with the PLC.................................................................. 165
z The ALM lamp illuminates when the power is input. .......................................................... 165
z The SV lamp does not illuminate when the servo ON signal is
input after the power was input. ......................................................................................... 165
z Home return ends in the middle in a vertical application.................................................... 166
z Noise occurs during downward movements in a vertical application. ................................ 166
z Vibration occurs when the actuator is stopped................................................................... 166
z The actuator overshoots when decelerated to a stop. ....................................................... 166
z The home and target positions sometimes shift................................................................. 166
z The speed is slow during push & hold operation................................................................ 166
z The actuator moves only a half of, or twice as much as, the specified movement. ........... 166
z A servo error occurred while the actuator was moving (ROBO Gripper). .......................... 167
z Abnormal operation results when the servo is turned ON after the power ON. ................. 168
z The SV lamp blinks............................................................................................................. 168
* Appendix.................................................................................................................... 169
List of Specifications of Connectable Actuators.........................................................................169
Correlation diagram of speed and loading capacity for the slider type (motor-straight type) .....181
Correlation diagram of speed and loading capacity for the slider type (motor-reversing type) ..182
Correlation diagram of speed and loading capacity for the standard rod type...........................183
Correlation diagram of speed and loading capacity for the single-guide type ...........................184
Correlation diagram of speed and loading capacity for the double-guide type ..........................185
Correlation diagram of speed and loading capacity for the dustproof/splash-proof type ...........186
Correlation diagram of speed and load capacity for the high-thrust type ..................................187
Correlation diagram of speed and loading capacity for the RCP3 slider type............................188
Correlation diagram of speed and loading capacity for the RCP3 table type ............................189
Push Force and Current-limiting Value......................................................................................190
Fault check and replacement of the cooling fan ........................................................................198
Example of Basic PCON Positioning Sequence........................................................................200
Recording of Parameters ..........................................................................................................203
Change History..........................................................................................................................205
Safety Guide
“Safety Guide” has been written to use the machine safely and so prevent personal injury or property
damage beforehand. Make sure to read it before the operation of this product.
Safety Precautions for Our Products
The common safety precautions for the use of any of our robots in each operation.
No.
1
Operation
Description
Model
Selection
Description
Ɣ This product has not been planned and designed for the application where
high level of safety is required, so the guarantee of the protection of
human life is impossible. Accordingly, do not use it in any of 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 (For vehicle, railway facility or air navigation facility)
3) Important safety parts of machinery (Safety device, etc.)
Ɣ Do not use the product outside the specifications. Failure to do so may
considerably shorten the life of the product.
Ɣ Do not use it in any of the following environments.
1) Location where there is any inflammable gas, inflammable object or
explosive
2) Place with potential exposure to radiation
3) Location with the ambient temperature or relative humidity exceeding
the specification range
4) Location where radiant heat is added from direct sunlight or other large
heat source
5) Location where condensation occurs due to abrupt temperature
changes
6) Location where there is any corrosive gas (sulfuric acid or hydrochloric
acid)
7) Location exposed to significant amount of dust, salt or iron powder
8) Location subject to direct vibration or impact
Ɣ For an actuator used in vertical orientation, select a model which is
equipped with a brake. If selecting a model with no brake, the moving part
may drop when the power is turned OFF and may cause an accident such
as an injury or damage on the work piece.
1
No.
2
2
Operation
Description
Transportation
3
Storage and
Preservation
4
Installation
and Start
Description
Ɣ When carrying a heavy object, do the work with two or more persons or
utilize equipment such as crane.
Ɣ When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
Ɣ When in transportation, consider well about the positions to hold, weight
and weight balance and pay special attention to the carried object so it
would not get hit or dropped.
Ɣ Transport it using an appropriate transportation measure.
The actuators available for transportation with a crane have eyebolts
attached or there are tapped holes to attach bolts. Follow the instructions
in the operation manual for each model.
Ɣ Do not step or sit on the package.
Ɣ Do not put any heavy thing that can deform the package, on it.
Ɣ When using a crane capable of 1t or more of weight, have an operator
who has qualifications for crane operation and sling work.
Ɣ When using a crane or equivalent equipments, make sure not to hang a
load that weighs more than the equipment’s capability limit.
Ɣ Use a hook that is suitable for the load. Consider the safety factor of the
hook in such factors as shear strength.
Ɣ Do not get on the load that is hung on a crane.
Ɣ Do not leave a load hung up with a crane.
Ɣ Do not stand under the load that is hung up with a crane.
Ɣ The storage and preservation environment conforms to the installation
environment. However, especially give consideration to the prevention of
condensation.
Ɣ Store the products with a consideration not to fall them over or drop due to
an act of God such as earthquake.
(1) Installation of Robot Main Body and Controller, etc.
Ɣ Make sure to securely hold and fix the product (including the work part). A
fall, drop or abnormal motion of the product may cause a damage or injury.
Also, be equipped for a fall-over or drop due to an act of God such as
earthquake.
Ɣ Do not get on or put anything on the product. Failure to do so may cause
an accidental fall, injury or damage to the product due to a drop of
anything, malfunction of the product, performance degradation, or
shortening of its life.
Ɣ When using the product in any of the places specified below, provide a
sufficient shield.
1) Location where electric noise is generated
2) Location where high electrical or magnetic field is present
3) Location with the mains or power lines passing nearby
4) Location where the product may come in contact with water, oil or
chemical droplets
No.
4
Operation
Description
Installation
and Start
Description
(2) Cable Wiring
Ɣ Use our company’s genuine cables for connecting between the actuator
and controller, and for the teaching tool.
Ɣ Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not
coil it around. Do not insert it. Do not put any heavy thing on it. Failure to
do so may cause a fire, electric shock or malfunction due to leakage or
continuity error.
Ɣ Perform the wiring for the product, after turning OFF the power to the unit,
so that there is no wiring error.
Ɣ When the direct current power (+24V) is connected, take the great care of
the directions of positive and negative poles. If the connection direction is
not correct, it might cause a fire, product breakdown or malfunction.
Ɣ Connect the cable connector securely so that there is no disconnection or
looseness. Failure to do so may cause a fire, electric shock or malfunction
of the product.
Ɣ Never cut and/or reconnect the cables supplied with the product for the
purpose of extending or shortening the cable length. Failure to do so may
cause the product to malfunction or cause fire.
(3) Grounding
Ɣ The grounding operation should be performed to prevent an electric shock
or electrostatic charge, enhance the noise-resistance ability and control
the unnecessary electromagnetic radiation.
Ɣ For the ground terminal on the AC power cable of the controller and the
grounding plate in the control panel, make sure to use a twisted pair cable
2
with wire thickness 0.5mm (AWG20 or equivalent) or more for grounding
work. For security grounding, it is necessary to select an appropriate wire
thickness suitable for the load. Perform wiring that satisfies the
specifications (electrical equipment technical standards).
Ɣ Perform Class D Grounding (former Class 3 Grounding with ground
resistance 100: or below).
3
No.
4
5
4
Operation
Description
Installation
and Start
Teaching
Description
(4) Safety Measures
Ɣ When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
Ɣ When the product is under operation or in the ready mode, take the safety
measures (such as the installation of safety and protection fence) so that
nobody can enter the area within the robot’s movable range. When the
robot under operation is touched, it may result in death or serious injury.
Ɣ Make sure to install the emergency stop circuit so that the unit can be
stopped immediately in an emergency during the unit operation.
Ɣ Take the safety measure not to start up the unit only with the power turning
ON. Failure to do so may start up the machine suddenly and cause an
injury or damage to the product.
Ɣ Take the safety measure not to start up the machine only with the
emergency stop cancellation or recovery after the power failure. Failure to
do so may result in an electric shock or injury due to unexpected power
input.
Ɣ When the installation or adjustment operation is to be performed, give
clear warnings such as “Under Operation; Do not turn ON the power!” etc.
Sudden power input may cause an electric shock or injury.
Ɣ Take the measure so that the work part is not dropped in power failure or
emergency stop.
Ɣ Wear protection gloves, goggle or safety shoes, as necessary, to secure
safety.
Ɣ Do not insert a finger or object in the openings in the product. Failure to do
so may cause an injury, electric shock, damage to the product or fire.
Ɣ When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
Ɣ When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
Ɣ Perform the teaching operation from outside the safety protection fence, if
possible. In the case that the operation is to be performed unavoidably
inside the safety protection fence, prepare the “Stipulations for the
Operation” and make sure that all the workers acknowledge and
understand them well.
Ɣ When the operation is to be performed inside the safety protection fence,
the worker should have an emergency stop switch at hand with him so that
the unit can be stopped any time in an emergency.
Ɣ When the operation is to be performed inside the safety protection fence,
in addition to the workers, arrange a watchman so that the machine can
be stopped any time in an emergency. Also, keep watch on the operation
so that any third person can not operate the switches carelessly.
Ɣ Place a sign “Under Operation” at the position easy to see.
Ɣ When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
No.
6
7
Operation
Description
Trial Operation
Automatic
Operation
Description
Ɣ When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
Ɣ After the teaching or programming operation, perform the check operation
one step by one step and then shift to the automatic operation.
Ɣ When the check operation is to be performed inside the safety protection
fence, perform the check operation using the previously specified work
procedure like the teaching operation.
Ɣ Make sure to perform the programmed operation check at the safety
speed. Failure to do so may result in an accident due to unexpected
motion caused by a program error, etc.
Ɣ Do not touch the terminal block or any of the various setting switches in
the power ON mode. Failure to do so may result in an electric shock or
malfunction.
Ɣ Check before starting the automatic operation or rebooting after operation
stop that there is nobody in the safety protection fence.
Ɣ Before starting automatic operation, make sure that all peripheral
equipment is in an automatic-operation-ready state and there is no alarm
indication.
Ɣ Make sure to operate automatic operation start from outside of the safety
protection fence.
Ɣ In the case that there is any abnormal heating, smoke, offensive smell, or
abnormal noise in the product, immediately stop the machine and turn
OFF the power switch. Failure to do so may result in a fire or damage to
the product.
Ɣ When a power failure occurs, turn OFF the power switch. Failure to do so
may cause an injury or damage to the product, due to a sudden motion of
the product in the recovery operation from the power failure.
5
No.
8
9
6
Operation
Description
Maintenance
and Inspection
10
Modification
and Dismantle
Disposal
11
Other
Description
Ɣ When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
Ɣ Perform the work out of the safety protection fence, if possible. In the case
that the operation is to be performed unavoidably inside the safety
protection fence, prepare the “Stipulations for the Operation” and make
sure that all the workers acknowledge and understand them well.
Ɣ When the work is to be performed inside the safety protection fence,
basically turn OFF the power switch.
Ɣ When the operation is to be performed inside the safety protection fence,
the worker should have an emergency stop switch at hand with him so that
the unit can be stopped any time in an emergency.
Ɣ When the operation is to be performed inside the safety protection fence,
in addition to the workers, arrange a watchman so that the machine can
be stopped any time in an emergency. Also, keep watch on the operation
so that any third person can not operate the switches carelessly.
Ɣ Place a sign “Under Operation” at the position easy to see.
Ɣ For the grease for the guide or ball screw, use appropriate grease
according to the Operation Manual for each model.
Ɣ Do not perform the dielectric strength test. Failure to do so may result in a
damage to the product.
Ɣ When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
Ɣ The slider or rod may get misaligned OFF the stop position if the servo is
turned OFF. Be careful not to get injured or damaged due to an
unnecessary operation.
Ɣ Pay attention not to lose the cover or untightened screws, and make sure
to put the product back to the original condition after maintenance and
inspection works.
Use in incomplete condition may cause damage to the product or an injury.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
Ɣ Do not modify, disassemble, assemble or use of maintenance parts not
specified based at your own discretion.
Ɣ When the product becomes no longer usable or necessary, dispose of it
properly as an industrial waste.
Ɣ When removing the actuator for disposal, pay attention to drop of
components when detaching screws.
Ɣ Do not put the product in a fire when disposing of it.
The product may burst or generate toxic gases.
Ɣ Do not come close to the product or the harnesses if you are a person
who requires a support of medical devices such as a pacemaker. Doing so
may affect the performance of your medical device.
Ɣ See Overseas Specifications Compliance Manual to check whether
complies if necessary.
Ɣ For the handling of actuators and controllers, follow the dedicated
operation manual of each unit to ensure the safety.
Alert Indication
The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the
warning level, as follows, and described in the Operation Manual for each model.
Level
Degree of Danger and Damage
Danger
This indicates an imminently hazardous situation which, if the
product is not handled correctly, will result in death or serious injury.
Danger
Warning
This indicates a potentially hazardous situation which, if the product
is not handled correctly, could result in death or serious injury.
Warning
This indicates a potentially hazardous situation which, if the product
Caution is not handled correctly, may result in minor injury or property
damage.
Caution
Notice
This indicates lower possibility for the injury, but should be kept to
use this product properly.
Symbol
Notice
7
8
1. Overview
1. Overview
1.1 Introduction
This product is a dedicated RCP2 / RCP3 actuator controller that provides the same functions of the RCP2
controller as well as a set of new functions designed to achieve greater convenience and safety.
The product also provides a power-saving function in response to growing energy-saving needs.
The key features and functions are listed below.
z More positioning points
The standard type supports up to 64 points, while the extended types can handle up to 512 points. Availability
of more positioning points is ideal for production lines where many types of products are produced in small
volumes.
z Setting of zone output boundaries for each position in the position table
Before, zone output boundaries were set by parameters and therefore fixed. To add flexibility, new fields
have been added to the position table so that different boundaries can be set for each position.
This feature is useful in preventing contact with surrounding equipment and reducing the tact time, among
others.
z Separate acceleration/deceleration settings
Acceleration and deceleration are now set in separate fields of the position table.
Depending on the material or shape of the load, it is desirable to reduce shock and vibration when the
actuator stops.
Since acceleration and deceleration can be set differently, only the deceleration value can be reduced to
make the deceleration curve more gradual.
z Limitation of feed speed in test operation and adjustment
The feed speed to be used in test operation and adjustment can be limited for added safety.
z Power-saving measures
In general, pulse motors consume more holding current in standstill state than AC servo motors. This product
provides a power-saving means to support situations where the actuator must stand by for a long period.
When actually starting up your system or if you have encountered any problem, also refer to the operation
manuals for the actuator, teaching pendant, PC software and other components used with the system, in
addition to this manual.
This manual does not cover all possible operations other than normal operations, or unexpected events
such as complex signal changes resulting from use of critical timings.
Accordingly, you should consider items not specifically explained in this manual as “prohibited.”
*
We have made every effort to ensure precision of the information provided in this manual. Should you find an
error, however, or if you have any comment, please contact IAI.
Keep this manual in a convenient place so it can be referenced readily when necessary.
9
1. Overview
1.2 How to Read the Model Specification
PCON - C - 56PI - NP - 2 - 0 - ABU - H
<Series>
<Type>
10
High-acceleration, loading
specification
C:
Positioner type with internal drivepower cutoff relay
CG: Positioner type with external drivepower cutoff relay
CF: High-output positioner type with internal
drive-power cutoff relay
Specified for connecting the
simple absolute unit
<Power-supply voltage>
0: 24 VDC
<Actuator type>
[Motor flange size]
20P: 20, square
28P: 28, square
28SP: 28, square (RA3 type only)
42P: 42, square
56P: 56, square
86P: 86 square
[Encoder type]
I:
Incremental
<I/O flat cable length>
0: No cable
2: 2 m
3: 3 m
5: 5 m
<Input/output signal pattern>
NP: NPN (Sink type)
PN: PNP (Source type)
DV: DeviceNet connection specification
CC: CC-Link connection specification
PR: PROFIBUS connection specification
CN: CompoNet connection specification
ML: MECHATROLINK connection
specification
EC: EtherCAT connection specification
EP: EtherNet/IP connection
specification
1.3 System Configuration
1.3.1
Internal Drive-Power Cutoff Relay Type (PCON-C/CF)
1. Overview
Host system <PLC>
Standard teaching
pendant
<CON-T, RCM-T>
Supplied flat
cable
24-VDC I/O
power supply
PC
PC software
(optional)
RS232C type
USB type
RCP2 actuator
<RCM-101-MW>
<RCM 101-USB>
External EMG switch
Input power
24 V
supply
0V
24 VDC
Caution: Connect one end of the EMG switch to the 24-V output of the input power supply and the
other end to the S1 terminal. Also short the S2 and EMG terminals using a jumper wire.
11
External Drive-Power Cutoff Relay Type (PCON-CG)
1. Overview
1.3.2
Host system <PLC>
Standard teaching
pendant
<CON-t, RCM-T>
Supplied flat
cable
24-VDC I/O
power supply
PC
PC software
(optional)
RS232C type
USB type
<RCM-101-MW>
<RCM 101-USB>
RCP2 actuator
Input power
supply 24
VDC
12
Motor drivepower cutoff
circuit
Safety relay
Contactor
1.4 Procedure from Unpacking to Test Operation and Adjustment
1
Check the content in the package
If you found any missing part or part specified for a different model, please contact your dealer.
z Controller
z Actuator
z I/O flat cable
z Motor cable
z Encoder cable
PCON-C
CB-PAC PIO* * *
CB-RCP2-MA* * *
CB-RCP2-PA* * *
PCON-CG
PCON-CF
z Operation manual
<Options>
z Teaching pendant
RCM-T (standard)
RCM-E (simple)
RCM-P (data setting unit)
2
[1]
[2]
3
x
x
x
x
x
z PC software
RC232C type <RCM-101-MW>
RC232 type <RCM-101-USB>
(Software comes with connection cables.)
Installation
Affix the actuator first, and then install the robot hand. o Refer to the operation manual for the applicable
actuator.
Install the controller.
o Chapter 3, “Installation”
Wiring/connection
Wire the 24-V power supply.
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
Turn on the power and check for alarms
Supply the 24-V power after confirming that the emergency stop circuit is not actuated.
If the monitor LED [SV/ALM] on the front face of the controller illuminates for two seconds and then turns off, the
controller is functioning properly. If [SV/ALM] illuminates in red, it means an alarm has generated. Connect a PC
or teaching pendant to check the nature of the alarm, and remove the cause by referring to Chapter 10,
“Troubleshooting.”
5
Set the PIO pattern/safety speed
Set the mode selector switch on the front face of the controller to the “MANU” side.
On the PC screen or teaching pendant, set the MANU operating mode to [Teaching mode: Enable safety
speed/Inhibit PIOs].
In this condition, set appropriate values in parameter No. 25 (PIO pattern selection) and parameter No. 35
(Safety speed).
* The factory-set PIO pattern and safety speed are “standard type” and “100 mm/s or less,” respectively. o
Chapter 8, “Parameter Settings”
13
1. Overview
If you are using this product for the first time, carry out each step by referring to the procedure below to ensure
that all necessary items are checked and all wires are connected correctly.
1. Overview
6
Turn on the servo
Confirm that the slider or rod is not contacting a mechanical end.
If the slider/rod is contacting a mechanical end, move it away from the mechanical end.
If the actuator is equipped with a brake, turn on the brake forced-release switch to forcibly release the brake
before moving the actuator.
The load may suddenly drop when the brake is released, so exercise due caution not to pinch your hand or
damage the robot hand by the falling load.
Turn on the servo from the PC or teaching pendant.
If the actuator enters a servo lock mode and the monitor LED [SV/ALM] on the front face of the controller
illuminates in green, the controller is functioning properly.
7
Check the operation of the safety circuit
Confirm that the emergency stop circuit (or motor drive-power cutoff circuit) operates properly.
o Chapter 4, “Wiring”
8
Set a target position
Perform home return first, and then set a target position in the “Position” field for each position in the position
table. Determine a desired position by finely adjusting the load or robot hand.
* Once a target position is set, all other fields (speed, acceleration/deceleration, positioning band, etc.) will be
automatically populated with their default values.
o Chapter 6, “Position Table Settings”
* To ensure safety, it is recommended that the safety speed be enabled during initial movements.
To move the actuator at the actual speed set in the “Speed” field of the position table, change the MANU
operating mode to [Teaching mode 2: Disable safety speed/Inhibit PIOs].
9
Trial operation and adjustment
Set the mode selector switch on the front panel of the controller to the “AUTO” side.
Input a movement command from the PLC to perform positioning.
If necessary, perform fine adjustments including the items specified below:
x Vibration or noise may generate depending on the weight, material or shape of the load. If vibration or noise
is observed, lower the speed, acceleration and/or deceleration.
x To prevent contact with surrounding equipment or reduce the tact time, adjust the boundaries for each zone
output signal and also adjust the positioning band.
x Adjust the current-limiting value, judgment time and push speed to be used in push & hold operation.
Caution: Before changing any parameter, set the mode selector switch to the “MANU” side. Or,
keep the mode selector switch on the “AUTO” side and turn on the MODE input signal.
14
1.5 Warranty
1. Overview
1.5.1 Warranty Period
One of the following periods, whichever is shorter:
18 months after shipment from our factory
12 months after delivery to a specified location
1.5.2 Scope of Warranty
Our products are covered by warranty when all of the following conditions are met. Faulty products covered
by warranty will be replaced or repaired free of charge:
(1) The breakdown or problem in question pertains to our product as delivered by us or our authorized dealer.
(2) The breakdown or problem in question occurred during the warranty period.
(3) The breakdown or problem in question occurred while the product was in use for an appropriate purpose
under the conditions and environment of use specified in the operation manual and catalog.
(4) The breakdown or problem in question was caused by a specification defect or problem, or by the poor
quality of our product.
Note that breakdowns due to any of the following reasons are excluded from the scope of warranty:
[1] Anything other than our product
[2] Modification or repair performed by a party other than us (unless we have approved such
modification or repair)
[3] Anything that could not be easily predicted with the level of science and technology available at the
time of shipment from our company
[4] A natural disaster, man-made disaster, incident or accident for which we are not liable
[5] Natural fading of paint or other symptoms of agin
[6] Wear, depletion or other expected result of use
[7] Operation noise, vibration or other subjective sensation not affecting function or maintenance
Note that the warranty only covers our product as delivered and that any secondary loss arising from a
breakdown of our product is excluded from the scope of warranty.
1.5.3 Honoring the Warranty
As a rule, the product must be brought to us for repair under warranty.
1.5.4 Limited Liability
[1] We shall assume no liability for any special damage, consequential loss or passive loss such as a loss of
expected profit arising from or in connection with our product.
[2] We shall not be liable for any program or control method created by the customer to operate our product
or for the result of such program or control method.
15
1. Overview
1.5.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications
(1) If our product is combined with another product or any system, device, etc., used by the customer, the
customer must first check the applicable standards, regulations and/or rules. The customer is also
responsible for confirming that such combination with our product conforms to the applicable standards, etc.
In such a case we will not be liable for the conformance of our product with the applicable standards, etc.
(2) Our product is for general industrial use. It is not intended or designed for the applications specified below,
which require a high level of safety. Accordingly, as a rule our product cannot be used in these applications.
Contact us if you must use our product for any of these applications:
[1] Medical equipment pertaining to maintenance or management of human life or health
[2] A mechanism or mechanical equipment intended to move or transport people (such as a vehicle,
railway facility or aviation facility)
[3] Important safety parts of mechanical equipment (such as safety devices)
[4] Equipment used to handle cultural assets, art or other irreplaceable items
(3) Contact us at the earliest opportunity if our product is to be used in any condition or environment that
differs from what is specified in the catalog or operation manual.
1.5.6 Other Items Excluded from Warranty
The price of the product delivered to you does not include expenses associated with programming, the dispatch
of engineers, etc. Accordingly, a separate fee will be charged in the following cases even during the warranty
period:
[1]
[2]
[3]
[4]
16
Guidance for installation/adjustment and witnessing of test operation
Maintenance and inspection
Technical guidance and education on operating/wiring methods, etc.
Technical guidance and education on programming and other items related to programs
2. Specifications
2.1 Basic Specifications
Number of controlled axes
Supply voltage
Power-source Actuator
capacity
20, 28P motor
35, 42, 56P motor
86P motor
Heat output
Control method
Encoder resolution
Positioning command
PCON-C
PCON-CG
PCON-CF
(Internal Drive-Power Cutoff
Relay Type)
(External Drive-Power Cutoff
Relay Type)
(Internal Drive-Power Cutoff
Relay Type)
1 axis/unit
24 VDC r 10%
Rated
Max. *2
0.4 A
2.0 A
1.2 A
Rated
0.4 A
1.2 A
Max. *2
Rated
Max. *3
2.0 A
PIO interface
4.2 A
6.0 A
9.6 W
9.6 W
26.4 W
Weak field-magnet vector control
Incremental specification 800 Puls/rev
Number of positioning points: 64 points (standard) to 512 points (maximum)
* The number of positioning points varies depending on the selected PIO
pattern.
Position data and parameters are saved in nonvolatile memory.
Serial EEPROM can be rewritten approx. 100,000 times.
24-VDC I/O
LED indicators
SV (green) --- Servo on, ALM (red) --- Alarm present
Serial communication
Electromagnetic-brake forced
release function
Cable length
RS485, 1 channel (conforming to the Modbus protocol)
Backup memory
Isolation strength
Environment
Surrounding air
temperature
Surrounding
humidity
Surrounding
environment
Storage
temperature
6SHFL¿FDWLRQV
Specification item
NOM/BK RLS switch (front panel)
Actuator cable: 20 m or less
I/O flat cable: 5 m or less
500 VDC, 10 M:
0 to 40qC
85%RH or less (non-condensing)
Refer to 3.1 Installation Environment
-10 to 65qC
Storage humidity 90%RH or less (non-condensing)
Vibration
resistance
Protection class
Cooling method
Weight
External dimensions
10 to 57 Hz in XYZ directions / Pulsating amplitude: 0.035 mm (continuous),
0.075 mm (intermittent)
2
2
57 to 150 Hz in XYZ directions: 4.9 m/s (continuous), 9.8 m/s
IP20
Natural air cooling
Forced air cooling
300 g or less
300 g or less
320 g or less
35 W x 175.5 H x 68.1 D mm
*1 Rush current of around 5 to 12 times the rated current flows for approx. 1 to 2 msec
after the power is turned on. Take note that the value of rush current varies
according to the impedance of the power-supply line.
*2 Excitation detection operation is performed after the power is turned on. The
maximum current flows during this operation (normally for 100 msec).
Note, however, that approx. 6.0 A of current flows (for approx. 1 to 2 msec) if the
motor drive source is cut off and then turned on again.
*3 Excitation detection operation is performed after the power is turned on. The
maximum current flows during this operation (normally for 100 msec).
Note, however, that approx. 10.0 A of current flows (for approx. 1 to 2 msec) if the
motor drive source is cut off and then turned on again.
For the +24-V DC power supply,
select a unit of the “peak load
accommodation” specification or
having a sufficient allowance with
respect to the peak load. In
particular, exercise caution when
your system has a remote sensing
function.
Caution: Position data, parameters, etc., are written to the EEPROM. Take note
that the EEPROM can be rewritten for up to approx. 100,000 times.
17
2.2 Name and Function of Each Part of the Controller
6SHFL¿FDWLRQV
Status indicator LEDs
SV (green) --- The servo is on
A blinking green light indicates
that the automatic servo-off
mode is active.
ALM (red) --- An alarm is present.
The motor drive-power cutoff
circuit is indicated here.
The PIO pattern number is specified here.
The input/output signal pattern is indicated
here.
PIO connector
Connects the PLC and PIOs.
Mode selector switch
Address switch
SIO connector
Connects the teaching
pendant/PC.
Encoder connector
The model name of the actuator to
be connected is indicated here.
Connects the encoder cable.
Brake release switch
Motor connector
Connects the motor cable.
Power-supply
terminal block
„ Indication of PIO pattern number
If you have multiple systems and a different PIO pattern is used for each system, it is recommended that you
specify an applicable PIO pattern number on each controller to prevent confusion.
„ Explanation of input/output signal pattern
NPN --- Sink type
PNP --- Source type
„ Explanation of motor drive-power cutoff circuit
INT --- PCON-C/CF [Internal drive-power cutoff relay type]
EXT --- PCON-CG [External drive-power cutoff relay type]
„ Indication of model name of actuator to be connected
The type name, ball screw lead length and stroke of the applicable actuator are indicated. When connecting
the cables, check this information to confirm that they are connected to the correct actuator.
Example of indication:
RA4C
L: 5 mm
ST: 200
18
m The actuator type is RA4C.
m The ball screw lead length is 5 mm.
m The stroke is 200 mm.
[2]
Mode selector switch
This interlock switch is used to prevent unexpected movement or data rewrite as a result of duplicate
operation in which a movement command is input from the PLC and operation using the PC/teaching
pendant is performed at the same time.
AUTO: Always set to the “AUTO” side during auto operation using PIO signals from the PLC.
MANU: Always set to the “MANU” side during operation using the PC/teaching pendant.
[3]
Brake release switch
When the actuator is equipped with a brake, this switch is used to forcibly release the brake.
RLS: Forcibly release the brake
NOR: Normal setting (The brake is released by the controller.)
6SHFL¿FDWLRQV
„ Explanation of each switch
[1] Address switch
If multiple axes are used, the PC/teaching pendant must be plugged into/out of different connectors to
communicate with different axes.
To save the hassle, you can use link cables to connect all axes via SIO converters.
Under this method, however, the PC/teaching pendant must be able to identify each axis by the number
assigned to the axis.
This switch is used to set this number.
For details, refer to Chapter 9, “How to Connect a PC/Teaching Pendant to Multiple Axes.”
U Warning: The load may suddenly drop when the brake is forcibly released, so exercise due caution
not to pinch your hand or damage the work part or robot hand by the falling load.
„ Explanation of power-supply terminal block
[1] PCON-C/CF [Internal drive-power cutoff relay type]
Provide a contact output for the emergency-stop button on the teaching pendant.
S1, S2
* Whether or not a teaching pendant is connected is determined by an internal
circuit. If no teaching pendant is connected, the S1 and S2 terminals are closed.
Provide a contact for cutting off the motor drive power. MPI and MPO represent the
input side and output side of the motor power supply, respectively. (Short these
MPI, MPO
terminals using a jumper wire if not used. The controller is shipped with MPI and MPO
shorted.)
24V
Positive side of the 24-VDC input power supply
0V
Negative side of the 24-VDC input power supply
EMG[2]
Emergency-stop input
PCON-CG [External driver-power cutoff relay type]
Provide a contact output for the emergency-stop button on the teaching pendant.
S1, S2
* Whether or not a teaching pendant is connected is determined by an internal
circuit. If no teaching pendant is connected, the S1 and S2 terminals are closed.
Motor drive-power cutoff contacts conforming to safety category 1
MPI, MPO
MPI and MPO represent the input side and output side of the motor power supply,
respectively. (Connect an external safety circuit.)
24V
Positive side of the 24-VDC input power supply
0V
Negative side of the 24-VDC input power supply
EMGEmergency stop signal detection
19
2.3 External Dimensions
An external view and dimensions of the product are shown below.
‡5
6SHFL¿FDWLRQV
84
1705 (Mounting dimension)
178.5
68.1
5
35
20
3. Installation and Noise Elimination
Pay due attention to the installation environment of the controller.
3.1 Installation Environment
3. Installation and Noise Elimination
This product is capable for use in the environment of pollution degree 2*1 or equivalent.
*1 Pollution Degree 2 : Environment that may cause non-conductive pollution or transient conductive pollution
by frost (IEC60664-1)
[1] Installation Environment
Do not use this product in the following environment.
• Location where the surrounding air temperature exceeds the range of 0 to 40°C
• Location where condensation occurs due to abrupt temperature changes
• Location where relative humidity exceeds 85%RH
• Location exposed to corrosive gases or combustible gases
• Location exposed to significant amount of dust, salt or iron powder
• Location subject to direct vibration or impact
• Location exposed to direct sunlight
• Location where the product may come in contact with water, oil or chemical droplets
• Environment that blocks the air vent [Refer to 3.3 Noise Elimination and Grounding]
When using the product in any of the locations specified below, provide a sufficient shield.
• Location subject to electrostatic noise
• Location where high electrical or magnetic field is present
• Location with the mains or power lines passing nearby
[2] Storage and Preservation Environment
• Storage and preservation environment follows the installation environment. Especially, when the product is
to be left for a long time, pay special attention to condensed water.
Unless specially specified, moisture absorbency protection is not included in the package when the machine
is delivered. In the case that the machine is to be stored in an environment where dew condensation is
anticipated, take the condensation preventive measures from outside of the entire package, or directly after
opening the package.
3.2 Power Supply
The power supply specification is 24 VDC r 10%.
(Supply current: 2 A max.: C/CG, 6 A: CF)
21
3.3 Noise Elimination and Grounding
This section explains how to eliminate noise in the use of the controller.
(1) Wiring and power supply
3. Installation and Noise Elimination
[1]
Provide a dedicated class D grounding using a wire with a size of 2.0 to 5.5 mm2 or larger.
Controller
Other
equipment
Controller
Other
equipment
Use a cable of a
maximum possible
size and keep the
wiring length at a
minimum.
Metal frame
Class D grounding
[2]
Good
Avoid this grounding method.
Precautions regarding wiring method
Use a twisted cable for connection to the 24-VDC external power supply.
Separate the controller cables from high-power lines such as a cable connecting to a power circuit. (Do not
bundle together the controller cables with high-power lines or place them in the same cable duct.)
When extending the supplied motor cable or encoder cable, consult IAI’s Technical Support.
(2) Noise sources and elimination
Among the numerous noise sources, solenoid valves, magnet switches and relays are of particular concern
when building a system. Noise from these sources can be eliminated by implementing the measures specified
below.
[1]
AC solenoid valves, magnet switches and relays
Measure: Install a surge absorber in parallel with the coil.
Å
22
Point
Install a surge absorber to each coil over a minimum wiring
length.
Installing a surge absorber to the terminal block or other part will
be less effective because of a longer distance from the coil.
[2]
DC solenoid valves, magnet switches and relays
Measure: Install a diode in parallel with the coil. Determine the diode capacity in accordance with the load
capacity.
3.4 Heat Radiation and Installation
Design the control panel size, controller layout and cooling method in such a way that the temperature around
the controller will not exceed 40qC.
Install the controller vertically on a wall, as shown below. Since cooling is provided by way of natural convection,
always observe this installation direction and provide a minimum clearance of 50 mm above and below the
controller to ensure sufficient natural airflows.
When installing multiple controllers side by side, providing a ventilation fan or fans above the controllers will help
maintain a uniform temperature around the controllers.
Keep the front panel of the controller away from the wall (enclosure) by at least 95 mm.
Fan
50 mm or more
50 mm or more
95 mm
or more
Airflow
Regardless of whether your system consists of a single controller or multiple controllers, provide sufficient
clearances around each controller so that it can be installed/removed easily.
23
3. Installation and Noise Elimination
In a DC circuit, connecting a diode in reverse polarity will damage the
diode, internal parts of the controller and/or DC power supply, so exercise
due caution.
4. Wiring
4.1 Internal Drive-Power Cutoff Relay Type (PCON-C/CF)
4.1.1
External Connection Diagram
4. Wiring
An example of standard wiring is shown below.
(Note) The encoder cable shown in the example is the standard cable.
As for the robot cable, refer to 4.4.1 as the color of the cable is different.
Controller
Connection
detection circuit
Connected to teaching
pendant or PC
External EMG switch
Terminal block
Motor extension
cable
Actuator
Orange
Gray
Input power
supply 24
VDC
White
Yellow
Pink
I/O flat cable
Motor
Yellow (Green)
Encoder extension
cable
Input
0 V (NPN
specification)
24 V (PNP
specification)
Yellow
Blue
Load
Output
24 V (NPN
specification)
0 V (PNP
specification)
Load
Orange
Pink
Purple
Green
24-VDC power for
input/output signals
For details on I/O signal connection, refer
to 4.3, “Connecting the I/O Cables.”
Encoder
Brown
Gray
Red
Holding
brake
Brake release switch
Tighten together with the
mounting screw.
24
4.1.2
Wiring the Power Supply/Emergency-Stop Switch
(1) Wiring the power supply
Input power supply
24 VDC
(2 A max. per controller)
S1
S2
MPI
MPO
24V
0V
EMG-
24V
0V
FG
4. Wiring
To connect multiple controllers, provide a relay terminal block.
Use a power cable satisfying the following specifications:
Item
*
Specification
Applicable wire length
Single wire: ‡1.0 / Stranded: 0.8 mm2, AWG size 18, (copper wire)
Stripped wire length
Temperature rating of
isolated sheath
10 mm
60qC or above
Use a flathead screwdriver with a blade tip of approx. 2.6 mm to push in the wire.
25
(2) Wiring the emergency-stop switch
In many cases multiple controllers are used in a single system.
To provide an emergency-stop function for the entire system, the controller circuit is designed in such a way that
a single EMG switch is able to actuate an emergency stop in all connected controllers.
[Internal emergency-stop circuit]
Teaching pendant
PCON-C controller
4. Wiring
EMG signal
Connection detection circuit
S1
Relay
S2
MPI
Input power supply
(2 A max.)
MPO
Motor power
supply
24V
24V
Controller power
supply
0V
0V
EMG0V
(Note) The current consumption of the internal relay is 10 mA or less.
(Reference)
EMG switch on teaching pendant
Cutoff voltage
30 VDC
[Example of recommended circuit]
Cutoff current
3A
PCON-C controller
24V
0V
EMG switch on
teaching pendant
External EMG
reset switch
External EMG circuit
S1
S2
CR
(3A)
Coil current:
0.1 A or less
CR
Connection detection circuit
MP1
MPO
24V
0V
CR
EMG-
Relay
(Note) To cut off the motor drive power supply in conformance with safety category 2, connect 24V to the EMG
terminal and a contactor or other contact device to the MPI/MPO terminals. (Refer to 4.2.3; rush current:
8 A.)
26
Representative connection examples are explained below.
z Connecting the teaching pendant directly to the controller
27
4. Wiring
[1] Connecting multiple controllers (8 units or less) using a single power supply
x Short the MPI and MPO terminals using a jumper wire. (The controller is shipped with these terminals
shorted.)
x Connect one end of the EMG signal to the 24-V output of the input power supply and the other end to the S1
terminal.
Then, provide connections by sequentially connecting the S2 terminal of controller 1 to the S1 terminal of
controller 2, the S2 terminal of controller 2 to the S1 terminal of controller 3, and so on, and connect the S2
terminal on the last controller to the EMG terminals on all controllers.
Use a relay terminal block for connection to the EMG terminals.
(Note) Do not connect two or more wires to one terminal.
24V
[Controller 1]
Teaching pendant
EMG signal
S1
MPI
4. Wiring
MPO
24V
0V
S2
Connection
detection circuit
0V
Relay
EMG-
[Controller 2]
Teaching pendant
S1
MPI
MPO
24V
S2
Connection
detection circuit
0V
Relay
EMG-
[Controller 3]
Teaching pendant
S1
MPI
MPO
24V
S2
Connection
detection circuit
0V
Relay
EMG-
[Controller 4]
Teaching pendant
S1
MPI
MPO
24V
EMG-
28
S2
Connection
detection circuit
0V
Relay
[2] Using a power supply other than the input power supply
(Note) Use an auxiliary relay with a coil current of 0.1 A or less and connect a diode for coil surge absorption.
control
© 0V
© 24V
[Controller 1]
Teaching pendant
EMG signal
S1
S2
4. Wiring
MPI
MPO
24V
0V
Connection
detection circuit
Relay
EMG-
[Controller 2]
Teaching pendant
S1
S2
MPI
MPO
24V
0V
Connection
detection circuit
Relay
EMG-
[Controller 3]
Teaching pendant
S1
MPI
MPO
24V
0V
S2
CR
Connection
detection circuit
Relay
EMG-
29
[3]
Enabling the EMG switch on the teaching pendant for the connected axis or axes only
24V
EMG signal
0V
CR
CR
[Controller 1]
Teaching pendant
4. Wiring
CR
S2
S1
MPI
Connection
detection circuit
MPO
24V
0V
Relay
EMG-
[Controller 2]
Teaching pendant
S2
S1
MPI
MPO
24V
Connection
detection circuit
0V
Relay
EMG-
[Controller 3]
Teaching pendant
S2
S1
MPI
MPO
24V
EMG-
30
Connection
detection circuit
0V
Relay
z Connecting the teaching pendant to a SIO converter
Configure the contact circuit for the EMG switch on the teaching pendant using EMG1/EMG2 on the
power/emergency-stop terminal block on the SIO converter.
(S1/S2 on the controller’s terminal block are not used.)
24V
0V
SIO converter
Teaching pendant
EMG signal
EMG1
4. Wiring
EMG2
CR
ON
OFF
Port switch
[Controller 1]
MPI
MPO
24V
CR
0V
Relay
EMG-
[Controller 2]
MPI
MPO
24V
0V
Relay
EMG-
[Controller 3]
MPI
MPO
24V
0V
Relay
EMG-
31
4.2 External Drive-Power Cutoff Relay Type (PCON-CG)
4.2.1
External Connection Diagram
An example of standard wiring is shown below.
(Note) The encoder cable shown in the example is the standard cable.
As for the robot cable, refer to 4.4.1 as the color of the cable is different.
Controller
4. Wiring
Connection
detection circuit
Connected to teaching
pendant or PC
Terminal block
Motor drivepower cutoff
circuit
Motor extension
cable
Input power
supply 24
VDC
Actuator
Orange
Gray
White
Yellow
Pink
I/O flat cable
Motor
Yellow (Green)
0 V (NPN
specification)
24 V (PNP
specification)
Input
Encoder extension
bl
Yellow
Blue
Output
24 V (NPN
specification)
0 V (PNP
specification)
Orange
Pink
Purple
Green
24-VDC power for
input/output signals
For details on I/O signal connection, refer to
4.3, “Connecting the I/O Cables.”
Encoder
Brown
Gray
Red
Holding brake
Brake release switch
32
4.2.2
Wiring the Power Supply/Emergency-Stop Switch
(1) Wiring the power supply
Input power supply
24 VDC
24V
(2 A max. per controller)
0V
FG
S1
S2
MPI
MPO
24V
0V
EMG-
4. Wiring
To connect multiple controllers, provide a relay terminal block.
Use a power cable satisfying the following specifications:
Item
*
Specification
Applicable wire length
Single wire: ‡1.0 / Stranded: 0.8 mm2, AWG size 18, (copper wire)
Stripped wire length
Temperature rating of
isolated sheath
10 mm
60qC or above
Use a flathead screwdriver with a blade tip of approx. 2.6 mm to push in the wire.
33
(2)
Wiring the motor power cutoff relay
4. Wiring
Explained below is a safety circuit conforming to safety category 2.
The user is responsible for implementing additional safety measures in the actual circuit configuration, such as
providing double contactor contacts to prevent fusing.
The circuit illustrated below is for reference purposes only.
x The input side of the motor drive power supply is connected to the MPI terminal, while the output side is
connected to the MPO terminal. Connect a contactor or other contact device to these terminals.
(Note) The rush current must be 8 A or less. The rated current is 2 A.
x The contact for the EMG switch on the teaching pendant is provided by the S1/S2 terminals.
(Note) When connecting the teaching pendant to a SIO converter, the contact for the EMG switch on the
teaching pendant is provided by the EMG1/EMG2 terminals on the SIO converter.
[Example of basic circuit]
Teaching pendant
EMG switch
(3A)
0V
24V
External EMG
reset switch
External EMG
circuit
S1
Connection
detection circuit
MC
Coil current: 0.1 A or less
S2
MC
MC
MPI
(Rush-in current: 8 A,
rated current: 2 A)
(MAX. 2A)
MPO
Motor power
supply
24V
0V
Controller power
supply
EMG-
PCON-CG controller
34
[Connection example of a multiple-axis configuration]
Input power supply
24V
0V
[Controller 1]
[Controller 2]
[Controller 3]
S1
S1
S1
S2
S2
S2
MPI
MPI
MPI
MPO
MPO
MPO
24V
24V
24V
0V
0V
0V
EMG-
EMG-
EMG-
4. Wiring
EMG signal
Connect to 24-V terminal
Connect to 0-V terminal
Contactor
External reset switch
Safety relay unit
Phoenix contact (PSR-SCP-24UC-/ESA2/4X1/1X2/B)
35
4.3 Connecting the I/O Cables
z PIO pattern 0 [Standard Type]
Host system <PLC> end
+24 [V]
+24 [V]
Upper
stage Brown 1
Controller end
PIO (signal abbreviation)
Red 1
Orange 1
Yellow 1
4. Wiring
Command position 1
Green 1
Command position 2
Blue 1
Command position 4
Purple 1
Command position 8
Gray 1
Command position 16
Command position 32
White 1
Black 1
Output side
Brown 2
Red 2
Orange 2
Brake release
Operating mode
Home return
Pause
Start
Alarm reset
Servo ON
Yellow 2
Green 2
Blue 2
Purple 2
Gray 2
White 2
Black 2
Lower
Brown 3
Completed position 1 stage
Completed position 2
Completed position 4
Completed position 8
Completed position 16
Input side
Completed position 32
Moving
Zone output
Red 3
Orange 3
Yellow 3
Green 3
Blue 3
Purple 3
Gray 3
Position zone output
White 3
Operating mode status
Black 3
Home return completion
Position complete
Ready
Brown 4
Red 4
Orange 4
Emergency stop
Yellow 4
Alarm
Green 4
Blue 4
LOAD/TRQS
Purple 4
Gray 4
0 [V]
0 [V]
White 4
Black 4
(Note) *STP, *ALM and *EMGS are based on the negative logic.
36
z PIO pattern 1 [Teaching Type]
Host system <PLC> end
+24 [V]
Upper
stage Brown 1
Controller end
PIO (signal abbreviation)
Red 1
+24 [V]
Orange 1
Yellow 1
Green 1
Command position 1
Blue 1
Command position 2
Gray 1
Command position 8
White 1
Command position 16
Black 1
Command position 32
Brown 2
Output side
Operation mode
Manual operation
switching
Red 2
Orange 2
Jog+
Yellow 2
Jog-
Green 2
Operating mode
Blue 2
Home return
Purple 2
Pause
Start/currentposition write
Alarm reset
Gray 2
White 2
Servo ON Lower
Completed position 1
Completed position 2
Completed position 4
Input side
Completed position 8
Black 2
stage Brown 3
Red 3
Orange 3
Yellow 3
Completed position 16
Green 3
Completed position 32
Blue 3
Moving
Purple 3
Current operation mode
Gray 3
Position zone output
White 3
Operating mode status
Black 3
Home return completion
Brown 4
Position complete/write
completion
Ready
Emergency stop
Alarm
4. Wiring
Purple 1
Command position 4
Red 4
Orange 4
Yellow 4
Green 4
Blue 4
Purple 4
Gray 4
0 [V]
0 [V]
White 4
Black 4
(Note) *STP, *ALM and *EMGS are based on the negative logic.
37
z PIO pattern 2 [256-piont mode]
Host system <PLC> end
+24 [V]
Upper
stage Brown 1
Controller end
PIO (signal abbreviation)
Red 1
+24 [V]
Orange 1
Yellow 1
Green 1
Command position 1
Blue 1
4. Wiring
Command position 2
Purple 1
Command position 4
Gray 1
Command position 8
White 1
Command position 16
Black 1
Command position 32
Brown 2
Output side
Command position 64
Red 2
Command position 128
Orange 2
Yellow 2
Brake release
Green 2
Operating mode
Blue 2
Home return
Purple 2
Pause
Gray 2
Start
White 2
Alarm reset
Black 2
Servo ON Lower
stage Brown 3
Completed position 1
Completed position 2
Completed position 4
Red 3
Orange 3
Yellow 3
Completed position 8
Green 3
Completed position 16
Blue 3
Input side
Completed position 32
Completed position 64
Completed position 128
Position zone output
Operating mode status
Home return completion
Position complete
Ready
Purple 3
Gray 3
White 3
Black 3
Brown 4
Red 4
Orange 4
Emergency stop
Yellow 4
Alarm
Green 4
Blue 4
LOAD/TRQS
Purple 4
Gray 4
0 [V]
0 [V]
White 4
Black 4
(Note) *STP, *ALM and *EMGS are based on the negative logic.
38
z PIO pattern 3 [512-piont mode]
Host system <PLC> end
Upper
stage Brown 1
Controller end
PIO (signal abbreviation)
Red 1
Orange 1
Yellow 1
Command position 1
Command position 2
Command position 8
Command position 16
Command position 32
Output side
Command position 64
Command position 128
Command position 256
Brake release
Operating mode
Home return
Pause
Blue 1
4. Wiring
Command position 4
Green 1
Purple 1
Gray 1
White 1
Black 1
Brown 2
Red 2
Orange 2
Yellow 2
Green 2
Blue 2
Purple 2
Gray 2
Start
White 2
Alarm reset
Black 2
Servo ON
Lower
stage Brown 3
Completed position 1
Completed position 2
Completed position 4
Red 3
Orange 3
Yellow 3
Completed position 8
Green 3
Completed position 16
Blue 3
Input side
Completed position 32
Completed position 64
Completed position 128
Purple 3
Gray 3
Completed position 256
White 3
Operating mode status
Black 3
Home return completion
Brown 4
Position complete
Ready
Red 4
Orange 4
Emergency stop
Yellow 4
Alarm
Green 4
Blue 4
LOAD/TRQS
Purple 4
Gray 4
White 4
Black 4
(Note) *STP, *ALM and *EMGS are based on the negative logic.
39
z PIO pattern 4 [Solenoid valve mode 1]
Host system <PLC> end
Upper
stage Brown 1
Controller end
PIO (signal abbreviation)
Red 1
Orange 1
Yellow 1
4. Wiring
Direct position command 0
Direct position command 1
Direct position command 2
Direct position command 3
Direct position command 4
Output side
Direct position command 5
Direct position command 6
Green 1
Blue 1
Purple 1
Gray 1
White 1
Black 1
Brown 2
Red 2
Orange 2
Brake release
Yellow 2
Operating mode
Green 2
Home return
Pause
Blue 2
Purple 2
Gray 2
Alarm reset
Servo ON
Movement complete 0
Movement complete 1
Movement complete 2
Movement complete 3
Input side
Movement complete 4
White 2
Black 2
Lower
stage Brown 3
Red 3
Orange 3
Yellow 3
Green 3
Movement complete 5
Blue 3
Movement complete 6
Purple 3
Zone output
Gray 3
Position zone output
White 3
Operating mode status
Black 3
Home return completion
Position complete
Ready
Brown 4
Red 4
Orange 4
Emergency stop
Yellow 4
Alarm
Green 4
Blue 4
LOAD/TRQS
Purple 4
Gray 4
White 4
Black 4
(Note) *STP, *ALM and *EMGS are based on the negative logic.
40
z PIO pattern 5 [Solenoid valve mode 2]
Host system <PLC> end
Upper
stage Brown 1
Controller end
PIO (signal abbreviation)
Red 1
Orange 1
Yellow 1
Rear end move
Front end move
Blue 1
Purple 1
4. Wiring
Intermediate point move
Green 1
Gray 1
White 1
Black 1
Output side
Brown 2
Red 2
Orange 2
Brake release
Operating mode
Yellow 2
Green 2
Blue 2
Purple 2
Gray 2
Alarm reset
White 2
Black 2
Servo ON Lower
stage Brown 3
Rear end detected
Red 3
Front end detected
Intermediate point
detected
Orange 3
Yellow 3
Green 3
Input side
Blue 3
Purple 3
Zone output
Position zone output
Operating mode status
Home return completion
Gray 3
White 3
Black 3
Brown 4
Red 4
Ready
Emergency stop
Alarm
Orange 4
Yellow 4
Green 4
Blue 4
Purple 4
Gray 4
White 4
Black 4
(Note) *STP, *ALM and *EMGS are based on the negative logic.
41
Caution: When performing a continuity check of the flat cable, pay due attention not to expand the female
pins in the connector. It may cause contact failure and disable normal operation of the controller.
Black 4
Lower stage
20A
20B
1A
1B
4. Wiring
Brown 3
Black 2
Upper stage
Brown 1
42
4.4 Connecting the Actuator
4.4.1
Connecting the PCON-C/CG and Actuator
Use dedicated extension cables to wire the controller and actuator.
(1) RCP2 motor cable
Model: CB-RCP2-MA………
(……… indicates the cable length L. Example. 080 = 8 m)
Pin layout
Pin layout
4. Wiring
Pin No.
(Front view)
Actuator end
Cable model marking
(Front view)
Controller end
Pin No.
Signal name Cable color
Orange
Gray
White
Yellow
Pink
Yellow (Green)
Housing: 1-1318119-3 (AMP)
Contact: 1318107-1
Housing:
SLP-06V (J.S.T. Mfg.)
Socket contact: BSF-21T-P1.4
(2) RCP2 encoder cable/encoder robot cable
Model for standard cable: CB-RCP2-PB………
Model for robot cable: CB-RCP2-PB………-RB (optional)
(……… indicates the cable length L. Example. 080 = 8 m)
Pin layout
Pin layout
(Front view)
Controller end
Pin No.
Housing:
Contact:
(Front view)
Actuator end
Cable model marking
Cable color
Signal
name Standard cable
Robot cable
Blue (Red 1)
Orange (Black 2)
White
Orange (Red 2)
Description
Red
Orange (Black 1)
Orange (Red 1)
Brown
Light gray (Black 1)
Green
Light gray (Red 1)
Purple
White (Black 1)
Pink
White (Red 1)
Encoder phase
B signal
Encoder control signal
Yellow
Yellow (Black 1)
Pink (Red 1)
Blue
Pink (Black 1)
Ground
Ground
Signal
name
Home check
sensor
Gray
Orange
Pin No.
Brake power
Encoder phase
A signal
Encoder power
Shield
PHDR-16VS (J.S.T. Mfg.)
SPHD-001T-P0.5
Housing:
Contact:
Retainer:
XMP-18V (J.S.T. Mfg.)
BXA-001T-P0.6
XMS-09V
43
4. Wiring
(3) RCP3 motor/encoder integrated cable
Model: CB-PCS-MPA………
(……… indicates the cable length L. Example. 080 = 8 m)
Cable model marking
(Front view)
Actuator end
Controller end
Housing: D-2100D 1-1318119-3 (Hirose)
Contact: D-2 1318105-1
Pin No.
Signal
name
Cable name
Pin No.
Black
White
Red
Green
Yellow
Brown
Pin No.
Signal
name
Description
Home check
sensor
Cable name
Pink (red dots)
Pink (blue dots)
White (red dots)
Brake power
White (blue dots)
Pink (red dots)
Encoder phase A
signal
Orange (blue dots)
Encoder phase B
signal
Gray (blue dots)
Gray (red dots)
Orange (continuous
red dots)
Encoder control signal Orange (continuous
blue dots)
Gray (continuous
red dots)
Encoder power Gray
(continuous
blue dots)
Shield
Housing: PHDR-16VS (J.S.T. Mfg.)
Contact: SPHD-001T-P0.5
44
Shield
Housing: D-1100D1-1827863-1 (AMP)
Contact: D-1 1827570-2
4.4.2
Connecting the PCON-CF and Actuator
Use dedicated extension cables to wire the controller and actuator.
(1) RCP2 motor cable
Model: CB-RCP2-MA………
(……… indicates the cable length L. Example. 080 = 8 m)
Pin layout
Pin layout
4. Wiring
Pin No.
(Front view)
Actuator end
Cable model marking
(Front view)
Controller end
Pin No.
Signal name Cable color
Orange
Gray
White
Yellow
Pink
Yellow
(Green)
Housing: 1-1318119-3 (AMP)
Contact: 1318107-1
Housing:
SLP-06V (J.S.T. Mfg.)
Socket contact: BSF-21T-P1.4
(2) RCP2 encoder cable/encoder robot cable (dedicated cable for PCON-CF)
Model for standard cable: CB-RFA-PA………
Model for robot cable: CB-RF-PA ………-RB (optional)
(……… indicates the cable length L. Example. 080 = 8 m)
Pin layout
Pin layout
Cable model marking
(Front view)
(Front view)
Actuator end
Controller end
Pin No.
Cable color
Signal
name Standard cable Robot cable
Red
Purple
Gray
White
Brown
Blue
Green
White
Purple
Yellow
Pink
White
Yellow
Green
Blue
White
Orange
Red
Ground
Housing:
Contact:
Ground
Description
Pin No.
Signal
name
Brake power
Encoder phase
A signal
Encoder phase
B signal
Encoder control signal
Encoder power
Shield
PHDR-16VS (J.S.T. Mfg.)
SPHD-001T-P0.5
Housing:
Contact:
Retainer:
XMP-18V (J.S.T. Mfg.)
BXA-001T-P0.6
XMS-09V
45
4.5 Connecting the Communication Cable
Connect the communication cable to the SIO connector.
Pin assignments of the
cable-end connector
RS485 conversion adapter end
Controller end
4. Wiring
CB-RCA-SIO***
Cable color Signal name Pin No.
Signal name
Cable color
Centered
Brown
5V
1
1
SGA
Yellow
SGA
2
2
SGB
Orange
3
5V
Brown/Green
Red
GND
3
Orange
SGB
4
4
EMGS
-
Blue
GND
5
5
EMGA
Black
Green
5V
6
6
24V
-
7
GND
Red/Blue
Shorting wire UL1004AWG28 (black)
Shielded, not connected
46
Pin No.
8
EMGB
FG
Black
Shielded
6
8
3
5
1
2
5. I/O Signal Control and Signal Functions
5.1 Interface Circuit
The standard interface specification of the controller is NPN, but the PNP specification is also available as an
option.
To prevent confusion during wiring, the NPN and PNP specifications use the same power line configuration.
Accordingly, there is no need to reverse the power signal assignments for a PNP controller.
5.1.1
External Input Specifications
Item
Specification
Input voltage
5. I/O Signal Control and Signal Functions
Number of input points
16 points
24 VDC r 10%
5 mA/point
ON voltage: Min. 18 V (3.5 mA)
OFF voltage: Max. 6 V (1 mA)
1 mA or less/point
Photocoupler
Input current
Operating voltage
Leak current
Isolation method
Internal circuit configuration
[NPN specification]
Controller
P24V
Internal circuit
R=680 :
External power supply
R =22 k:
+24V
R=5.6 k:
Each input
Controller
[PNP specification]
N
Internal circuit
R=68 :
External power supply
+24V
Each input
C=0.1 PF
R=5.6 k:
R=22 k:
C=0.1 PF
47
5.1.2
External Output Specifications
Item
Specification
5. I/O Signal Control and Signal Functions
Number of output points
Rated load voltage
Maximum current
Residual voltage
Isolation method
16 points
24 VDC
50 mA/point
2 V or less
Photocoupler
Internal circuit configuration
[NPN specification]
Controller
P24V
Load
Internal circuit
Each output
Load
External power
supply
+24V
N
[PNP specification]
Controller
Internal circuit
P24V
Load
Each output
Load
N
48
External power
supply
+24V
5.2 PIO Patterns and Signal Assignments
This controller provides six PIO pattern types to meet the needs of various applications.
To select a desired type, set a corresponding value from 0 to 5 in parameter No. 25 (PIO pattern selection).
The features of each PIO pattern are explained below:
Parameter No.
25 setting
0
2
3
4
5
Positioning mode (Standard type)
A basic type supporting 64 positioning points and two zone outputs.
* How to set zone boundaries within which to output a zone signal:
Zone boundaries are set using parameter Nos. 1 and 2 for one zone output, and in the
position table for another zone output.
Teaching mode (Teaching type)
In this type, 64 positioning points and one zone output (boundaries are set in the
position table) are supported.
In addition to the normal positioning mode, the user can also select the teaching mode
in which the actuator can be jogged via I/Os and the current actuator position can be
written to a specified position.
(Note) Positions can be rewritten by approximately 100,000 times.
256-point mode (256-point positioning type)
The number of positioning points is increased to 256, so only one zone output is
available (boundaries are set in the position table).
512-point mod (512-point positioning)
The number of positioning points is increased to 512, so no zone output is available.
Solenoid valve mode 1 (7-point type)
The number of positioning points is limited to seven to offer separate direct command
inputs and movement complete outputs.
PLC ladder sequence circuits can be designed easily.
Solenoid valve mode 2 (3-point type)
Use of the controller as an air cylinder is assumed in this type.
Movement complete output signals function differently in this type, compared to the 7point type.
Specifically, the signal functions not only to “indicate movement complete,” but also to
“detect a position” in the same manner as auto-switches of an air cylinder. Push & hold
operation cannot be performed.
5. I/O Signal Control and Signal Functions
1
Feature of PIO pattern
Quick reference table for functions available under each PIO pattern ({: Available, X: Not available)
Input signals
No. 25
Number of
positioning
points
Brake
release
Home
return
Jog
0
1
2
3
4
5
64 points
64 points
256 points
512 points
7 points
3 points
{
x
{
{
{
{
{
{
{
{
{
x
x
{
x
x
x
x
Output signals
Currentposition
write
x
{
x
x
x
x
Zone
Position
zone
Ready
{
x
x
x
{
{
{
{
{
x
{
{
{
{
x
x
x
x
(Note) For “Zone” and “Position zone,” different methods are used to set boundaries defining the range within
which the zone signal will turn ON.
“Zone” is set by parameter Nos. 1 and 2, and thus its setting will become effective after home return is
completed.
“Position zone” is set in the “Zone+” and “Zone-“ fields for each position number in the position table,
and thus its setting will become effective after a movement command is input.
49
5.2.1
Explanation of Signal Names
The following explains the signal names, and gives a function overview of each signal.
In the explanation of operation timings provided in a later section, each signal is referenced by its selfexplanatory name for clarity. If necessary, however, such as when marker tubes are inserted as a termination of
the flat cable, use the signal abbreviations.
z PIO pattern = 0: Positioning mode [Standard type]
5. I/O Signal Control and Signal Functions
Category
Signal name
Command position
number
Input
Output
50
Signal
Function overview
abbreviation
PC1
PC2
The target position number is input.
PC4
A command position number must be specified by 6 ms before the
PC8
start signal (CSTR) turns ON.
PC16
PC32
Brake release
BKRL
Operating mode
Home return
*Pause
Start
Alarm reset
RMDO
HOME
*STP
CSTR
RES
Servo ON
SON
Completed position
number
PM1
PM2
PM4
PM8
PM16
PM32
Moving
MOVE
Zone
ZONE1
Position zone
PZONE
Operating mode status RMDS
Home return
completion
HEND
Position complete
PEND
Ready
SV
*Emergency stop
*EMGS
*Alarm
*ALM
Load output judgment
status
LOAD
Torque level status
TRQS
This signal is used on an actuator equipped with a brake to forcibly
release the brake.
This signal switches the operating mode between AUTO and MANU.
Home return operation is started at a rise edge of this signal.
ON: Actuator can be moved, OFF: Actuator decelerates to a stop
The actuator will start moving at a rise edge of this signal.
An alarm is reset at a rise edge of this signal.
The servo remains ON while this signal is ON.
The servo remains OFF while this signal is OFF.
The relevant position number is output when positioning has
completed.
The signal will turn OFF when the next start signal is received.
It is used by the PLC to check if the commanded position has
definitively been reached, and also to provide a position interlock, etc.
This signal will remain ON while the actuator is moving, and OFF
while the actuator is standing still.
It is used to determine whether the actuator is moving or paused.
This signal becomes effective after home return. It will turn ON when
the current actuator position enters the range set by the parameters
and remain ON until the actuator exits the range.
This signal becomes effective after a position movement command is
input. It will turn ON when the current actuator position enters the
range specified in the position table and remain ON until the actuator
exits the range.
This signal will remain OFF during the AUTO mode, and ON during
the MANU mode.
This signal is OFF immediately after the power is input, and turns ON
when home return has completed.
This signal turns ON when the target position was reached and the
actuator has entered the specified in-position range.
It is used to determine whether positioning has completed.
This signal is always output once the servo is turned ON and the
controller is ready to operate.
When this signal is OFF, it means that an emergency stop is being
actuated.
This signal remains ON in normal conditions of use and turns OFF
when an alarm generates.
This signal will turn ON when the command torque exceeds the
threshold while the actuator is inside the check range.
Note) Dedicated output signal for the PCON-CF
This signal will turn ON when the motor current reaches the
threshold.
Note) Dedicated output signal for the PCON-CF
z PIO pattern = 1: Teaching mode [Teaching type]
Category
Signal name
Command position
number
Operation mode
Jog/inching switching
Signal
abbreviation
PC1
PC2
PC4
PC8
PC16
PC32
MODE
JISL
+jog/inching movement JOG+
The target position number is input.
A command position number must be specified by 6 ms before
the start signal (CSTR) turns ON.
Mode selection (ON: Teaching mode, OFF: Normal mode)
OFF: Jog, ON: Inching
The actuator will start jogging or inching in the positive
direction at an ON edge of this signal.
The actuator will start jogging or inching in the negative
direction at an ON edge of this signal.
Operating mode
RMDO
This signal switches the operating mode between AUTO
and MANU.
Home return
HOME
*Pause
*STP
Start
CSTR
Current-position write
PWRT
Alarm reset
RES
Servo ON
SON
Completed position
number
PM1
PM2
PM4
PM8
PM16
PM32
Moving
MOVE
Mode status
MODES
Position zone
PZONE
Home return operation is started at a rise edge of this signal.
ON: Actuator can be moved, OFF: Actuator decelerates to a
stop
The actuator will start moving at a rise edge of this signal.
When this signal has remained ON for 20 msec or longer, the
current position will be stored under the position number
selected by PC1 to PC32.
An alarm is reset at a rise edge of this signal.
The servo remains ON while this signal is ON.
The servo remains OFF while this signal is OFF.
The relevant position number is output when positioning has
completed.
The signal will turn OFF when the next start signal is received.
It is used by the PLC to check if the commanded position has
definitively been reached, and also to provide a position
interlock, etc.
This signal will remain ON while the actuator is moving, and
OFF while the actuator is standing still.
It is used to determine whether the actuator is moving or
paused.
ON: Teaching mode, OFF: Normal mode
This signal becomes effective after a position movement
command is input. It will turn ON when the current actuator
position enters the range specified in the position table and
remain ON until the actuator exits the range.
This signal will remain OFF during the AUTO mode, and ON
during the MANU mode.
This signal is OFF immediately after the power is input, and
turns ON when home return has completed.
This signal turns ON when the target position was reached
and the actuator has entered the specified in-position range.
It is used to determine whether positioning has completed.
This signal is output upon completion of writing to the
nonvolatile memory in response to a current-position write
command (PWRT).
This signal is always output once the servo is turned ON and
the controller is ready to operate.
OFF: Emergency stop has been actuated
This signal remains ON in normal conditions of use and turns
OFF when an alarm generates.
Output
Operating mode status RMDS
Home return
completion
HEND
Position complete
PEND
Write completion
WEND
Ready
SV
*Emergency stop
*EMGS
*Alarm
*ALM
5. I/O Signal Control and Signal Functions
-jog/inching movement JOGInput
Function overview
51
z PIO pattern = 2: 256-point mode [256-point type]
Category
Signal name
Command position
number
5. I/O Signal Control and Signal Functions
Input
Signal
abbreviation
PC1
PC2
PC4
PC8
PC16
PC32
PC64
PC128
Brake release
BKRL
Operating mode
RMDO
Home return
HOME
*Pause
*STP
Start
Alarm reset
CSTR
RES
Servo ON
SON
Completed position
number
PM1
PM2
PM4
PM8
PM16
PM32
PM64
PM128
Position zone
PZONE
Operating mode status RMDS
Output
52
Home return
completion
HEND
Position complete
PEND
Ready
SV
*Emergency stop
*EMGS
*Alarm
*ALM
Load output judgment
status
LOAD
Torque level status
TRQS
Function overview
The target position number is input.
A command position number must be specified by 6 ms before
the start signal (CSTR) turns ON.
This signal is used on an actuator equipped with a brake to
forcibly release the brake.
This signal switches the operating mode between AUTO and
MANU.
Home return operation is started at a rise edge of this signal.
ON: Actuator can be moved, OFF: Actuator decelerates to a
stop
The actuator will start moving at a rise edge of this signal.
An alarm is reset at a rise edge of this signal.
The servo remains ON while this signal is ON.
The servo remains OFF while this signal is OFF.
The relevant position number is output when positioning has
completed.
The signal will turn OFF when the next start signal is received.
It is used by the PLC to check if the commanded position has
definitively been reached, and also to provide a position
interlock, etc.
This signal becomes effective after a position movement
command is input. It will turn ON when the current actuator
position enters the range specified in the position table and
remain ON until the actuator exits the range.
This signal will remain OFF during the AUTO mode, and ON
during the MANU mode.
This signal is OFF immediately after the power is input, and
turns ON when home return has completed.
This signal turns ON when the target position was reached
and the actuator has entered the specified in-position range.
It is used to determine whether positioning has completed.
This signal is always output once the servo is turned ON and
the controller is ready to operate.
OFF: Emergency stop has been actuated
This signal remains ON in normal conditions of use and turns
OFF when an alarm generates.
This signal will turn ON when the command torque exceeds
the threshold while the actuator is inside the check range.
Note) Dedicated output signal for the PCON-CF
This signal will turn ON when the motor current reaches the
threshold.
Note) Dedicated output signal for the PCON-CF
z PIO pattern = 3: 512-point mode [512-point type]
Category
Signal name
Command position
number
Input
Signal
abbreviation
PC1
PC2
PC4
PC8
PC16
PC32
PC64
PC128
PC256
BKRL
Operating mode
RMDO
Home return
HOME
*Pause
*STP
Start
Alarm reset
CSTR
RES
Servo ON
SON
Completed position
number
PM1
PM2
PM4
PM8
PM16
PM32
PM64
PM128
PC256
Operating mode status RMDS
Home return
completion
HEND
Position complete
PEND
Ready
SV
*Emergency stop
*EMGS
*Alarm
*ALM
Load output judgment
status
LOAD
Torque level status
TRQS
Output
The target position number is input.
A command position number must be specified by 6 ms before
the start signal (CSTR) turns ON.
This signal is used on an actuator equipped with a brake to
forcibly release the brake.
This signal switches the operating mode between AUTO and
MANU.
Home return operation is started at a rise edge of this signal.
ON: Actuator can be moved, OFF: Actuator decelerates to a
stop
The actuator will start moving at a rise edge of this signal.
An alarm is reset at a rise edge of this signal.
The servo remains ON while this signal is ON.
The servo remains OFF while this signal is OFF.
5. I/O Signal Control and Signal Functions
Brake release
Function overview
The relevant position number is output when positioning has
completed.
The signal will turn OFF when the next start signal is received.
It is used by the PLC to check if the commanded position has
definitively been reached, and also to provide a position
interlock, etc.
This signal will remain OFF during the AUTO mode, and ON
during the MANU mode.
This signal is OFF immediately after the power is input, and
turns ON when home return has completed.
This signal turns ON when the target position was reached
and the actuator has entered the specified in-position range.
It is used to determine whether positioning has completed.
This signal is always output once the servo is turned ON and
the controller is ready to operate.
OFF: Emergency stop has been actuated
This signal remains ON in normal conditions of use and turns
OFF when an alarm generates.
This signal will turn ON when the command torque exceeds
the threshold while the actuator is inside the check range.
Note) Dedicated output signal for the PCON-CF
This signal will turn ON when the motor current reaches the
threshold.
Note) Dedicated output signal for the PCON-CF
53
z PIO pattern = 4: Solenoid valve mode 1 [7- point type]
Category
5. I/O Signal Control and Signal Functions
Input
Signal name
Direct position
command 0
Direct position
command 1
Direct position
command 2
Direct position
command 3
Direct position
command 4
Direct position
command 5
Direct position
command 6
Signal
abbreviation
ST0
ST1
ST2
ST3
ST4
ST5
ST6
Brake release
BKRL
Operating mode
Home return
*Pause
Alarm reset
RMDO
HOME
*STP
RES
Servo ON
SON
Movement complete 0
PE0
Movement complete 1
PE1
Movement complete 2
PE2
Movement complete 3
PE3
Movement complete 4
PE4
Movement complete 5
PE5
Movement complete 6
PE6
Zone
ZONE1
Position zone
PZONE
Operating mode status
RMDS
Output
Home return completion HEND
54
Position complete
PEND
Ready
SV
*Emergency stop
*EMGS
*Alarm
*ALM
Load output judgment
status
LOAD
Torque level status
TRQS
Function overview
The actuator will start moving to position No. 0 at a rise edge of this
signal.
The actuator will start moving to position No. 1 at a rise edge of this
signal.
The actuator will start moving to position No. 2 at a rise edge of this
signal.
The actuator will start moving to position No. 3 at a rise edge of this
signal.
The actuator will start moving to position No. 4 at a rise edge of this
signal.
The actuator will start moving to position No. 5 at a rise edge of this
signal.
The actuator will start moving to position No. 6 at a rise edge of this
signal.
This signal is used on an actuator equipped with a brake to forcibly
release the brake.
This signal switches the operating mode between AUTO and MANU.
Home return operation is started at a rise edge of this signal.
ON: Actuator can be moved, OFF: Actuator decelerates to a stop
An alarm is reset at a rise edge of this signal.
The servo remains ON while this signal is ON.
The servo remains OFF while this signal is OFF.
This signal will turn ON when the actuator completes moving to
position No. 0.
This signal will turn ON when the actuator completes moving to
position No. 1.
This signal will turn ON when the actuator completes moving to
position No. 2.
This signal will turn ON when the actuator completes moving to
position No. 3.
This signal will turn ON when the actuator completes moving to
position No. 4.
This signal will turn ON when the actuator completes moving to
position No. 5.
This signal will turn ON when the actuator completes moving to
position No. 6.
This signal becomes effective after home return. It will turn ON when
the current actuator position enters the range set by the parameters
and remain ON until the actuator exits the range.
This signal becomes effective after a position movement command is
input. It will turn ON when the current actuator position enters the
range specified in the position table and remain ON until the actuator
exits the range.
This signal will remain OFF during the AUTO mode, and ON during
the MANU mode.
This signal is OFF immediately after the power is input, and turns ON
when home return has completed.
This signal is used to determine if the controller is ready following the
power on.
The controller is ready to perform operation if an emergency stop is
not actuated, motor drive power is not cut off (= the servo is on) and
the pause signal is input.
This signal is always output once the servo is turned ON and the
controller is ready to operate.
OFF: Emergency stop has been actuated
This signal remains ON in normal conditions of use and turns OFF
when an alarm generates.
This signal will turn ON when the command torque exceeds the
threshold while the actuator is inside the check range.
Note) Dedicated output signal for the PCON-CF
This signal will turn ON when the motor current reaches the threshold.
Note) Dedicated output signal for the PCON-CF
z PIO pattern = 5: Solenoid valve mode 2 [3-point type]
Category
Signal name
Rear end move
command
Front end move
command
Intermediate point
move command
Input
ST0
ST1
ST2
Brake release
BKRL
Operating mode
RMDO
Alarm reset
RES
Servo ON
SON
Rear end detected
LS0
Front end detected
LS1
Intermediate point
detected
LS2
Zone
ZONE1
Position zone
PZONE
Operating mode status RMDS
Home return
completion
HEND
Ready
SV
*Emergency stop
*EMGS
*Alarm
*ALM
Load output judgment
status
LOAD
Torque level status
TRQS
Function overview
The actuator will move toward the rear end while this signal
remains at ON level.
The actuator will move toward the front end while this signal
remains at ON level.
The actuator will move toward the intermediate point while this
signal remains at ON level.
This signal is used on an actuator equipped with a brake to
forcibly release the brake.
This signal switches the operating mode between AUTO and
MANU.
An alarm is reset at a rise edge of this signal.
The servo remains ON while this signal is ON.
The servo remains OFF while this signal is OFF.
This signal will remain ON while the rear end is recognized.
(This signal is not output during push & hold operation.)
This signal will remain ON while the front end is recognized.
(This signal is not output during push & hold operation.)
This signal will remain ON while the intermediate point is
recognized. (This signal is not output during push & hold
operation.)
This signal becomes effective after home return. It will turn ON
when the current actuator position enters the range set by the
parameters and remain ON until the actuator exits the range.
This signal becomes effective after a position movement
command is input. It will turn ON when the current actuator
position enters the range specified in the position table and
remain ON until the actuator exits the range.
This signal will remain OFF during the AUTO mode, and ON
during the MANU mode.
This signal is OFF immediately after the power is input, and
turns ON when home return has completed.
This signal is always output once the servo is turned ON and
the controller is ready to operate.
OFF: Emergency stop has been actuated
This signal remains ON in normal conditions of use and turns
OFF when an alarm generates.
This signal will turn ON when the command torque exceeds
the threshold while the actuator is inside the check range.
Note) Dedicated output signal for the PCON-CF
This signal will turn ON when the motor current reaches the
threshold.
Note) Dedicated output signal for the PCON-CF
5. I/O Signal Control and Signal Functions
Output
Signal
abbreviation
55
5.2.2
Signal Assignment Table for Respective PIO Patterns
When creating a PLC sequence or wiring signals, assign each pin correctly by referring to the assignment table
below.
When “1 [Teaching type]” is selected, the meaning of each pin number will vary depending on the mode.
Accordingly, also pay due attention to the mode switch timings.
5. I/O Signal Control and Signal Functions
Pin
No.
1A
2A
3A
4A
5A
6A
7A
8A
9A
10A
11A
12A
13A
14A
15A
16A
17A
18A
19A
20A
1B
2B
3B
4B
5B
6B
7B
8B
9B
10B
11B
12B
13B
14B
15B
16B
17B
18B
19B
20B
Category
+24V
Input
Output
0V
Caution: [1]
[2]
[3]
Wire color
0
Parameter No. 25 setting
2
3
Upper stage
Brown - 1
P24
Red - 1
Orange - 1
(Not used)
Yellow - 1
(Not used)
Green - 1
PC1
PC1
PC1
PC1
Blue - 1
PC2
PC2
PC2
PC2
Purple - 1
PC4
PC4
PC4
PC4
Gray - 1
PC8
PC8
PC8
PC8
White - 1
PC16
PC16
PC16
PC16
Black - 1
PC32
PC32
PC32
PC32
Brown - 2
MODE
PC64
PC64
Red - 2
JISE
PC128
PC128
Orange - 2
JOG+
PC256
Yellow - 2
BKRL
JOGBKRL
BKRL
Green - 2
RMOD
Blue - 2
HOME
Purple - 2
*STP
CSTR/PWRT
Gray - 2
CSTR
CSTR
CSTR
White - 2
RES
Black - 2
SON
Lower stage
PM1
PM1
PM1
PM1
Brown - 3
Red - 3
PM2
PM2
PM2
PM2
Orange - 3
PM4
PM4
PM4
PM4
Yellow - 3
PM8
PM8
PM8
PM8
Green - 3
PM16
PM16
PM16
PM16
Blue - 3
PM32
PM32
PM32
PM32
Purple - 3
MOVE
MOVE
PM64
PM64
Gray - 3
ZONE1
MODES
PM128
PM128
White - 3
PZONE
PZONE
PZONE
PM256
Black - 3
RMDS
Brown - 4
HEND
Red - 4
PEND
PEND/WND
PEND
PEND
Orange - 4
SV
Yellow - 4
*EMGS
Green - 4
*ALM
LOAD/TRQS LOAD/TRQS
Blue - 4 LOAD/TRQS
Purple -4
(Not used)
Gray - 4
(Not used)
White - 4
0V
Black - 4
4
5
ST0
ST1
ST2
ST3
ST4
ST5
ST6
BKRL
ST0
ST1 (JOG+)
ST2 (-)
BKRL
-
-
PE0
LS0
PE1
PE2
PE3
PE4
PE5
PE6
ZONE1
PZONE
LS1 (TRQS)
LS2 (-)
ZONE1
PZONE
PEND
-
LOAD/TRQS
-
The signals indicated by * in the table (*ALM, *STP and *EMGS) are based on the
negative logic, meaning that they remain ON in normal conditions of use.
Do not connect pins denoted by “Not used” (orange-1, yellow-1, blue-4, purple-4, gray4), but insulate them instead.
The NPN and PNP specifications use the same power line configuration, so there is no
need to reverse the power signal assignments for a PNP controller.
( ) indicates signals before home return.
56
1
5.3 Details of I/O Signal Functions
An input time constant is provided for the input signals of this controller, in order to prevent malfunction due to
chattering, noise, etc.
Except for certain signals, switching of each input signal will be effected when the signal has been received
continuously for at least 6 msec. For example, when an input is switched from OFF to ON, the controller will only
recognize that the input signal is ON after 6 msec. The same applies to switching of input signals from ON to
OFF (Fig. 1).
Input signal
Not recognized
Not recognized
Recognition by controller
6 [msec]
Fig. 1 Recognition of Input Signal
5.3.1.
Details of Each Input Signal
„ Operating mode (RMOD)
This controller has a mode selector switch on the front panel of the controller to prevent malfunction and data
loss due to duplicate operations.
Normally this switch should be set to the “AUTO” position when the actuator is operated in the auto mode using
I/O signals exchanged with a PLC, or to the “MANU” position when the actuator is operated manually using a PC
or teaching pendant.
If the controller is mounted in a control panel, however, this switch is not readily accessible. Accordingly, a
function has been added to allow the setting of this switch to be changed from a PLC for added convenience.
Specifically, the internal operating mode of the controller will become “AUTO” when this signal is turned OFF, or
“MANU” when this signal is turned ON, if the mode selector switch is set to the “AUTO” position.
If the mode selector switch is set to the “MANU” position, the internal operating mode of the controller will remain
“MANU” regardless of the status of this signal.
Use this signal in applications where the operation mode must be switched frequently between auto and manual
and the selector switch is provided on the equipment side.
„ Start (CSTR)
Upon detecting an OFF Æ ON rise edge of this signal, the controller will read, as a binary code, the target
position number consisting of six bits from PC1 to PC32 (or eight bits from PC1 to PC128 when the PIO pattern
is “256-point type,” or nine bits from PC1 to PC256 when the PIO pattern is “512-point type”), and execute
positioning to the target position of the corresponding position data.
Before executing this command, the target position, speed and other operation data must be set in the position
table using a PC/teaching pendant.
If a start command is issued when home return operation has not been performed yet after the power was input
(the HEND output signal is OFF), the controller will automatically perform home return operation before
positioning to the target position.
„ Command position number (PC1 to PC256)
When a movement command is effected upon OFF o ON of the start signal, the nine-bit binary code consisting
of signals PC1 to PC256 will be read as the command position number.
In the standard or teaching type, six bits of PC1 through PC32 are used. In the 256-point type, eight bits of PC1
to PC128 are used. In the 512-point type, nine bits of PC1 through PC256 are used.
The weight of each bit is as follows: 20 for PC1, 21 for PC2, 22 for PC4, …, and 29 for PC256. A desired position
number between 0 and 511 (maximum) can be specified.
57
5. I/O Signal Control and Signal Functions
6 [msec]
5. I/O Signal Control and Signal Functions
„ Pause (*STP)
When this signal turns OFF while the actuator is moving, the actuator will decelerate to a stop.
The remaining movement is retained and will be resumed when the signal is turned ON again.
To abort the movement command, turn ON the alarm reset signal while this signal is OFF to cancel the
remaining movement.
The *STP signal can be used for the following purposes:
[1] Provide a low-level safety measure to stop the axis while the servo is ON, such as a sensor that detects a
person approaching the system
[2] Prevent contact with other equipment
[3] Perform positioning based on sensor or LS detection
(Note) If the *STP signal is input while the actuator is performing home return, the movement command will be
retained if the actuator is yet to contact a mechanical end. If the signal is input after the actuator has
reversed upon contacting a mechanical end, home return will be performed again from the beginning.
„ Home return (HOME)
The controller will start home return operation upon detection of an OFF o ON edge of this signal.
When the home return is complete, the HEND signal will be output. The HOME signal can be input as many
times as required.
„ Servo ON (SON)
The servo remains ON while this signal is ON.
When the power is turned on, make sure this signal will turn ON after the safety of the entire equipment is
ensured, i.e., after a confirmation that the actuator will not contact surrounding equipment.
If the SON signal need not be used in view of the nature of the equipment, you can disable the signal using
parameter No. 21.
When this signal is disabled, the servo will turn on automatically after the power is turned on.
The factory setting is to enable the SON signal.
„ Alarm reset (RES)
This signal provides two functions.
[1] Reset the alarm output signal (*ALM) that turned OFF due to an alarm
If an alarm has generated, turn ON this signal after confirming the nature of the alarm.
The controller will reset the alarm upon detection of a rise edge of the RES signal.
(Note) Certain alarms cannot be reset by the RES signal. For details, refer to 10, “Troubleshooting.”
[2] Cancel the remaining movement when the pause signal is OFF
This function is used when the remaining movement must be cancelled to allow for incremental moves
(movements at a constant increment) from the position where the actuator stopped following a sensor
detection.
58
„ Brake release (BKRL)
When the actuator is equipped with a brake, you may want to forcibly release the brake in certain situations such
as when starting up the system for the first time. Normally the brake release switch on the front panel of the
controller is set to the “RLS” side to release the brake. For added convenience, the brake can now be released
from the PLC.
If this signal is ON while the servo is off, the brake is released.
Use this signal to provide a release switch near the actuator when the actuator is located away from the
controller.
„ Current-position write (PWRT)
This signal is enabled when the aforementioned MODES output signal is ON.
When this signal has remained ON for 20 msec or longer, the controller will read the position number specified
by a binary code consisting of PC1 through PC32 as currently detected, and write the current position data in the
“Position” field of the corresponding position number.
If data of other items (speed, acceleration/deceleration, positioning band, etc.) are yet to be defined, the default
settings of the corresponding parameters will be written.
When the writing completes successfully, the WEND output signal will turn ON.
Configure the system in such a way that the PLC will turn OFF the PWRT signal when WEND turns ON. The
controller will turn OFF WEND once the PWRT signal turns OFF.
(Note) An alarm will generate if a write command is issued when home return has not been performed yet or
while the actuator is moving.
„ Manual operation switching (JISL)
This signal is enabled when the teaching type is selected.
The JISL signal is used to switch operations in the manual mode. Specifically, the actuator will jog when this
signal is OFF, or inch when this signal is ON.
If this signal is turned ON while the actuator is jogging, the actuator will decelerate to a stop.
If this signal is turned OFF while the actuator is inching, the actuator will continue with its inching movement.
59
5. I/O Signal Control and Signal Functions
„ Operation mode (MODE)
This signal is effective when the teaching type is selected.
When this signal is turned ON while the actuator is standing still, the normal operation mode will change to the
teaching mode.
The controller will turn ON the MODES output signal upon receiving this signal.
Program the PLC so that it will accept a current-position write command after confirming that the MODES output
signal is ON.
When this signal is turned OFF, the controller will return to the normal operation mode.
5. I/O Signal Control and Signal Functions
„ Jog (JOG+, JOG-)
This signal is enabled when the teaching type is selected.
When the actuator is jogging (i.e., the JISL signal is OFF), it will jog toward the +/- software stroke limit upon
detection of an OFF Æ ON rise edge of this signal.
If an ON Æ OFF fall edge of this signal is detected while the actuator is moving, the actuator will decelerate to a
stop.
The jogging speed is defined by parameter No. 26, “PIO jog speed.”
* If any of the following input signal changes occurs while the actuator is jogging, the actuator will decelerate to a
stop:
[1] Both the JOG+ and JOG- signals have turned ON.
[2] The JISL signal has turned ON (i.e., the operation mode has changed to inching).
[3] The CSTR signal has turned ON (i.e., a positioning command has been input).
Upon detection of an OFF Æ ON rise edge of this signal while the actuator is inching (i.e., the JISL signal is ON),
the actuator will travel the distance defined in parameter No. 48, “PIO inching distance.”
The actuator will continue with its inching movement if this signal is switched while the actuator is inching.
Caution: If jogging or inching is performed before a home return is completed, the actuator may
collide with a mechanical end because the software stroke limits are not yet effective.
Exercise due caution.
„ Direct position command (ST0 to ST6) [7-point type]
These signals are effective when “4” is set in parameter No. 25.
Upon detection of an OFF Æ ON rise edge of this signal or detection of the ON level of the signal, the actuator
will move to the target position set in the corresponding position data.
Before executing this command, the target position, speed and other operation data must be set in the position
table using a PC/teaching pendant.
If ON edges of two or more signals are detected at the same time, priority will be given to the position command
of the smallest number among all detected command signals. (Example: If ON edges of ST0 and ST1 signals
are detected at the same time, the actuator will start moving to position 0.)
Although commands are executed upon detection of an ON signal edge, priority is given to the command that
was specified the earliest. In other words, a signal input will not be accepted while the actuator is moving. Even if
a different position signal is turned ON while the actuator is moving, the actuator will not commence moving to
the new position after reaching the target position.
Correspondence table of input signals and command positions
Input signal
ST0
ST1
ST2
ST3
ST4
ST5
ST6
Command position
Position No. 0
Position No. 1
Position No. 2
Position No. 3
Position No. 4
Position No. 5
Position No. 6
If a movement command is issued when the first home return is not yet completed after the power was input,
home return will be performed automatically to establish the coordinates first, after which the actuator will move
to the target position.
60
„ Movement to each position (ST0 to ST2) [3-point type]
Since the number of positioning points is limited to three, the actuator can be controlled just like an air cylinder.
While this signal is ON, the actuator will move toward the target position.
If the signal turns OFF while the actuator is moving, the actuator will decelerate to a stop.
Before executing this command, enter a target position in the “Position” field for position No. 0, 1 or 2 in the
position table.
Input signal
Target position
Remarks
ST0
Rear end
The target position is defined in the “Position” field for position No. 0.
ST1
Front end
The target position is defined in the “Position” field for position No. 1.
ST2
Intermediate point The target position is defined in the “Position” field for position No. 2.
5. I/O Signal Control and Signal Functions
61
5.3.2
Details of Each Output Signal
5. I/O Signal Control and Signal Functions
„ Operating mode status (RMDS)
The internal operating mode of the controller is output based on the AUTO/MANU selector switch on the
controller and the RMOD signal received by the input port. If the selector switch is set to “AUTO” and the RMOD
signal is OFF (AUTO), the controller is in the AUTO (OFF) mode. If the selector switch is set to “MANU” and/or
the RMOD signal is ON (MANU), the controller is in the MANU (ON) mode.
„ Completed position number (PM1 to PM256)
These signals can be used to check the completed position number when the PEND signal turns ON.
The signals are output as a binary code.
Immediately after the power is input, all of the PM1 to PM256 signals are OFF.
In the standard or teaching type, six bits of PM1 through PM32 are used. In the 256-point type, eight bits of PM1
through PM128 are used. In the 512-point type, nine bits of PM1 through PM256 are used.
All of these signals are OFF also when the actuator is moving.
As described above, this signal is output only when positioning is completed.
(Note) All of these signals will turn OFF when the servo is turned OFF or an emergency stop is actuated. They
will return to the ON status when the servo is turned ON again, provided that the current position is
inside the in-position range with respect to the target position. If the current position is outside the range,
the signals will remain OFF.
When the power is input, the PEND signal will turn ON. These signals are all OFF, this condition is the
same as one achieved after positioning to position “0” is completed.
Check the position of position 0 after the movement command has completed.
If an alarm is present, the corresponding alarm code (abbreviated form) consisting of four bits from PM1 to PM8
will be output.
The meanings of these signals vary between the normal condition and the alarm condition, so be careful not to
use them wrongly in the sequence.
„ Moving (MOVE)
This signal is output while the servo is ON and the actuator is moving (also during home return, push & hold
operation or jogging).
Use the MOVE signal together with the PEND signal to allow the PLC to determine the actuator status.
The MOVE signal will turn OFF after positioning or home return is completed or a judgment is made during push
& hold operation that the work part is being contacted.
„ Position complete (PEND)
This signal indicates that the target position was reached and positioning has completed.
Use the PEND signal together with the MOVE signal to allow the PLC to determine the positioning status.
When the controller becomes ready after the power was input and the servo has turned ON, this signal will turn
ON if the position deviation is within the in-position range.
Then, when a movement command is issued by turning ON the start signal, the PEND signal will turn OFF. It will
turn ON again when the deviation from the target position falls within the in-position range.
Once turned ON, the PEND signal will not turn OFF even when the position deviation subsequently exceeds the
in-position range.
(Note) If the start signal remains ON, the PEND signal will not turn OFF even when the deviation from the target
position falls within the in-position range: it will turn ON when the start signal turns OFF.
Even when the motor is stopped, the PEND signal will remain OFF if the pause signal is input or the
servo is OFF.
62
„ Home return completion (HEND)
This signal is OFF immediately after the power is input, and turns ON in either of the following two conditions:
[1] Home return operation has completed with respect to the first movement command issued with the start
signal.
[2] Home return operation has completed following an input of the home return signal.
Once turned ON, the HEND signal will not turn OFF unless the input power supply is cut off, a soft reset is
executed, or the home return signal is input again.
The HEND signal can be used for the following purposes:
[1] Check prior to establishing the home if movement toward the home direction is permitted, in cases where
an obstacle is located in the direction of the home
[2] Use as a condition for writing the current position in the teaching mode
[3] Use as a condition for enabling the zone output signal
[2] PZONE
This signal will turn ON when the current actuator position enters the area between the zone boundaries set in
the position table. After the current position movement command is completed, the signal will remain effective
until the next position movement command is received.
„ Current operation mode (MODES)
This signal is enabled when the teaching type is selected.
The MODES signal will turn ON when the teaching mode is enabled upon selection of the teaching mode via the
operation mode input signal (MODE signal ON).
Thereafter, the MODES signal will remain ON until the MODE signal turns OFF.
Configure the system in such a way that the PLC will start teaching operation after confirming that the MODES
signal has turned ON.
„ Write completion (WEND)
This signal is enabled only when the teaching type is selected.
The WEND signal is OFF immediately after the controller has switched to the teaching mode. It will turn ON
when the writing of position data in response to the current-position write signal is completed.
When the current-position write signal turns OFF, this signal will also turn OFF.
Configure the system in such a way that the PLC will acknowledge completion of writing when the WEND signal
turns OFF.
63
5. I/O Signal Control and Signal Functions
„ Zone (ZONE1, ZONE2)
[1] ZONE1
This signal will remain ON while the current actuator position is inside the zone specified by Parameter No. 1,
“Zone boundary+” and Parameter No. 2, “Zone boundary-,” or OFF while the actuator is outside this range. This
signal is always effective once home return has been completed and is not affected by the servo status or
presence of an alarm.
(Note) This signal becomes effective only after the coordinate system has been established following a
completion of home return. It will not be output immediately after the power is turned on.
„ Movement complete at each position (PE0 to PE6) [7-point type]
When PIO pattern is “4,” a position number (0 through 6) corresponding to each movement command will be
output upon completion of positioning. Simple alarm-code output function is not provided for these signals. If an
alarm generates, only the *ALM signal will turn OFF. Check the details of the alarm code using each tool.
5. I/O Signal Control and Signal Functions
Correspondence table of output signals and positions completed
Output signal
PE0
PE1
PE2
PE3
PE4
PE5
PE6
Note)
Position completed
Position No. 0
Position No. 1
Position No. 2
Position No. 3
Position No. 4
Position No. 5
Position No. 6
These signals turn OFF when the servo is turned OFF or an emergency stop is actuated. They will return
to the ON status when the servo is turned ON again, provided that the current position is inside the inposition range with respect to the target position. If the current position is outside the range, the signals
will remain OFF.
„ Position detection output at each position (LS0 to LS2) [3-point type]
These signals have the same meanings as the LS signals of an air cylinder. Each signal will turn ON when the
current position enters the positioning band of the target position.
(Note) Even if the servo turns off or an emergency stop is actuated while the actuator is stopped at the target
position, the signal will remain ON as long as the actuator is inside the positioning band.
Output signal
Position detected
Remarks
The detection position is defined in the “Position” and “Positioning
LS0
Rear end
band” fields for position No. 0.
The detection position is defined in the “Position” and “Positioning
LS1
Front end
band” fields for position No. 1.
The detection position is defined in the “Position” and “Positioning
LS2
Intermediate point
band” fields for position No. 2.
„ Ready (SV)
This is a monitor signal indicating that the servo is ON and the motor is ready.
Use this signal as a condition for starting a movement command on the PLC side.
„ Alarm (*ALM)
This signal remains ON while the controller is operating properly, and turns OFF when an alarm has generated.
Provide an appropriate safety measure for the entire system by allowing the PLC to monitor the OFF status of
this signal.
For details of alarms, refer to 10, “Troubleshooting.”
64
„ Emergency stop (*EMGS)
This signal remains ON while the controller is normal, and will turn OFF if the emergency stop circuit is cut off.
Program the PLC so that it will monitor this signal and implement appropriate safety measures for the entire
system if the signal turns OFF.
„ Torque level status (TRQS)
* This is a dedicated signal available only with the PCON-CF.
If a load threshold is set, this signal will turn ON when the motor current reaches the load threshold while the
actuator is moving.
Since the level of current is monitored, the ON/OFF status of this signal will change when the current changes.
In the weak field-magnet vector control used for stepping motors, the balance of current and torque will be lost
once a specific speed is exceeded. To use the command current to determine if the threshold has been reached,
therefore, the push speed must be limited. Note, however, that the range of permissible push speeds varies
depending on the motor and lead, which means that the push speed set in user parameter No. 34 must also be
adjusted according to the applicable motor and lead.
„ Output Signal Changes in Each Mode
Mode classification
Actuator is stopped with the servo ON after the power
was input
Home return is in progress following an input of the
home return signal
Home return has completed following an input of the
home return signal
Actuator is moving in the positioning/push & hold mode
Actuator is paused in the positioning/push & hold mode
Positioning has completed in the positioning mode
Actuator has stopped after contacting the work part in
the push & hold mode
Actuator has stopped after missing the work part (no
work part) in the push & hold mode
Actuator is stopped with the servo ON in the teaching
mode
Actuator is jogging in the teaching mode
Actuator is being moved by hand with the servo OFF in
the teaching mode
Servo is OFF after home return
Emergency stop has been actuated after home return
MOVE
PEND
SV
HEND
PM1 ~
PM256
OFF
ON
ON
OFF
OFF
ON
OFF
ON
OFF
OFF
OFF
ON
ON
ON
OFF
ON
OFF
OFF
OFF
OFF
ON
ON
ON
ON
ON
ON
ON
OFF
OFF
ON
OFF
ON
ON
ON
ON
OFF
OFF
ON
ON
ON
OFF
ON
ON
ON
ON
ON
OFF
OFF
ON
OFF
OFF
ON
ON
OFF
OFF
OFF
OFF
OFF
(Note) Determine whether the actuator has stopped after contacting the work part or missing the work part from
the signal statuses of MOVE, PEND and PM1 to PM256.
65
5. I/O Signal Control and Signal Functions
„ Load output judgment status (LOAD)
* This is a dedicated signal available only with the PCON-CF.
If used in a press-fitting application, the controller must be able to know if the specified load threshold was
reached during push & hold operation.
A desired load threshold and check band range are set in the position table, and this signal will turn ON when
the command torque exceeds the threshold while the actuator is inside the check band range.
With the LOAD signal, judgment is made based on whether the total duration of periods in which the command
torque has exceeded the threshold corresponds at least to a specified time. The specific processing procedure is
the same as the one used when determining a completion of push action. The time used for judgment of load
output can be changed freely using user parameter No. 50, “Load output judgment time.”
6. Data Entry <Basics>
To move the actuator to a specified position, a target position must be entered in the “Position” field.
A target position can be specified in the absolute mode where a distance from the home is entered, or in the
incremental mode where a relative travel from the current position is entered.
Once a target position is entered, all other fields will be automatically populated with their default values set by
the applicable parameters.
The default values vary depending on the characteristics of the actuator.
6.1 Description of Position Table
6. Data Entry <Basics>
The position table is explained using an example on the PC software screen.
(The items displayed on the teaching pendant are different.)
No.
0
1
2
Position
[mm]
5.00
380.00
200.00
Speed
[mm/s]
300.00
300.00
300.00
Zone+
[mm]
Zone[mm]
Acceleration Deceleration
[G]
[G]
0.30
0.30
0.30
0.10
0.30
0.10
Acceleration/
deceleration Incremental
mode
Push
[%]
0
0
0
Threshold
[%]
0
0
0
Positioning
band [mm]
0.10
0.10
0.10
Command
mode
Standstill
mode
Comment
Standby
position
100.00
0.00
0
0
0
4
400.00
250.00
300.00
150.00
0
0
0
0
0
0
0
0
(1) No.
x Indicate the position data number.
(2) Position
x Enter the target position to move the actuator to, in [mm].
Absolute mode:
Enter a distance from the actuator home.
Incremental mode: Enter a relative travel from the current position based
on constant-pitch feed.
No
0
Position
[mm]
30.00
1 = 10.00
2 = -10.00
*
(3) Speed
66
Absolute mode
The target position is 30 mm from
the home.
Incremental mode +10 mm from the current position
Incremental mode -10 mm from the current position
On the teaching pendant, this sign indicates that
the position is set in the incremental mode.
x Enter the speed at which the actuator will be moved, in [mm/sec].
The default value varies depending on the actuator type.
(4) Acceleration/deceleration x Enter the acceleration/deceleration at which to move the actuator, in
[G].
Basically, the acceleration and deceleration should be inside the rated
acceleration/deceleration range specified in the catalog.
The input range is greater than the rated range in the catalog to
accommodate situations where you want to “reduce the tact time when
the transferring mass is significantly smaller than the rated value.”
If vibration of the load causes problem during acceleration/deceleration,
decrease the set value.
Speed
Acceleration
Deceleration
Target
position
Time
6. Data Entry <Basics>
Starting
position
Increasing the set value makes the acceleration/deceleration
quicker while decreasing the value makes it more gradual.
Caution: Refer to the attached list of supported actuator specifications and set appropriate speed
and acceleration/deceleration so that the actuator will not receive excessive impact or
vibration under the applicable installation condition and for the load of the specific shape.
Increasing the speed and acceleration/deceleration may significantly impact the actuator
depending on the transferring mass, and the actuator characteristics also vary from one
model to another. Contact IAI for the maximum limits that can be entered in your specific
application.
(5) Push
x Select “positioning operation” or “push & hold operation.”
The factory setting is “0.”
0:
Normal positioning operation
Other than 0: Push & hold operation, where the entry indicates a
current-limiting value.
(6) Threshold
x This field sets the threshold for motor current. The factory setting is “0.”
(7) Positioning band
x The meaning of this field varies
between “positioning operation”
and “push & hold operation.”
“Positioning operation”
This field defines how much before
the target position the completion
signal will turn ON.
Increasing the positioning band
allows the next operation in the
sequence to be started early, and
consequently the tact time can be
reduced. Set an optimal value by
checking the overall balance of the
system.
The position
complete signal
turns ON here.
Positioning band
Target
position
67
“Push & hold operation”
This field defines the maximum push distance after reaching the target
position in push & hold operation.
Consider possible mechanical variation of the work part and set an
appropriate positioning band that will prevent the positioning from
completing before the work part is contacted.
The position complete signal turns ON here, as completion of
push action is recognized after the load has been contacted.
Load
Positioning band (maximum push distance)
x This field defines the zone within which the position zone output signal
(PZONE) will turn ON. To add flexibility, a different zone can now be set
for each target position.
[Setting example]
No.
0
1
2
Position
[mm]
5.00
380.00
200.00
Zone+
[mm]
100.00
400.00
250.00
Movement command to position No. 0
Position zone output signal
Zone[mm]
0.00
300.00
150.00
Target
position
(8) Zone +/-
Home
ON
OFF
Movement command to position No. 1
ON
Position zone output signal
+ limit
100 mm
Target
position
0 mm 5 mm
OFF
300 mm
Movement command to position No. 2
Position zone output signal
380 mm
400 mm
Target
position
6. Data Entry <Basics>
Target position
ON
OFF
150 mm
68
200 mm
250 mm
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6.1.1
Relationship of Push Force at Standstill and Current-Limiting Value
When performing operation in the push & hold mode, enter the current-limiting value (%) in the push column of
the position-data table.
Determine the current-limiting value (%) from the push force to be applied to the work part at standstill.
For the relationship of push force at standstill and current-limiting value for each actuator type, refer to the
Appendix.
6.2 Explanation of Modes
6. Data Entry <Basics>
6.2.1
Positioning Mode Push = 0
The actuator moves to the target position set in the “Position” field of the position table.
Speed
The position complete
signal turns ON here.
Target position
Moving distance
Time
Positioning band
6.2.2
Push & Hold Mode Push = Other than 0
(1) Work part was contacted successfully
Upon reaching the target position set in the “Position” field of the position table, the actuator moves at the push
speed for the distance set in the “Positioning band” field.
If the actuator contacts the work part while moving and the controller recognizes that “push action has
completed,” the position complete signal will turn ON.
The position complete signal turns ON here,
as completion of push action is recognized
after the load has been contacted.
Speed
Moving distance
Target position
Positioning band
(maximum push distance)
„ The push speed is set by parameter No. 34.
The factory setting varies with each actuator in accordance with the actuator’s characteristics.
Set an appropriate speed by considering the material and shape of the work part, among others.
Since the maximum speed is 20 mm/s, operate the actuator at a speed not exceeding this value.
„ Set a positioning band slightly longer than the last position, in order to absorb possible mechanical variation
of the work part.
70
„ “Completion of push action” is determined based on a combination of the current-limiting value set in the
“Push” field of the position table and the push completion judgment time set by parameter No. 6.
Set an appropriate condition by considering the material and shape of the work part, among others.
For details, refer to Chapter 8, “Parameter Settings.”
Warning
x If the actuator contacts the work part before reaching the target position, a servo error
alarm will generate. Pay due attention to the relationship of the target position and the
work part position.
x The actuator continues to push the work part at the push force at standstill determined
by the current-limiting value. Since the actuator is not inactive, exercise due caution
when handling the machine in this condition.
Speed
The position complete signal will not turn
ON if the load has not been contacted.
Moving distance
Target position
Positioning band
(maximum push distance)
71
6. Data Entry <Basics>
(2) Work part was not contacted (missed)
If the actuator does not still contact the work part after having moved the distance specified in the “Positioning
band” field, the position complete signal will not turn ON.
Therefore, include timeout check processing in the sequence circuit on the PLC side.
x It is recommended that a zone signal be also used as a “simple ruler” to supplement the judgment of missed
work part.
(3) Work part moves during push & hold operation
[1] Work part moves in the pushed direction
If the work part moves in the pushed direction after completion of push action, the actuator will chase the
work part within the positioning band.
If the current drops to below the current-limiting value set in the “Push” field of the position table while the
actuator is moving, the position complete signal will turn OFF. The position complete signal will turn ON
when the current-limiting value increases to the specified level again.
Speed
Completion of push action
is recognized here.
If the load moves in the pushed
direction, the actuator will chase
it within the positioning band.
6. Data Entry <Basics>
Moving distance
Target position
[2]
Positioning band
(maximum push distance)
Work part moves in the opposite direction
(Actuator is pushed back by the strong reactive force of the work part)
If the actuator is pushed back after completion of push action because the reactive force of the work part is
greater than the thrust force of the actuator, the actuator will be pushed back until its push force balances
out with the reactive force of the work part.
The position complete signal will remain ON.
Speed
Completion of push action
is recognized here.
Moving distance
Target position
(Note)
Positioning band
(maximum push distance)
If the actuator is pushed back to the target position, an alarm will generate.
Caution: As the maximum push distance is approached during push-motion operation, the actuator
decelerates by assuming that it has missed the work part and stops at the position corresponding
to the maximum push distance. If the speed drops significantly immediately before the actuator
stops, the set push force cannot be maintained. For this reason, do not perform any push-motion
operation where the entire range of the maximum push distance is used.
72
(4) Positioning band was entered with a wrong sign
Take note that if a value with a wrong sign is set in the “Positioning band” field of the position table, the operation
will deviate by a distance corresponding to “positioning band x 2,” as shown below.
Speed
Moving
distance
Positioning
Positioning
band
band
Target
position
Actual position
reached (the load
was missed)
Positioning
band
6. Data Entry <Basics>
6.2.3
Torque Check Function in Push & Hold Operation
(1) Torque check function when a check band is set
The position complete signal turns ON here,
as completion of push action is recognized
after the load has been contacted.
The load output turns ON here when the
command torque has exceeded the
threshold inside the torque check range.
Speed
Check band
Moving
distance
Positioning band
(maximum push distance)
Target position
After reaching the target position set in the “Position” field of the position table, the actuator moves at the push
speed by the distance set in the “Positioning band” field. If the command torque reaches the threshold before the
specified distance is traveled and while the actuator is inside the threshold check band, the load output will turn
ON.
„
„
„
„
„
The push speed is set by parameter No. 34, “Push speed.”
The factory setting varies with each actuator in accordance with the characteristics of the actuator.
Set an appropriate speed by considering the material and shape of the work part, among others.
Take note, however, that the maximum speed is limited to 10 mm/s.
Set parameter No. 51, “Torque check range” to “0 [Enable].”
Set a threshold check band in the "zone + or zone -" filed of the position table.
Set a desired threshold in the “Threshold” field of the position table (input range: a desired value within the
specified push force range).
Set a desired positioning band in the “Positioning band” field of the position table.
Set a positioning band slightly longer than the last position, in order to absorb possible mechanical variation
of the work part.
For details, refer to Chapter 8, “Parameter Settings.”
73
Warning
x If the actuator contacts the work part before reaching the target position, a servo error
alarm will generate. Pay due attention to the relationship of the target position and the
work part position.
x The actuator continues to push the work part at the push force at standstill determined
by the current-limiting value. Since the actuator is not inactive, exercise due caution
when handling the equipment in this condition.
(2) Torque check function when a check band is not used
6. Data Entry <Basics>
The position complete signal turns ON here,
as completion of push action is recognized
after the load has been contacted.
Speed
Moving
distance
The load output turns ON inside this range.
Positioning band
(maximum push distance)
Target position
After reaching the target position set in the “Position” field of the position table, the actuator moves at the push
speed by the distance set in the “Positioning band” field. If the command torque reaches the threshold before the
end of the positioning band is reached, the load output will turn ON. The load output will turn OFF once the
command torque drops to below the threshold.
„
The push speed is set by parameter No. 34, “Push speed.”
The factory setting varies with each actuator in accordance with the characteristics of the actuator.
Set an appropriate speed by considering the material and shape of the work part, among others.
Take note, however, that the maximum speed is limited to 10 mm/s.
Set parameter No. 51, “Torque check range” to “1 [Disable].”
Set a desired threshold in the “Threshold” field of the position table (input range: a desired value within the
specified push force range).
Set a desired positioning band in the “Positioning band” field of the position table.
Set a positioning band slightly longer than the last position, in order to absorb possible mechanical variation
of the work part.
For details, refer to Chapter 8, “Parameter Settings.”
„
„
„
Warning
74
x If the actuator contacts the work part before reaching the target position, a servo error
alarm will generate. Pay due attention to the relationship of the target position and the
work part position.
x The actuator continues to push the work part at the push force at standstill determined
by the current-limiting value. Since the actuator is not inactive, exercise due caution
when handling the equipment in this condition.
6.2.4
Speed Change during Movement
Speed control involving multiple speed levels is possible in a single operation. The actuator speed can be
decreased or increased at a certain point during movement.
However, the position at which to implement each speed change must be set.
Position 1
6.2.5
Position 2
Position 1
Position 2
Position 1 Position 2 Position 3
Operation at Different Acceleration and Deceleration Settings
6. Data Entry <Basics>
If the work part is a CCD camera or other precision equipment, the deceleration curb at stop must be made as
gradual as possible.
To accommodate these sensitive applications, the position table has separate fields for “acceleration” and
“deceleration.”
For example, you can set the deceleration differently from the acceleration, such as setting 0.3 G (rated
acceleration) in “Acceleration” and 0.1 G in “Deceleration.”
Speed
Acceleration:
0.3 G
Starting
position
Deceleration:
0.1 G
Time
Target
position
Caution: Basically, the acceleration and deceleration should be inside the rated
acceleration/deceleration range specified in the catalog.
The input range is greater than the rated range in the catalog, but this is only to
accommodate situations where you want to “reduce the tact time when the transferring
mass is significantly smaller than the rated value.”
If you want to use acceleration/deceleration settings greater than the rating, consult IAI
beforehand because it may affect the life of the actuator.
75
6.2.6
Pause
The actuator can be paused during movement using an external input signal (*STP).
The pause signal uses the contact b logic (always ON) to ensure safety.
Turning the *STP signal OFF causes the actuator to decelerate to a stop. When *STP is turned ON subsequently,
the actuator will resume the remaining movement.
ON
ON
OFF
*STP
Actuator operation
6. Data Entry <Basics>
Target position
(Note) The deceleration corresponds to the value set in the “Deceleration” field for the current position number
in the position table.
6.2.7
Zone Signal Output
The zone output is suitable for the following applications, because a signal can be output when the actuator
enters a specified zone during movement:
[1] Issue a trigger signal to surrounding equipment to reduce the tact time
[2] Prevent contact with surrounding equipment
[3] Use as a “simple ruler” in push & hold operation
A different method is used for the zone output signal, and for the position zone output signal, to set the zone
within which the signal will turn ON.
„ Zone output signal (ZONE1)
Set the signal ON zone using parameters.
Parameter No. 1 = Zone boundary+, Parameter No. 2 = Zone boundaryZone output (ZONE1)
Actuator operation
Home
+ direction
Value set in
parameter No. 2
Value set in
parameter No. 1
„ Position zone output signal (PZONE)
Set the signal ON zone using the “Zone boundary-“ and “Zone boundary+” fields of the position table.
Zone output (PZONE)
Actuator operation
+ direction
Home
Value set in
“Zone boundary-”
76
Value set in
“Zone boundary+”
6.2.8
Home Return
After the power is turned on, home return must be performed to establish the home position.
The method of home return varies depending on the PIO pattern.
z When a dedicated input is used [PIO pattern z 5]
Home return is performed using the home return (HOME) input.
The actuator will return home regardless of whether or not home return has been completed once before.
When home return is completed, the home return complete (HEND) output signal will turn ON.
z When a dedicated input is not used [PIO pattern = 5]
When a rear end move command is input while home return is not yet completed, the actuator will perform
home return first and then move to the rear end.
 For details, refer to 7.2, “How to Execute Home Return.”
6. Data Entry <Basics>
77
6.2.9
Overview of Teaching Type
6. Data Entry <Basics>
Depending on your system, it may be desirable to be able to use a touch panel, etc., to perform jogging
operation or write the current position to the “Position” field of the position table, without using a PC or teaching
pendant.
The teaching type is provided to support these applications.
The features of the teaching type are summarized below:
[1] The actuator can be jogged using I/O signals input from the PLC.
Continuous jog feed or inching feed can be selected by the manual switching signal to facilitate fine position
adjustment.
* This function is effective regardless of the ON/OFF state of the operation mode input (MODE) signal.
[2] The current position can be written to the “Position” field of the position table using I/O signals input from
the PLC.
* This function is effective only when the operation mode input (MODE) signal is ON.
(Note) The number of I/O points is limited, so some I/O ports are used in both the teaching type and the normal
positioning type. Remember this when creating a sequence circuit for the PLC.
Operation mode input (MODE)
* Signal for switching to the teaching mode
Current operation mode output (MODES)
* Monitor output indicating the internal
mode of the controller
Meaning of I/O connector pin 18A
Meaning of I/O connector pin 12B
ON (teaching mode)
OFF (positioning mode)
ON (teaching mode)
OFF (positioning mode)
Current-position write
input (PWRT)
Write completion output
(WEND)
Start input (CSTR)
Position complete output
(PEND)
Warning: Jog commands are effective even before home return is completed, but the soft stroke
checks are not performed prior to home return. Accordingly, the actuator may move all
the way to the mechanical end if the jog command (JOG+/JOG-) signal remains ON.
Exercise caution not to let the actuator hit the mechanical end.
78
6.2.10
Overview of 7-point Type
The number of positioning points is kept small, or specifically to seven or less. This type assumes simple
applications where the PLC ladder sequence only requires a simple circuit configuration.
I/O signals provide separate command inputs and movement complete outputs for respective position numbers.
Accordingly, the signal pattern is different from the one in the 64-point positioning type (PIO pattern = 0).
Example) The differences are explained by using an example of moving the actuator to the target position for
position No. 5.
[1] 7-point type
Direct position command
5 input (ST5)
Combination of dedicated
movement command input
and complete output
6. Data Entry <Basics>
Movement complete 5
output (PE5)
Position complete output
(PEND)
No more than 6 msec
Actuator movement
Starting position
of movement
*
Target position
In the 64-point type, a position command input (binary) signal and a start input signal must be turned ON at
staggered timings to initiate movement (refer to the next page). In this type, however, there is only one input
signal that needs to be turned ON.
„ Explanation of I/O signals
Signal name
Direct position command 0 (ST0)
Direct position command 1 (ST1)
Direct position command 2 (ST2)
Direct position command 3 (ST3)
Direct position command 4 (ST4)
Direct position command 5 (ST5)
Direct position command 6 (ST6)
Category
Input
Movement complete 0 (PE0)
Movement complete 1 (PE1)
Movement complete 2 (PE2)
Movement complete 3 (PE3)
Movement complete 4 (PE4)
Movement complete 5 (PE5)
Movement complete 6 (PE6)
Output
Function explanation
Movement command to the target position for position No. 0
Movement command to the target position for position No. 1
Movement command to the target position for position No. 2
Movement command to the target position for position No. 3
Movement command to the target position for position No. 4
Movement command to the target position for position No. 5
Movement command to the target position for position No. 6
Indicates that the actuator reached the target position for
position No. 0.
Indicates that the actuator reached the target position for
position No. 1.
Indicates that the actuator reached the target position for
position No. 2.
Indicates that the actuator reached the target position for
position No. 3.
Indicates that the actuator reached the target position for
position No. 4.
Indicates that the actuator reached the target position for
position No. 5.
Indicates that the actuator reached the target position for
position No. 6.
79
[2]
64-point type
Command position 1
input (PC1)
Command position 2
input (PC2)
“5” is indicated by a binary code.
Command position 4
input (PC4)
6. Data Entry <Basics>
* All other command position inputs (PC8, PC16 and PC32) turn OFF.
At least 6 msec of delay time is needed
(ensured by a timer setting on the PLC side).
Start input (CSTR)
Completed position 1
output (PM1)
(Remains OFF)
Completed position 2
output (PM2)
Completed position 4
output (PM4)
Position complete
output (PEND)
Not to exceed
6 msec
Actuator movement
Starting position
of movement
80
Target position
The PLC checks these 3 signals
to confirm that the completed
position number is “5.”
6.2.11
Overview of 3-point Type
This type provides a control method adjusted to that of an air cylinder by assuming that the controller is used as
an air cylinder.
The key differences between this controller and an air cylinder are summarized in the table below. Program
appropriate controls by referring to this table.
* Do not use this mode for push & hold operation.
Item
Air cylinder
Drive method Air pressure supplied
via electromagnetic
valve control
Target
Mechanical stopper
position
(including shock
setting
absorber)
PCON
Ball-screw or timing-belt drive using a pulse motor
Target
position
detection
Speed setting
Determined based on the internal coordinates provided by the
position information from the position detector (encoder).
Accordingly, external detection sensor is not required.
A desired feed speed is entered in the [Speed] field of the
position table (unit: mm/sec).
Note that the rated speed is automatically set as the initial
value.
Desired acceleration/deceleration are entered 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/deceleration is automatically set
as the initial value.
Since the acceleration/deceleration can be set in fine steps, a
gradual acceleration/deceleration curve can be programmed.
Acceleration/ Determined in
deceleration accordance with the
setting
load, supplied air
volume, as well as the
performance of the
speed controller and
electromagnetic valve.
Acceleration
0.3G
Starting position
of movement
6. Data Entry <Basics>
An external detection
sensor, such as a reed
switch, is installed.
Adjusted by a speed
controller.
Desired coordinates are entered in the [Position] field of the
position table.
Coordinates can be entered from the PC/teaching pendant
using the keyboard/keys, or the actuator can be moved to the
desired position to read the achieved coordinates directly.
Example) 400-mm stroke
Position No.
Position
0
5 (mm) Rear end
1
400 (mm) Front end
2
200 (mm) Intermediate point
Deceleration
0.1G
Ending position
Setting a larger value makes the curve steeper, while setting a
smaller value makes the curb more gradual.
81
Item
Position
check upon
power ON
Air cylinder
Determined by an
external detection
sensor, such as a reed
switch.
RCP2
Immediately after the power is turned on, the controller cannot
identify the current position because the mechanical coordinates
have been lost.
Accordingly, a rear end command must always be executed
after the power is turned on, to establish the coordinates.
The actuator will perform home-return operation first, and then
move to the rear end.
[1]
[2]
Power is turned on
here.
[3]
Home position
6. Data Entry <Basics>
Rear and position
[1] The actuator moves at the home return speed toward the
mechanical end on the motor side.
[2] The actuator contacts the mechanical end and turns back,
and then 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) Pay attention not to allow any obstacle in the travel path
of the actuator during home return.
The relationship of each movement command input/position detected and corresponding position number is shown
below.
The input/output signals are given easy-to-identify names by following the naming convention of air-cylinder switches.
However, the target position is determined by the value set in the [Position] field for each position number. Therefore,
changing the magnitude relationships of settings under position Nos. 0, 1 and 2 will change the meanings of
input/output signals.
For this reason, it is recommended that you always use the signals under their names defined in this manual, unless
doing so presents problem, so that the signals have the same meanings at all time.
Input signal
Rear end move (ST0)
Front end move (ST1)
Intermediate point
move (ST2)
Output signal
Rear end detected (LS0)
Front end detected (LS1)
Intermediate point detected
(LS2)
Target position
Value set in the [Position] field for position No. 0 Example) 5 mm
Value set in the [Position] field for position No. 1 Example) 390 mm
Value set in the [Position] field for position No. 2 Example) 200 mm
z Positioning relationship on the ROBO Cylinder
An example of a slider type with a stroke of 400 mm is explained.
[Motor side]
Home position (0 mm)
[Counter-motor side]
Front end detected (390 mm)
Rear end detected (5 mm)
Intermediate point detected (200mm)
z Position table (Enter in the fields indicated in bold)
No.
0
1
2
82
Position
[mm]
5.00
390.00
200.00
Speed
[mm/s]
500.00
500.00
500.00
Acceleration
[G]
0.30
0.30
0.30
Deceleration
[G]
0.30
0.30
0.30
Push
[%]
0
0
0
Positioning band
[mm]
0.10
0.10
0.10
6.3 Notes on the ROBO Gripper
(1) Finger operation
[1] Definition of position
The specified stroke of the 2-finger type indicates the sum of travel distances of both fingers. In other
words, the travel distance of one finger is one half the specified stroke.
A position you specify defines the distance traveled by one finger from the home position in the closing
direction.
Accordingly, 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 each finger.
The relative speed and acceleration of the 2-finger type are twice the command values.
[3] Operation mode in gripper applications
When the actuator is used to grip the work part, be sure to select the “push & hold mode.”
(Note) In the “positioning mode,” a servo error may occur while the work part is gripped.
6. Data Entry <Basics>
Gripping force (N)
Gripping force (N)
[Diagrams of gripping force and current-limiting value]
Current-limiting value (ratio in %)
Gripping force P (N)
Gripping force P (N)
Current-limiting value (ratio in %)
Current-limiting value (ratio in %)
Gripping force P (N)
Gripping force P (N)
Current-limiting value (ratio in %)
Current-limiting value (ratio in %)
Current-limiting value (ratio in %)
83
(2) Removing the gripped work part
This gripper is designed to maintain the work part-gripping force via a self-lock mechanism even when the servo
is turned OFF or the controller power is cut off.
If the gripped work part must be removed while the power is cut off, do so by turning the open/close screw or
removing the finger attachment on one side.
[2-finger type]
Turn the open/close screw or remove the finger attachment on one side.
Finger attachment
Open/close screw
Opening
direction
(OPEN)
6. Data Entry <Basics>
Turn the screw counterclockwise
using a flathead screwdriver.
Affixing bolt
[3-finger type]
Remove one finger attachment.
Finger attachment
Affixing bolt
84
6.4 Power-saving Modes at Standby Positions
This controller possesses Automatic Servo-off and Full Servo functions to reduce the power
consumption while the actuator is stopped. Read the description in this chapter carefully to
save power so that the controller can be operated safely.
Automatic Servo-off function automatically turns the servo OFF in certain time after positioning
process is finished. The next positioning command is issued to turn the servo ON automatically
and achieve the positioning. No holding current flows in the stop state to allow the power
consumption to be saved.
3 types of patterns can be set for the time since positioning complete until servo turned OFF,
and either one can be selected.
In the Full Servo Function, it is able to reduce the power consumption by controlling the pulse
motor which consumes comparatively high current during a stop.
For the power saving function, which of Parameter No.53 or “Stop Mode” in the position table is
to be used is determined by the actuator condition. The details are shown below.
PIO Pattern 0 to 4
PIO Pattern 0 to 5
Power saving function executed
with the values set in Parameter
No.53 (Stop Mode of the
position number is invalid)
Power saving function executed
with the values set in Parameter
No.53 (Stop Mode of the
position number is invalid)
Power saving function executed with the values set in “Stop
Mode” in each position number (Setting of Parameter No.53 is
invalid)
Warning: Do not use this function if the automatic servo OFF is followed by pitch feed
(relative movement).
Servo ON/OFF may cause slight position shift to occur. If position shift occurs
due to external force during servo OFF, positioning to the correct position is
disabled. It is because pitch feed is operated based on the position at start
used as the base point.
Caution: Automatic Servo-off Function and Full Servo Function is not effective while in
pressing operation. Do not use. It becomes effective at completion of
positioning. In pressing, the function becomes effective only when
miss-pressing occurs (the status at the completion of operation without
pressing is the same as that at the completion of positioning).
No retaining torque is provided in automatic servo-off. The actuator can
move with an external force. Pay attention to the interference to the
peripherals and the safety in the installation.
Caution: Full Servo Function is not effective while in jog operation and inching
operation.
85
6.Data Entry <Basic>
Setting
Status
Standby after home return
is complete
(Positioning to the target
point is not done)
Standby with the servo
turned ON after the power
is supplied (Positioning to
the target point is not
done)
Standby after the
positioning is complete to
the target position set in
the position table
(1) Setting of periods taken until automatic servo OFF
Three periods from completion of positioning to automatic servo OFF can be set in the
following parameters in seconds [sec].
Parameter No.
36
37
38
Description
Auto Servo Motor OFF Delay Time 1 (Unit: sec)
Auto Servo Motor OFF Delay Time 2 (Unit: sec)
Auto Servo Motor OFF Delay Time 3 (Unit: sec)
(2) Set of power-saving mode
Select a proper power-saving mode from the conditions below. Set the corresponding value
in the stop mode or parameter No.53 of the position table.
6.Data Entry <Basic>
Set Value
0
1
2
3
4
Operation after completion of positioning
Servo ON not changed
Automatic servo off in a certain time (set in Parameter No.36)
Automatic servo off in a certain time (set in Parameter No.37)
Automatic servo off in a certain time (set in Parameter No.38
Full Servo Control
(3) Status of positioning complete signal in selection of automatic servo OFF
Automatic servo OFF causes the actuator to be in other than the positioning complete state
due to the servo OFF. Positioning complete signal (PEND) is turned OFF. Changing the
PEND signal to the in-position signal judging whether the actuator is stopped within the
positioning width zone instead of the positioning complete signal allows PEND not to be
turned OFF during servo OFF.
This setting is reflected on complete position numbers PM1 to PM** in PIO patterns 0 to 3
confirming the positioning complete position No. or current position numbers PE* in PIO
patterns 4.
Define the setting in Parameter No.39.
Value set in
Parameter No.39
Content of PEND
Signal outputs during automatic servo OFF
signal
PEND
PM1 to PM**
PE**
Positioning
0
OFF
OFF
OFF
Completion Signal
1
In-position Signal
ON
ON
ON
(Note) The SV on the front panel blinks green during the automatic servo OFF.
[For Parameter No.39 = 0]
Operation of actuator
Positioning
operation
Automatic servo
OFF standby
Servo OFF
Positioning
operation
Servo Condition
ON
ON
OFF
ON
Completed Position No.
Output (Current position
number output)
PM1 to ** =0
(PE** = OFF)
PM1 to ** = Output
(PE** = ON)
PM1 to ** = 0
(PE** = OFF)
PM1 to ** = 0
(PE** = OFF)
Positioning Completion
Signal PEND
OFF
ON
OFF
OFF
Servo OFF Delay
Time
(Parameter No.36 to 37)
86
[For Parameter No.39 = 1]
Operation of actuator
Positioning
operation
Automatic servo
OFF standby
Servo OFF
Positioning
operation
Servo Condition
ON
ON
OFF
ON
Completed Position No.
Output (Current position
number output)
PM1 to ** = 0
(PE** = OFF)
PM1 to ** = Output
(PE** = ON)
PM1 to ** = 0
Output
(PE** = ON)
PM1 to ** = 0
(PE** = OFF)
Positioning Completion
Signal PEND
OFF
ON
ON
OFF
6.Data Entry <Basic>
Servo OFF Delay
Time
(Parameter No.36 to 37)
87
6.5 Using a Rotary Actuator in Multi-rotation Specification
Rotary actuators of multi-rotation specification models let you select multi-rotation operation or limited-rotation
operation using a parameter.
6.5.1
How to Use
(1) Home return
When a home return command is issued, a signal from the limit switch located in the home return direction
is detected. Once a limit switch signal is detected, the actuator reverses its direction. When a limit switch
signal turns off again thereafter, the actuator travels by the home return offset specified in parameter No. 22
and completes the home return.
6. Data Entry <Basics>
(2) Operation commands
Limited-rotation specification
(Normal mode [Selected by parameter No. 79])
Push & hold operation permitted
Absolute coordinate specification -0.15q to 360.15q
Relative coordinate specification -360.15q to 360.15q
Multi-rotation specification
(Index mode [Selected by parameter No. 79])
Push & hold operation not permitted
Absolute coordinate specification 0.00q to 359.99q
Relative coordinate specification -360.00q to 360.00q
Notes
Pay attention to the setting of the PIO pattern parameter for the controllers specified below.
Each controller does not support relative coordination specification in the PIO pattern specified.
[1] PCON-C/CG: PIO pattern = 5 (User parameter No. 25)
[2] PCON-CY:
PIO pattern = 0 (User parameter No. 25)
Applicable Models
Actuators
88
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-*
7. Operation <Practical Steps>
7.1 How to Start
7.1.1
Timings after Power On
Warning
[8]
[9]
If the servo is turned ON while the slider/rod is contacting the mechanical end, excitation
phase detection may not be performed correctly and an abnormal operation or excitation
detection error may result.
Turn on the servo.
Turn on the servo using the “servo ON function” of the PC software or teaching pendant.
If the actuator enters a servo lock mode and the monitor LED [SV/ALM] on the front panel illuminates in
green, the controller is functioning properly.
Check the operation of the safety circuit.
Confirm that the emergency stop circuit (or motor drive-power cutoff circuit) operates properly.
89
7. Operation <Practical Steps>
„ Procedure after initial startup until actuator adjustment
[1] Connect the motor extension cable to the MOT connector and encoder relay connector to the PG connector.
[2] Connect the supplied flat cable to the PIO connector (for connection between the host PLC and I/O unit).
[3] Reset the emergency stop or enable the supply of motor drive power.
[4] Supply the 24-VDC I/O power (1A/2A pins (+24 V) and 19B/20B pins (0 V) in the PIO connector).
[5] Supply the 24-VDC controller power (24-V and 0-V terminals on the power-supply terminal block).
* If the monitor LED [SV/ALM] on the front panel illuminates for 2 seconds initially and then turns off, the
controller is normal. If [SV/ALM] illuminates in red, an alarm is present. In this case, connect a PC or
teaching pendant to check the nature of the alarm and remove the cause by referring to Chapter 10,
“Troubleshooting.”
[6] Set the minimum set of required parameters initially.
Set the mode selector switch on the front panel to the “MANU” side.
On the PC or teaching pendant, set the MANU operation mode to “Teaching mode: Enable safety speed].
Change the necessary parameters in this condition.
(Example) x Use a PIO pattern other than “Standard type” o Parameter No. 25 (PIO pattern selection)
x Reduce the safety jog speed o Parameter No. 35 (Safety speed)
[7] Check the actuator position.
Confirm that the slider or rod is not contacting a mechanical end.
If the slider/rod is contacting a mechanical end, move it away from the mechanical end. If the slider/rod is
not contacting a mechanical end but is closer to the home position, move the slider/rod away from the home
position.
If the actuator is equipped with a brake, turn on the brake forced-release switch to forcibly release the brake
before moving the actuator.
The slider/rod may suddenly drop due to its dead weight when the brake is released, so exercise caution
not to damage the robot hand or work part by the falling slider/rod.
If the actuator cannot be moved by hand because the screw lead is short, change the setting of parameter
No. 28 (Default direction of excited-phase signal detection) to the direction opposite to the mechanical end.
[10] Perform home return.
z Overview of operation on the teaching pendant
x On the RCM-T, select the “Edit/Teach” screen, bring the cursor to “*Home” in the sub display area,
and then press the Return key.
x On the RCM-E, select the “Teach/Play” screen, scroll until “*Home Return” is displayed, and then
press the Return key.
7. Operation <Practical Steps>
[11] Set a target position in the “Position” field of the position table.
Set a target position in the “Position” field of each position table.
Determine a desired target position by fine-adjusting the load and hand via jogging or inching.
Also adjust the servo gain, if necessary.
* Once a target position has been set, other fields (speed, acceleration/deceleration, positioning band,
etc.) will be automatically populated by their default values. Set optimal values for the speed,
acceleration/deceleration, positioning band, etc.
* For safety reasons, it is recommended that the safety speed be enabled during the initial movement.
To move the actuator at the actual speed set in the “Speed” field of the position table, change the MANU
operation mode to [Teaching mode: Disable safety speed].
Safety circuit condition
Emergency stop not actuated (motor drive power supplied)
Supply of
24-VDC I/O power
Supply of 24-VDC
controller power
Initial parameter
settings
Servo ON
operation
An orange light
comes on initially
for 2 seconds and
then turns off.
Monitor LED
[SV/ALM]
Green
Ready (SV)
(Note 1)
90
Home position
Mechanical end
Home return operation
Power on position
T1 (Note 1)
Set a target position in the “Position” field of the
position table via PC or teaching pendant operation
Also set optimal values for other items.
T1: Excited-pole detection time = 0.2 to 12 sec
Normally the detection of excited pole completes in approx. 0.2 sec, although the exact time varies from one
actuator to another due to individual differences and also depending on the load condition. If the detection of
excited pole has failed, the excited-pole detection operation will be continued for up to 12 sec.
Warning
[5]
[6]
[7]
[8]
If the servo is turned ON while the slider/rod is contacting the mechanical end, excitation
phase detection may not be performed correctly and an abnormal operation or excitation
detection error may result.
Set the mode selector switch on the front panel of the controller to the “AUTO” side.
Input the servo ON signal/pause signal from the PLC.
Input the home return signal from the PLC to perform home return operation.
Start automatic operation.
Caution: When operating the actuator using the PLC and I/O signals, be sure to set the mode
selector switch on the front panel to the “AUTO” side.
91
7. Operation <Practical Steps>
„ Procedure of Normal Operation
The operating procedure in normal condition is specified below:
[1] Reset the emergency stop or enable the supply of motor drive power.
[2] Supply the 24-VDC I/O power.
[3] Supply the 24-VDC controller power.
* If the monitor LED [SV/ALM] on the front panel illuminates for 2 seconds initially and then turns off, the
controller is normal. If [SV/ALM] illuminates in red, an alarm is present. In this case, connect a PC or
teaching pendant to check the nature of the alarm and remove the cause by referring to Chapter 10,
“Troubleshooting.”
[4] Check the actuator position.
Confirm that the slider or rod is not contacting a mechanical end.
If the slider/rod is contacting a mechanical end, move it away from the mechanical end. If the slider/rod is
not contacting a mechanical end but is closer to the home position, move the slider/rod away from the home
position.
If the actuator is equipped with a brake, turn on the brake forced-release switch to forcibly release the brake
before moving the actuator.
The slider/rod may suddenly drop due to its dead weight when the brake is released, so exercise caution
not to damage the robot hand or work part by the falling slider/rod.
If the actuator cannot be moved by hand because the screw lead is short, change the setting of parameter
No. 28 (Default direction of excited-phase signal detection) to the direction opposite to the mechanical end.
Emergency stop not actuated (motor drive power supplied)
Safety circuit condition
Supply of 24-VDC I/O
power
Supply of 24-VDC
controller power
* Be sure to set the switch to the “AUTO” side.
Mode selector switch
Operation mode status
output (RMDS)
* If this output signal is OFF, I/O signal communication with the PLC is enabled.
7. Operation <Practical Steps>
Pause input
(HOME)
Servo ON input
(SON)
Green
Monitor LED
[SV/ALM]
Ready output
(SV)
T1 (Note 1)
Input the home return signal after SV has turned ON
(If the home return signal is input while SV is OFF,
the signal input will be ignored.)
Home return input
(HOME)
Home return complete
output (HEND)
Position complete output
(PEND)
(Note 1)
92
Home position
Mechanical end
Power on position
6 msec or less
Continuous operation starts.
T1: Excited-pole detection time = 0.2 to 12 sec
Normally the detection of excited pole completes in approx. 0.2 sec, although the exact time varies from one
actuator to another due to individual differences and also depending on the load condition. If the detection of
excited pole has failed, the excited-pole detection operation will be continued for up to 12 sec.
Warning: Since the drive motor uses a pulse motor, excited-phase detection is performed when the servo
is first turned on after the power on.
Therefore, the actuator must be able to move when the servo turns on.
If the slider or rod is contacting a mechanical end or the work part is contacting any surrounding
equipment, excited-phase detection will not be performed correctly and an abnormal operation
or excited-phase detection error may occur.
In this case, move the actuator by hand to a position where it can move before the servo turns
on.
If the actuator is equipped with a brake, the brake must be forcibly released by turning on the
brake release switch. The slider/rod may suddenly drop due to its dead weight when the brake is
released, so exercise caution not to pinch your hand or damage the robot hand or work part by
the falling slider/rod.
If the actuator cannot be moved by hand, one possible solution is to change the setting of
parameter No. 28 (Default direction of excited-phase signal detection). If you wish to change this
parameter, consult IAI beforehand.
7.1.2
Position Table and Parameter Settings Required for Operation
7. Operation <Practical Steps>
„ Startup adjustment
Immediately after the system has been started, the moving speed can be reduced by the methods specified
below to ensure safety of operators and prevent damage to jigs, etc.
Change the applicable parameters, if necessary.
o For details on the setting-change operations, refer to the operation manual for your PC software/teaching
pendant.
Safety speed during manual feed
To move the actuator using the PC/teaching pendant, set the mode selector switch on the front panel of the
controller to the “MANU” side.
For safety reasons, it is recommended that the actuator be moved at the safety speed during manual feed.
To do this, change the MANU operation mode to [Teaching mode: Enable safety speed] on the PC/teaching
pendant.
The safety speed is defined by parameter No. 35. Change the parameter value, if necessary.
Take note that the maximum speed is limited to 250 mm/s or below.
The factory setting is “100 mm/s” or below.
Speed override for movement commands from the PLC
You can lower the feed speed to be applied when the actuator is moved by the movement commands output
from the PLC.
To lower the speed to below the level set in the “Speed” field of the position table, you can use parameter No. 46
to override the “Speed” field.
Actual moving speed = [Speed set in the position table] x [Value of parameter No. 46] y 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 moving speed becomes 100 mm/s.
The minimum setting unit is “1%,” while the input range is “1 to 100 %.” The factory setting is “100 %.”
93
„ Full-scale operation
This product provides energy-saving modes to reduce power consumption in situations where the actuator
remains standstill for a long period at a standby position.
You can also select the status of position complete signal to be applied if the servo turns off or “position
deviation” occurs while the actuator is standing still after completing positioning.
Use these functions after confirming that they will not present problems to any part of your system.
Saving energy when the actuator stands by for a long time after the power has been turned on
Applicable to PIO pattern = 5 (3-point type)
In this condition, you can select full servo control using parameter No. 53 (Default standstill mode).
(This setting is not affected by the value in the “Standstill mode” field of the position table.)
7. Operation <Practical Steps>
Saving energy when the actuator stands by after completing the home return operation
effected by the HOME input signal
Applicable to PIO pattern = 0 to 4
In this condition, you can select one of two modes based on the value in parameter No. 53 (Default standstill
mode). (This setting is not affected by the value in the “Standstill mode” field of the position table.)
[1] Full servo control
[2] Automatic servo-off control
Saving energy when the actuator stands by for a long time at the target position
Common to all PIO patterns
In this condition, you can select one of two modes based on the value in the “Standstill mode” field of the
position table. (This setting is not affected by the value in Parameter No. 53.)
[1] Full servo control
[2] Automatic servo-off control
o For details, refer to 6.4, “Power-saving Modes at Standby Positions” and 8.2.2, “Parameters Relating to the
Actuator Operating Characteristics.”
Output mode of complete signal
Applicable to PIO pattern = 0 to 4
You can select the status of position complete signal to be applied if the servo turns off or “position deviation”
occurs while the actuator is standing still after completing positioning.
This setting uses parameter No. 39. Consider the characteristics of the control you need and select an
appropriate mode.
o For details, refer to 8.2.3, “Parameters Relating to the External Interface.”
94
7.2 Home Return Operation
7.2.1
Method Using the HOME Input Signal (PIO Pattern = 0 to 4)
Since the home return signal (HOME) is provided in PIO patterns 0 to 4, perform home return using this signal.
x When the home return signal (HOME) turns ON, the actuator starts moving toward the mechanical end on the
home side.
Once the mechanical end is contacted, the actuator reverses its direction and moves, and then stops at the
home position.
x At the start of movement, the position complete output (PEND) turns OFF while the moving output (MOVE)
turns ON.
x When the actuator stops at the home position, the position complete output (PEND) and home return
complete output (HEND) turn ON. On the other hand, the moving output (MOVE) turns OFF.
x On the PLC side, turn OFF the home return signal (HOME) after the home return complete output (HEND)
has turned ON.
7. Operation <Practical Steps>
Home return input
(HOME)
Home return complete
output (HEND)
Position complete output
(PEND)
Moving output
(MOVE)
Effective in PIO pattern 0 or 1.
Actuator movement
Mechanical Stops at the
end
home position.
Caution: When performing home return, pay attention to the following:
[1] Confirm that no obstacle is present in the home return direction.
[2] If any obstacle is present in the home return direction, review the PLC sequence circuit
and change the circuit so that home return will be executed only when there is no
obstacle.
95
(Note) If the home is not yet established immediately after the power has been turned on, directly inputting the
command position signal and start signal without inputting the home return signal (HOME) first will cause
the actuator to perform home return operation and then move to the target position.
However, it is recommended that the PLC sequence circuit use the home return signal (HOME) to
prevent errors.
[1]
PIO pattern = 0 to 3
Command position 1 to 256 input
(PC1 ~ PC256)
Start input
(CSTR)
7. Operation <Practical Steps>
Home return complete output
(HEND)
Completed position output
(PM1 ~ PM256)
Position complete output
(PEND)
Moving output
(MOVE)
Actuator movement
Mechanical
end
[2]
Target position
Home position
PIO pattern = 4
Direct position command input
(One of ST0 to ST6)
Home return complete output
(HEND)
Movement complete output
(One of PE0 to PE6)
Mechanical
end
96
Target position
Home position
7.2.2
Method Used When No HOME Input Signal Is Available (PIO Pattern = 5)
Since no home return signal (HOME) is available in PIO pattern 5, input the rear end move command (ST0) first
to perform home return.
x When the rear end movement command (ST0) turns ON, the actuator starts moving toward the mechanical
end on the home side.
Once the mechanical end is contacted, the actuator reverses its direction and moves to the home position,
stops temporarily at the home position, and then moves to the rear end.
x Once the home position is reached, the home return complete output (HEND) turns ON.
Rear end move command input
(ST0)
7. Operation <Practical Steps>
Home return complete output
(HEND)
Rear end detected output
(LS0)
Mechanical
end
Target position
Home position
Caution: When performing home return, pay attention to the following:
[1] Confirm that no obstacle is present in the rear end direction.
[2] If any obstacle is present in the rear end direction, move the actuator toward the front
end and remove the obstacle. Issuance of the front end move command is permitted
for this reason. In this case, the actuator moves forward at the home return speed
and when the actuator reaches the mechanical end, the front end position complete
output (LS1) turns ON.
[3] Do not input the intermediate point move command (even if the command is input, it
will be ignored).
97
7.3 Positioning Mode (Back and Forth Movement between Two Points)
Example of use in operation) The actuator moves back and forth between two positions. The position 250 mm
from the home is set as position 1, and the position 100 mm from the home is set
as position 2. The travel speed to position 1 is set as 200 mm/sec, and to position
2 is set as 100 mm/sec.
Controller
PIO
Signal name
[13] [10] [5] [2]
[1]
[9]
7. Operation <Practical Steps>
L
C
Category
[1]
Select/enter command position 1.
[2]
Start input ON
Start
Command position 1
Movement to position 1 starts.
Command position 2
Command position 4
P
Reference flow
Completed position OFF
Input
Command position 8
[3]
Position complete output OFF
Command position 16
[4]
Moving output ON
Command position 32
[5]
Start input OFF
[6]
Moving output OFF
[7]
Position complete output ON
[8]
Completed position 1 is output.
[9]
Select/enter command position 2.
[8]
Completed position 1
[16]
Completed position 2
Completed position 4
Completed position 8
Completed position 16
Output
Movement to position 1 completes.
Completed position 32
[15] [11] [7] [3]
Position complete
[10]
Start input ON
[14] [12] [6] [4]
Moving
Movement to position 2 starts.
Completed position OFF
[11]
Position complete output OFF
[12]
Moving output ON
[13]
Start input OFF
[14]
Moving output OFF
[15]
Position complete output ON
[16] Completed position 2 is output.
Movement to position 2 completes.
98
Position table (Field(s) within thick line must be entered.)
0
Position
[mm]
*
Speed
[mm/s]
*
Acceleration
[G]
*
Deceleration
[G]
*
Push
[%]
*
Positioning
band [mm]
*
1
250.00
200.00
0.30
0.30
0
0.10
2
:
100.00
100.00
0.30
0.30
0
0.10
No.
Position 1
Command position
Position 2
Position 1
Start
Position complete
Moving
Position 1
Speed
Position 2
Position 1
Actuator movement
T1:
6 msec or more; time after selecting/entering a command position until the start input turns ON
(The scan time of the host controller must be considered.)
Each command position must be input after the position complete output has turned ON for the movement to the
previous position.
Caution: x When the start signal turns ON, the position complete output will turn OFF and the moving
output will turn ON.
Always turn OFF the start signal after confirming that the start signal is currently ON and
the position complete output has turned OFF.
If the start input remains ON as shown below, the position complete output will not turn ON
even when the actuator movement is completed.
Start
Position complete
Moving
Actuator
Movement is complete.
x If another movement command to the same position is issued, the position complete output
will turn OFF, but the moving output will not turn ON.
x If the position complete signal turns ON, the moving output will also turn OFF
simultaneously even when the actuator is moving.
This means that, if the positioning band in the position data is increased, there may be
cases where the actuator will continue to move after the moving output turns OFF
simultaneously when the position complete output turns ON.
x When a software stroke limit is reached after continuous incremental moves, the actuator
will stop immediately and a position complete signal will be output.
99
7. Operation <Practical Steps>
Completed position
7.4 Push & Hold Mode
Example of use in operation) The actuator is caused to move back and forth in the push & hold mode and positioning
mode. The position 280 mm from the home is set as position 1, and the position 40 mm
from the home is set as position 2.
Movement to position 1 is performed in the push & hold mode (the actuator is caused to
contact the work part and push it in the counter-motor direction). The maximum push
amount at position 1 is set as 15 mm, and the current-limiting value during the push &
hold operation by the stepper motor is set as 50%. Movement to position 2 is performed
in the positioning mode. The travel speed to position 1 is set as 200 mm/sec, and that to
position 2 is set as 100 mm/sec.
Controller
Reference flow
PIO
Signal name
[13] [10] [5] [2]
7. Operation <Practical Steps>
[1]
[9]
P
Category
Start
[2]
Command position 1
Command position 2
Start input ON
Movement to position 1 starts.
Completed position OFF
Input
Command position 4
[3] Position complete output OFF
Command position 8
[4] Moving output ON
Command position 16
L
[1] Select/enter command position 1.
[5]
Command position 32
Start input OFF
Move at slow speed after passing position 1.
[7]
Completed position 1
[15]
C
Load is pushed. Stepper motor current
rises to the current-limiting value.
Completed position 2
[6] Position complete output ON
Completed position 4
[7] Completed position 1 is output.
Completed position 8
Output
[8] Moving output OFF
Completed position 16
Completed position 32
[14] [11] [6] [3]
[16] [12] [8] [4]
[9] Select/enter command position 2.
[10]
Position complete
Start input ON
Movement to position 2 starts.
Moving
Completed position OFF
[11] Position complete output OFF
[12] Moving output ON
[13]
Start input OFF
[14] Position complete output turns ON
0.1 mm before position 2.
[15] Completed position 2 is output.
[16] Moving output OFF
Movement to position 2 completes.
100
Position table (Field(s) within thick line must be entered.)
0
Position
[mm]
*
1
280.00
200.00
0.30
0.30
50
15.00
2
:
40.00
100.00
0.30
0.30
0
0.10
No.
Speed
[mm/s]
*
Acceleration
[G]
*
Deceleration
[G]
*
Command position
Position 1
Position 2
Push
[%]
*
Positioning
band [mm]
*
Position 1
Start
Position complete
Moving
Note
Completed position
Note
Position 1
Speed
Position 2
Note
Position 1
T1: 6 msec or more; time after selecting/entering a command position until the start input turns ON
(The scan time of the host controller must be considered.)
Each command position must be input after the position complete output has turned ON for the movement to the
previous position.
z Conditions for determining completion of push & hold operation
Push & hold operation is deemed to have completed upon elapse of the time set by parameter No. 6 (Push
completion judgment time) after the motor current reached the current-limiting value set in the “Push” field of the
position table.
Set an appropriate value by considering the material and shape of the work part, and so on.
The minimum setting unit is “1 msec,” while the maximum value is “9999 msec.” The factory setting is “255
msec.”
(Note) The chart below explains how completion of push & hold operation is determined if the work part shifted
during the judgment and the current has changed as a result, based on a judgment time of 255 msec.
Push current
Starting position
Target position
Counting starts.
20 msec
The count increases to 200.
The count decreases to 180.
The count increases to 255.
75 msec
Push & hold operation is
deemed to have completed.
If the motor current remains at or above the push current for 200 msec and then drops below this level for 20
msec, the count will decrease by 20. When the push current is reached again thereafter, counting will start from
180. If the motor current remains at or above the push current for 75 msec, the count will increase to 255 and
thus push & hold operation will be deemed to have completed.
In total, 295 msec was required for the judgment.
101
7. Operation <Practical Steps>
Actuator movement
7.4.1
Return Action after Push & Hold by Relative Coordinate Specification
z Positioning mode
The reference position is the target position for the position number used in the applicable push & hold operation.
In the aforementioned example, the actuator moves to the 240-mm position if position No. 2 is set to -40 mm in
the incremental mode (280 – 40 = 240 mm).
Speed
Position where the push &
hold operation completed
Return action
Target position
280 mm
7. Operation <Practical Steps>
Returned position
240 mm
z Push & hold mode
The reference position is the position where the push & hold operation completed.
In the aforementioned example, the actuator moves to the 250.34-mm position if position No. 2 is set to
-40 mm in the incremental mode and the push & hold operation completed at 290. 34 mm (290.34 – 40 = 250.34
mm).
(Note) In this case, the controller determines that the actuator has missed the work part and thus does not turn
ON the position complete signal.
It is therefore recommended that the zone output signal be used to determine completion of push & hold
operation on the PLC side.
Position where the push &
hold operation completed
290.34 mm
Speed
Return action
Returned position
250.34 mm
Target position
280 mm
Caution: When the start signal turns ON, the position complete output will turn OFF and the moving
output will turn ON.
Always turn OFF the start signal after confirming that the start signal is currently ON and the
position complete output has turned OFF.
If the actuator has missed the work part, the position complete output will not turn ON as
shown below. The completed position will be output and the moving output will turn OFF.
Command position
Position 1
Position 2
Position 1
Start
Position complete
Moving
Completed position
Position 1
Position 2
Position 1
Speed
Actuator movement
If the actuator has missed the load, the
position complete output will not turn ON.
102
7.5 Speed Change during Movement
Example of use in operation) The actuator speed is reduced at a certain point during movement.
The position 150 mm from the home is set as position 1, and the position 200 mm from
the home is set as position 2. The actuator is initially located between the home and
position 1. The actuator is moved to position 2 being the target position, at a travel
speed of 200 mm/sec to position 1 and that of 100 mm/sec from position 1 to position 2.
Method) In this example, the actuator is caused to move to position 1 and to position 2
successively. Before the actuator is stopped at position 1, command position 2 must be
selected/entered and the start signal must be input. To do this, set a wide positioning
band at position 1 and cause the start signal for movement to position 2 to be input
immediately after the completion signal for movement to position 1 is output. (Command
position 2 should be entered while the actuator is moving to position 1.)
Controller
Reference flow
PIO
Signal name
[11] [9] [5] [2]
[6]
[8]
L
[13]
[2]
Start
Start input ON
Movement to position 1 starts at 200 mm/sec.
Command position 1
Command position 2
Command position 4
P
[1] Select/enter command position 1.
7. Operation <Practical Steps>
[1]
Category
Completed position OFF
Input
[3] Position complete output OFF
Command position 8
[4] Moving output ON
Command position 16
[5]
Command position 32
[6] Select/enter command position 2.
Completed position 1
Start input OFF
[7] Position complete output turns
ON 10 mm before position 1.
Completed position 2
Completed position 4
[8] Completed position 1 is output.
Completed position 8
[9]
C
Completed position 16
Output
Movement to position 2 starts at 100 mm/sec.
Completed position 32
[12] [10] [7] [3]
[14] [4]
Position complete
Start input ON
Completed position OFF
[10] Position complete output OFF
Moving
[11]
Start input OFF
Position complete output turns
[12] ON 0.1 mm before position 2.
[13] Completed position 2 is output.
[14]
Moving output OFF
Movement to position 2 completes.
103
Position table (Field(s) within thick line must be entered.)
0
Position
[mm]
*
1
150.00
200.00
0.30
0.30
0
10.00
2
:
200.00
100.00
0.30
0.30
0
0.10
No.
Speed
[mm/s]
*
Acceleration
[G]
*
Deceleration
[G]
*
Command position
Position 1
7. Operation <Practical Steps>
Positioning
band [mm]
*
Position 2
T1
Start
Push
[%]
*
T1
Note
Note
Position complete
Position 2
Completed position
Position 1
Moving
Speed
Actuator movement
T1: 6 msec or more; time after selecting/entering a command position until the start input turns ON
(The scan time of the host controller must be considered.)
Caution: When the start signal turns ON, the position complete output will turn OFF and the moving
output will turn ON.
Always turn OFF the start signal after confirming that the start signal is currently ON and the
position complete output has turned OFF.
104
7.6 Operation at Different Acceleration and Deceleration Settings
Example of use in operation) Positioning is performed to the position 150 mm from the home (position 1) at a
speed of 200 mm/sec.
The acceleration is 0.3 G and the deceleration is 0.1 G.
Method) Set 0.3 [G] in the “Acceleration” field and 0.1 [G] in the “Deceleration” field of the
position table.
Controller
PIO
Signal name
[5] [2]
[1]
Reference flow
Category
[1]
Start
[2]
Command position 1
Command position 2
Input
Start input ON
Command position 8
7. Operation <Practical Steps>
Movement to position 1 starts at the
acceleration 0.3 G.
Command position 4
P
Select/enter command position 1.
Completed position OFF
Command position 16
L
Command position 32
[7]
[3]
Position complete output OFF
Completed position 1
C
[4]
Completed position 2
Completed position 4
[5]
Completed position 8
Moving output ON
Start input OFF
Output
Completed position 16
Moves at constant speed (200 mm/sec).
Completed position 32
[6] [3]
[8] [4]
Decelerates at 0.1 G.
Position complete
Moving
[6]
Position complete output turns
ON 0.1 mm before position 1.
[7]
Completed position 1 is output.
[8]
Moving output OFF
Movement to position 1 completes.
105
Position table (Field(s) within thick line must be entered.)
No.
0
1
:
Position
[mm]
*
150.00
Speed
[mm/s]
*
Acceleration
[G]
*
Deceleration
[G]
*
200.00
0.30
0.10
Command position
Push
[%]
*
Positioning
band [mm]
*
0
0.10
Position 1
T1
Start
Position complete
Position 1
7. Operation <Practical Steps>
Completed position
Moving
Speed
Positioning band
Actuator movement
Acceleration 0.3 G
Deceleration 0.1 G
T1: 6 msec or more; time after selecting/entering a command position until the start input turns ON
(The scan time of the host controller must be considered.)
Caution: When the start signal turns ON, the position complete output will turn OFF and the moving
output will turn ON.
Always turn OFF the start signal after confirming that the start signal is currently ON and the
position complete output has turned OFF.
If the start input remains ON as shown below, the position complete output will not turn ON
even when the actuator movement is completed.
Start
Position complete
Moving
Actuator
Movement is complete.
x If another movement command to the same position is issued, the position complete output
will turn OFF, but the moving output will not turn ON.
x If the position complete signal turns ON, the moving output will also turn OFF
simultaneously even when the actuator is moving.
This means that, if the positioning band in the position data is increased, there may be
cases where the actuator will continue to move after the moving output turns OFF
simultaneously when the position complete output turns ON.
x When a software stroke limit is reached after continuous incremental moves, the actuator
will stop immediately and a position complete signal will be output.
106
7.7 Pause
Example of use in operation) Pause the actuator during movement. [Effective in PIO pattern = 0 to 4]
Method) Use the pause input.
Controller
PIO
Signal name
Reference flow
Category
[1]
Select/enter a desired command position.
[5][2]
Start
[2]
Start input ON
Command position 1
Movement to the selected position
starts.
Command position 2
[1]
Command position 4
Input
Command position 16
[3]
Position complete output OFF
[4]
Moving output ON
7. Operation <Practical Steps>
Completed position OFF
Command position 8
Command position 32
[8][6]
*Pause
Completed position 1
[5]
Start input OFF
Completed position 2
[11]
Completed position 4
Completed position 8
Completed position 16
[6]
Output
Pause input OFF (Actuator
decelerates to a stop.)
[7]
Moving output OFF
[8]
Pause input ON (Movement starts.)
[9]
Moving output ON
Completed position 32
[10][3]
Position complete
[12][9] [7] [4]
Moving
[10] Position complete output ON
[11] Completed position is output.
[12] Moving output OFF
Movement to the selected position
completes.
107
Command position
Start
Note
Position complete
Completed position
Pause
Moving
4 msec or less
7. Operation <Practical Steps>
Speed
Actuator movement
Deceleration to a stop
Start of remaining movement
T1: 6 msec or more; time after selecting/entering a command position until the start input turns ON
(The scan time of the host controller must be considered.)
Caution: When the start signal turns ON, the position complete output will turn OFF and the moving
output will turn ON.
Always turn OFF the start signal after confirming that the start signal is currently ON and the
position complete output has turned OFF.
The remaining movement can be cancelled by turning ON the reset input during pause.
(The controller will detect a rise of the reset signal and cancel the remaining movement.)
Command position
Start
Position complete
Completed position
Approx. 1 msec
Pause
6 msec or more
Reset
Moving
Speed
Actuator movement
108
7.8 Zone Signal Output
Two types of zone output signals are available: zone output (ZONE1) and position zone output (PZONE). The
boundaries defining the signal ON range are set differently for each zone output.
[1] Zone output (ZONE1) --- Set by parameter No. 1/No. 2.
[2] Position zone output (PZONE) --- Set in the “Zone boundary-“ and “Zone boundary+” fields of the position
table.
Whether these signals are available or not varies depending on the PIO pattern, as shown below.
Signal classification
0
{
{
Zone output (ZONE1)
Position zone output (PZONE)
1
x
{
{: Available / x: Not available
PIO pattern
2
3
4
5
{
{
x
x
{
{
{
x
Parameter No. 1
Parameter No. 2
Zone boundary+
Zone boundary–
120 (mm)
40 (mm)
x Position zone output (PZONE)
The signal ON range is set in the “Zone boundary+” and “Zone boundary-”
fields of the position table.
No.
0
1
Position
[mm]
*
150.00
Zone boundary+
[mm]
*
120.00
Zone boundary[mm]
*
40.00
109
7. Operation <Practical Steps>
Example of use in operation) Move the actuator from the home to the 150-mm position (position 1) and output a
zone signal once the actuator enters the range between 40 mm and 120 mm.
Method) x Zone output (ZONE1)
The signal ON range is set by the “Zone boundary+” and “Zone boundary-”
parameters.
Controller
PIO
Signal name
[5] [2]
Reference flow
Category
[1]
Select/enter a desired command position.
Start
[2]
Start input ON
Command position 1
Input
Movement to the selected position
starts.
[1]
Completed position OFF
Command position 32
Completed position 1
[3]
Position complete output OFF
[4]
Moving output ON
[5]
Start input OFF
7. Operation <Practical Steps>
[9]
Completed position 32
[8] [3]
Output
Position complete
[7] [6]
Zone
[10] [4]
Moving
[6]
[7]
[8]
Actuator enters the zone. Zone output ON
Actuator exits the zone. Zone output
OFF
Position complete output ON
[9]
Completed position is output.
[10]
Moving output OFF
Movement to the selected position
completes.
110
Command position
T1
Start
Note
Position complete
Completed position
Zone
Moving
Speed
7. Operation <Practical Steps>
Actuator movement
0 mm
T1:
40 mm
120 mm
150 mm
6 msec or more; time after selecting/entering a command position until the start input turns ON
(The scan time of the host controller must be considered.)
Caution: When the start signal turns ON, the position complete output will turn OFF and the moving
output will turn ON.
Always turn OFF the start signal after confirming that the start signal is currently ON and the
position complete output has turned OFF.
Example of other zone output)
Zone output at 120 or more
Zone
Zone output at 40 or less
Zone
40
120
Zone boundary+
Maximum stroke length
Zone boundary+
40
Zone boundary–
120
Zone boundary–
0
111
7.9 Incremental Moves
Example of use in operation) Move the actuator from the home to the 30-mm position by issuing an absolute
position command (position No. 1), and thereafter move the actuator continuously
at a 10-mm pitch until the final position of 200 mm is reached. (Pitch feed
command: Position No. 2)
Controller
PIO
Signal name
[13][10][5][2]
P
Category
[2]
Start
Start input ON
[1]
Command position 1
L
Reference flow
[1] Select/enter command position 1.
[9]
Movement to position 1 starts.
Input
Command position 2
Completed position OFF
[7]
7. Operation <Practical Steps>
Completed position 1
C
[3] Position complete output OFF
[15]
Completed position 2
[14][11][6][3]
Output
[4]
Moving output ON
Position complete
[16][11][8][4]
Moving
[5]
[6]
Start input OFF
Moving output OFF
[7] Position complete output ON
[8] Completed position 1 is output.
Movement to position 1 completes.
[9] Select/enter command position 2.
[10] Start input ON
Movement to +10 mm from the current position starts.
Completed position OFF
[11] Position complete output OFF
[12] Moving output ON
[13] Start input OFF
[14] Moving output OFF
[15] Position complete output ON
[16] Completed position 2 is output.
Movement to the +10 mm position completes.
112
Position table (Field(s) within thick line must be entered.)
No.
Position
[mm]
Speed
[mm/ss]
Positioning
band
[mm]
Zone +
[mm]
Zone [mm]
Incremental
0
½
½
½
½
½
½
1
30.00
100.00
0.10
0
0
0
10.00
20.00
0.10
190.50
29.50
1
2
=
}
Incremental
feed
*
On the teaching pendant screen, this sign indicates that the position is specified in
the incremental mode.
Command position
Position 1
T1
Position 2
T1
Start
Note 1
7. Operation <Practical Steps>
Position complete
Note 2
Completed position
Position 1
Position 2
Position 2
Moving
Speed
Actuator movement
Time
30
40
50
60
70
Distance from home
T1: 6 msec or more; time after selecting/entering a command position until the start input turns ON
(The scan time of the host controller must be considered.)
Caution 1: x When the start signal turns ON, the position complete output will turn OFF and the moving output will turn ON.
Always turn OFF the start signal after confirming that the start signal is currently ON and the position complete
output has turned OFF.
If the start input remains ON as shown below, the position complete output will not turn ON even when the
actuator movement is completed.
Start
Position complete
Moving
Actuator
Movement is complete.
x If another movement command to the same position is issued, the position complete output will turn OFF, but the
moving output will not turn ON.
x If the position complete signal turns ON, the moving output will also turn OFF simultaneously even when the
actuator is moving.
This means that, if the positioning band in the position data is increased, there may be cases where the actuator
will continue to move after the moving output turns OFF simultaneously when the position complete output turns
ON.
x When a software stroke limit is reached after continuous incremental moves, the actuator will stop immediately
and a position complete signal will be output.
Caution 2: x When a soft limit is reached as a result of repeated incremental moves, the actuator will stop at that position and
the position complete output will be output.
113
7.9.1
Judgment Method of End Position
7. Operation <Practical Steps>
Although completion judgment is based on the applicable count managed by the PLC, the zone output signal
can be used additionally to double-check the completion of movement.
Program the PLC so that the ON/OFF status of the zone output signal is checked when positioning is completed,
and if the signal is OFF, the applicable position will be determined as the last work part position.
If the count in the PLC does not match the zone output signal status, signal timings may not be synchronized.
10-mm
pitch
200 mm
Position No. 1
29.5 mm
Last load
190.5 mm
Zone output signal
The coordinate immediately before the last
load is set as the positive-side boundary.
114
7.9.2
Notes on Incremental Mode
If an operation command is issued based on relative coordinate specification while the actuator is moving (in the
normal positioning mode or push & hold mode), how the actuator will operate varies depending on whether or not push
action is specified in the operation command by relative coordinate specification, as explained below.
(1) When the relative coordinate operation command specifies an operation in the normal positioning
mode (without push action)
[1]
When a relative coordinate operation command is specified while the actuator is moving in the normal positioning
mode
If any incremental position number is selected and input and then a start signal is input while positioning is in
progress, the actuator will move to the position corresponding to the target position of the initial command plus
the incremental distance.
(If the incremental distance is a negative value, the actuator will move to the position corresponding to the target
position minus the incremental distance.)
Example) If the start signal for movement to position 2 is input while the actuator is moving to position 1, the
actuator will move to the position 215 mm from the home.
Position table (Field(s) within thick line must be entered.)
Position
[mm]
Speed
[mm/ss]
0
½
½
1
200.00
15.00
=
2
Positioning
band
[mm]
Push
[%]
Incremental
½
½
½
100.00
0.10
0
0
20.00
0.10
0
1
Positioning mode
Incremental
feed
}
* On the teaching pendant screen, this sign indicates that the position is specified
in the incremental mode.
Command position
Position 1
Position 2
Start
Position complete
Speed
Actuator movement
Position from home: 215 mm
Distance
If the start signal for movement to an incremental position number is input multiple times during positioning, the
actuator will move to the position corresponding to the initial position plus the “increment x number of times the
signal was input.”
Example) If the start signal for movement to position 2 is input twice while the actuator is moving to position 1,
the actuator will move to the position 230 mm from the home.
Command position
Position 1
Position 2
Start
Position complete
Speed
Actuator movement
Distance
Position from home: 230 mm
115
7. Operation <Practical Steps>
No.
[2]
When a relative coordinate operation command is specified while the actuator is moving in the push & hold
mode
The following explains how the actuator will move if an incremental position number is selected and input
and then a start signal is input while the actuator is moving in the push & hold mode.
Example) If the start signal for movement to position 2 is input while the actuator is moving to position 1, the
actuator will move to the position corresponding to the target position set in the position 1 data plus
the incremental distance. Accordingly, the push & hold mode will be cancelled.
If the position table is set as follows, the actuator will move to the 215-mm position.
7. Operation <Practical Steps>
Position table (Field(s) within thick line must be entered.)
Speed
[mm/ss]
No.
Position
[mm]
0
½
½
1
200.00
15.00
2
=
Positioning
band
[mm]
Push
[%]
Incremental
½
½
½
100.00
30.00
50
0
Push & hold mode
20.00
0.10
0
1
Incremental
feed
}
*
On the teaching pendant screen, this sign indicates that the position is
specified in the incremental mode.
Command position
Position 1
Position 2
Start
Position complete
Speed
Actuator movement
Distance
Initial target
position: 200 mm
116
Stopped position:
215 mm
(2) When the relative coordinate operation command specifies an operation in the push & hold mode
Example) If a position 2 command is input followed by a start signal while the actuator is moving to position 1, a
new target position will be set by adding the incremental distance to the current position where the
start input was received. Since the target position is indeterminable, never use this method.
Position table (Field(s) within thick line must be entered.)
Speed
[mm/ss]
Positioning
band
[mm]
No.
Position
[mm]
0
½
½
½
½
½
1
200.00
100.00
30.00
50
0
Push & hold mode
15.00
20.00
60.00
50
1
Incremental
feed
2
=
Push
[%]
Incremental
}
*
On the teaching pendant screen, this sign indicates that the position is
specified in the incremental mode.
Position 1
7. Operation <Practical Steps>
Command position
Position 2
Start
Position complete
Speed
Push speed
Actuator movement
Distance
Position where the
push & hold
operation completed
Position where the start input was received
New target position
Initial target
position: 200 mm
The operation explained above also applies to cases where the operation mode of the position 1 data is the
normal positioning mode (without push action).
117
7.10 Jogging/Teaching Using PIO
If the teaching type is selected, you can jog the actuator via operation from the PLC.
You can also write the current actuator position to the “Position” field of the position table under a specified
position number via operation from the PLC.
If the actuator position is written to a blank “Position” field where no position has yet been defined, the
positioning band and other fields will be automatically populated by their default values set in the applicable
parameters.
Example of use in operation) Move the actuator to the target position by inputting a jog command from the PLC
and write the achieved position to position No. 1.
Controller
PIO
Signal name
[5]
7. Operation <Practical Steps>
P
[1]
[3]
L
[4]
Reference flow
Category
[1]
Operation mode input ON
[2]
Current operation mode output ON
[3]
Manual operation switching input
ON, if manual feed operation is
inching feed
[4]
Move the actuator to the target
position using the Jog+ input or Joginput.
Moving output ON
[5]
Command position 1 input ON
[6]
Current-position write input ON
[7]
Write completion output ON
[8]
Current-position write input OFF
Command position 1
Operation mode
Manual operation switching
Jog+
Input
Jog[6] [8]
C
[2]
[4]
[7]
118
Current-position write
Current operation mode
Moving
Output
Write completion
Jogging/teaching timing
Operation mode
Current operation
mode
Manual operation
switching
+Jog
-Jog
Position 1
Current-position
write
Write completion
T1: 20 msec or more; time after the current-position write input is turned ON until writing of the current position
is started
When the operation mode (MODE) input is turned ON, the current operation mode (MODES) output will turn ON
and the teaching mode permitting PIO teaching will become effective.
The teaching mode will not become effective unless the operation mode (MODE) input is turned ON while the
actuator is stopped.
To confirm that the teaching mode is effective, check if the current operation mode (MODES) output is ON.
If both the Jog+ input and Jog- input turn ON at the same time, the actuator will stop. In this case, turn both
inputs OFF and then restart jogging.
The manual operation switching (JISL) input is ON during inching and OFF during jogging.
The inching distance is set by parameter No. 48, while the jog speed is set by parameter No. 26.
If the current-position write (PWRT) input has remained ON for 20 msec or longer, the current actuator position
will be written to the selected command position number.
When writing is completed, the write complete (WEND) output will turn ON.
When the current-position write (PWRT) input is subsequently turned OFF, the write complete (WEND) output
will turn OFF.
If a signal to be written is input from the PLC while the position table screen is open on the PC or
teaching pendant, the position data display will not be refreshed. Perform one of the following
operations to check the retrieved position data:
button.
PC --- Click the
Teaching pendant --- Open the user adjustment screen and enter “4” as the adjustment number to
reset the software.
119
7. Operation <Practical Steps>
Command position
7.11 Operation in 7-point Type
Separate movement command inputs are provided for the target positions for position Nos. 0 to 6, so simply turn
ON the input signal corresponding to the position you wish to move the actuator to, and the actuator will start
moving.
Example of use in operation) Move the actuator to position No. 0 (5 mm), position No. 1 (200 mm) and position
No. 2 (390 mm) in sequence.
Controller
PIO
Signal name
[1] [4]
P
7. Operation <Practical Steps>
Direct position command 2 input turns OFF.
[1] Direct position command 0 input turns ON.
[4] [7]
[7] [1]
[3] [5]
C
Category
Direct position command 0
Direct position command 1
L
Reference flow
[6] [8]
[9] [2]
Starts moving to position No. 0 (5 mm).
Input
[2] Movement complete 2 output turns
OFF.
Direct position command 2
Movement complete 0
Movement complete 1
Output
[3]
Reaches position No. 0 (5 mm).
Movement complete 0 output turns ON.
Movement complete 2
Direct position command 0 input turns
[4] OFF.
Direct position command 1 input turns ON.
Starts moving to position No. 1 (200
[5] mm).
Movement complete 0 output turns OFF.
[6]
Reaches position No. 1 (200 mm).
Movement complete 1 output turns ON.
Direct position command 1 input turns
[7] OFF.
Direct position command 2 input turns ON.
Starts moving to position No. 2 (390
[8] mm).
Movement complete 1 output turns OFF.
[9]
120
Reaches position No. 2 (390 mm).
Movement complete 2 output turns ON.
Direct position command
0 input (ST0)
Direct position command
1 input (ST1)
Direct position command
2 input (ST2)
Movement complete 0
output (PE0)
Movement complete 1
output (PE1)
7. Operation <Practical Steps>
Movement complete 2
output (PE2)
Actuator movement
Position No. 0 (5 mm)
Position No. 2 (390 mm)
Position No. 1 (200 mm)
Caution:
Movement commands are executed based on the rise edge, so input each signal
continuously for 6 msec or more.
(Even if the level mode is selected for the movement command input (parameter No. 27),
the movement command is still executed based on the rise edge.)
If two or more movement commands are input simultaneously, they will be executed
according to the following priorities:
The priorities follow the command numbers in ascending order: [1] Direct position command
0, [2] Direct position command 1, …, [7] Direct position command 6.
The sequence circuit on the PLC side must ensure only one command is input at a time.
121
z The movement command input operates in two modes.
You can select the operation condition of the movement command input (ST0 to ST6) in parameter No. 27.
The factory setting is “0: [Level mode].”
Description of the movement command input
Level mode:
The actuator starts moving when the input signal turns ON. When the signal turns
OFF during the movement, the actuator will decelerate to a stop and complete its
operation.
Edge mode:
The actuator starts moving when the rise edge of the input signal is detected. The
actuator will not stop even when the signal turns OFF during the movement, until the
target position is reached.
Setting
0
1
7. Operation <Practical Steps>
[Level mode]
Direct position command
input (ST0 to ST6)
Position complete
(PE0 to PE6)
Stopped
Actuator movement
Target position
(Note) Turn OFF the movement command input after confirming that the target position has been reached.
[Edge mode]
Direct position command
input (ST0 to ST6)
Position complete
(PE0 to PE6)
Actuator movement
Target position
122
z Handling of the pause (*STP) signal
This signal is a contact B signal, meaning that it must remain ON while the actuator is moving.
If the pause signal turns OFF while the actuator is moving, the actuator will decelerate to a stop.
The actuator will start moving when the signal turns ON again.
Use this signal as an interlock that actuates when an operator entry prohibition sensor or contact prevention
sensor is activated.
If the pause signal is not to be used, set parameter No. 15 (Pause input disable selection) to “1,” and
the actuator will move even when this signal is OFF.
(Note) When the “edge mode” is selected as the movement command type, you can change the target position
while the actuator is stopped with this signal turned OFF, as follows:
[1] Input a reset signal (RES) for 6 msec or more to cancel the remaining travel.
Next, turn ON the pause signal, and then input a movement command specifying the new target position.
(Example) Turn OFF the pause signal while the actuator is moving under direct position command 1.
The actuator decelerates to a stop.
o Turn OFF direct position command 1, and turn ON the reset signal for 6 msec or more.
o Turn ON the pause signal again, and input direct position command 2.
7. Operation <Practical Steps>
Direct position command 1
Direct position command 2
Reset
(ON for 6 msec or more)
Pause
Movement complete 2
Actuator movement
Stopped
The target position is where
movement complete 2 turns ON.
[2]
After inputting a movement command specifying the new target position, turn ON the pause input.
(Example) Turn OFF the pause signal while the actuator is moving under direct position command 1.
The actuator decelerates to a stop.
o Turn OFF direct position command 1, and turn ON direct position command 2.
o Turn ON the pause signal again. The front end is recognized as the new target position.
Direct position command 1
Direct position command 2
Pause
Movement complete 2
Actuator movement
Stopped
The target position is where
movement complete 2 turns ON.
123
7.12 Operation in 3-point Type
After the power has been turned on, input the rear end move command first to complete home return, and then
perform continuous operation.
o Refer to 7.2.2, “Method Used When No HOME Input Signal Is Available.”
Example of use in operation) How to move the actuator from the rear end to the front end is explained.
Although the actuator does not stop at the intermediate point, you can increase
the positioning band and use the intermediate point detected output signal (LS2)
as a quasi zone output signal.
Example of position table
0
1
Position
[mm]
5.00
380.00
Speed
[mm/s]
300.00
300.00
Acceleration
[G]
0.30
0.30
Deceleration
[G]
0.30
0.30
2
200.00
300.00
0.30
0.30
7. Operation <Practical Steps>
No.
Push
[%]
0
0
0
Positioning
band [mm]
0.10
0.10
Remarks
Rear end
Front end
Intermediate
point
50.00
Operation timings
PLC processing 1: Turn OFF the rear end move command signal (ST0) and intermediate point move command
signal (ST2), and turn ON the front end move command signal (ST1).
Operation:
[1] The actuator starts moving toward the front end.
[2] When the current position passes 5.1 mm, the rear end detected output (LS0) turns OFF.
[3] When the current position reaches 150 mm, the intermediate point detected output (LS2)
turns ON. Once 250 mm is passed, LS2 turns OFF.
PLC processing 2: If necessary, use the intermediate point detected output (LS2) as a trigger signal with respect
to surrounding equipment.
[4] When the current position reaches 379.9 mm, the front end detected output (LS1) turns
ON.
[5] When the current position reaches 380 mm, the actuator stops.
PLC processing 3: Once the front end detected output (LS1) turns ON, the sequence processing at the front end
is executed. Upon completion of the sequence processing, the front end move command
signal (ST1) turns OFF.
Front end move command input
(ST1)
0.2 mm
Rear end detected output
(LS0)
100 mm
Intermediate point detected output
(LS2)
0.2 mm
Front end detected output
(LS1)
Execution of
sequence at
the front end
Speed
365 mm
Rear end:
5 mm
Intermediate point:
200 mm
Time
Front end:
380 mm
Caution: Provide a ladder sequence circuit where only one move command signal turns ON at a
time. If two or more signals are input at the same time, the signals will be processed in the
following priorities:
Priorities: [1] Rear end, [2] Front end, [3] Intermediate point
124
z Meaning of position detected output signals (LS0, LS1, LS2)
These signals are handled in the same manner as limit switches (LSs), and turn ON when the following
conditions are met:
[1] The home return complete output signal (HEND) is ON.
[2] The current position is within the positioning band from each target position in the positive or negative
direction.
Accordingly, these signals turn ON not only when the actuator is moving under a move command, but also
when the actuator is moved by hand with the servo turned off.
In a case where none of these signals (LS0, LS1, LS2) is ON when an emergency stop was actuated while
the actuator was moving, if LS0, LS1 or LS2 must be ON as a condition for resuming actuator operation from
the PLC, move the actuator to any target position.
Caution: These signals will turn OFF if a phase-A/B disconnection detection alarm occurs.
z Notes on positioning band setting
The positioning band setting defines the range within which the position detected output signal turns ON.
Condition for the position detected output signal to turn ON = Target position r (Positioning band)
(Example) When the feed speed is 300 mm/s and deceleration is 0.3 G, the deceleration distance becomes
approx. 15 mm.
If the positioning band is set to 30 mm, the position detected output signal will turn ON before the
actuator starts decelerating.
In this case, promptly turning OFF the move command input signal on the PLC will cause the
controller to initiate the deceleration stop processing.
Depending on the timing, therefore, the actuator may stop before the target position.
Front end move command input
(ST1)
Front end detected output
(LS1)
Where deceleration
should have started
Stops before the
front end.
Front end
Positioning band
The positioning band is
greater than the deceleration
distance.
125
7. Operation <Practical Steps>
With any normal move command, once the position detected output signal turns ON the sequence
processing will be executed 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 quickly, the
actuator may not reach the target position.
z Speed change during movement
If the load is made of soft material or is a bottle or otherwise topples easily due to its shape, one of the following
two methods can be used to prevent the load from receiving vibration or impact when it stops:
[1] Reduce the deceleration to make the deceleration curve gradual.
[2] Initially move the actuator at the rated speed, and reduce the feed speed immediately before the target
position.
Method [2], where the feed speed is reduced, is explained below.
(Example) Move the actuator from the rear end to the front end by using the intermediate point as a dummy
point, where the feed speed is set to 300 mm/s until the intermediate point and then reduced to 20
mm/s after passing the intermediate point.
7. Operation <Practical Steps>
Example of position table
Position
Speed
No.
[mm]
[mm/s]
0
5.00
300.00
1
380.00
20.00
2
300.00
Acceleration
[G]
0.30
0.30
Deceleration
[G]
0.30
0.30
0.30
0.30
300.00
Push
[%]
0
0
0
Positioning
band [mm]
0.10
0.10
30.00
Remarks
Rear end
Front end
Intermediate
point
Operation timings
PLC processing 1: Turn OFF the rear end move command signal (ST0) and the front end move command signal
(ST1), and turn ON the intermediate point move command signal (ST2).
Operation:
[1] The actuator starts moving toward the intermediate point.
[2] When the current position reaches 270 mm, the intermediate point detected output (LS2)
turns ON.
PLC processing 2: Turn OFF the intermediate point move command signal (ST2) and turn ON the front end
move command signal (ST1).
[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 detected output
(LS2)
Front end detected output
(LS1)
Speed
Time
Rear end:
5 mm
Intermediate point:
300 mm
Front end:
380 mm
Caution: By setting a wide positioning band for the intermediate point, smooth speed change can
be implemented without requiring the actuator to stop temporarily at the intermediate
point.
126
z Pause during movement
Since move commands are based on level mode, the actuator continues to move while a move command is ON.
Once the move command turns OFF, the actuator will decelerate to a stop and complete the operation.
Therefore, turn OFF the move command if the actuator must be stopped temporarily as a low-degree safety
measure.
(Example) Temporarily stop the actuator while it is moving to the front end.
Front end move command input
(ST1)
Front end detected output
(LS1)
Speed
Moving
Stopped
Moving
Time
z Emergency return operation
The following explains what to do when an emergency situation occurred while the actuator was moving and you
want to return the actuator to the standby position (rear end).
(Example) Return the actuator to the standby position (rear end) following an emergency situation occurring
while the actuator was moving to the front end.
Operation timings
PLC processing 1: Turn ON the rear end move command signal (ST0) upon occurrence of the emergency
situation, and then turn OFF the front end move command signal (ST1).
Operation:
[1] The actuator starts decelerating upon turning OFF of the front end move command signal
(ST1), and stops.
[2] The actuator reverses its direction and starts moving toward the rear end.
[3] When the rear end is reached, the rear end position complete output (PE0) turns ON.
PLC processing 2: Turn OFF the rear end move command signal (ST0).
Occurrence of
emergency situation
Front end move command input
(ST1)
Rear end move command input
(ST0)
Rear end detected output
(LS0)
Speed
Moving in + direction
Moving in –
direction
Time
Rear end
127
7. Operation <Practical Steps>
Front end
8. Parameter Settings
8.1 Parameter Table
8. Parameter Settings
Category:
a:
b:
c:
d:
Parameter relating to the actuator stroke range
Parameter relating to the actuator operating characteristics
Parameter relating to the external interface
Servo gain adjustment
No.
1
2
3
4
Category
a
a
a
a
Symbol
ZONM
ZONL
LIMM
LIML
5
a
ORG
6
7
b
d
PSWT
PLG0
8
b
VCMD Default speed
9
b
ACMD Default acceleration/deceleration
10
b
12
b
SPOW Current-limiting value at standstill during positioning
%
13
b
ODPW Current-limiting value during home return
%
15
16
17
c
c
c
FPIO
BRSL
RTIM
18
b
LS
INP
Name
Zone boundary 1+
Zone boundary 1–
Soft limit+
Soft limit–
Home return direction
[0: Reverse / 1: Forward]
Push & hold stop judgment period
Servo gain number
Default positioning band (in-position)
Pause input disable selection [0: Enable / 1: Disable]
SIO communication speed
Minimum delay time for slave transmitter activation
Home sensor input polarity
Unit
mm
mm
mm
mm
msec
mm/sec
G
mm
bps
msec
-
21
c
SON
Servo ON input
[0: Enable / 1: Disable]
22
a
OFST
Home return offset
23
24
25
26
a
a
c
b
ZNM2
ZNL2
IOPN
IOJV
27
c
FPIO
28
b
PHSP
Zone boundary 2+
Zone boundary 2–
PIO pattern selection
PIO jog speed
Movement command type
[0: Level / 1: Edge]
Default direction of excited-phase signal detection
[0: Reverse / 1: Forward]
29
b
PHSP
Excited-phase signal detection time
31
d
VLPG
Speed loop proportional gain
-
32
d
VLPT
Speed loop integral gain
-
33
d
TRQF
Torque filter time constant
-
34
b
PSHV
Push speed
35
36
37
38
b
b
b
b
SAFV
ASO1
ASO2
ASO3
39
c
40
c
128
Safety speed
Automatic servo-off delay time 1
Automatic servo-off delay time 2
Automatic servo-off delay time 3
Output mode of position complete signal
FPIO
[0: PEND / 1: INP]
Home-return input disable selection
HOME
[0: Enable / 1: Disable]
Default factory setting
Effective actuator length
Effective actuator length
Effective actuator length
Effective actuator length
(In accordance with the specification at the
time of order)
255
6
Set individually in accordance with the
actuator characteristics.
Set individually in accordance with the
actuator characteristics.
Set individually in accordance with the
actuator characteristics.
60
Set individually in accordance with the
actuator characteristics.
0 [Enable]
38400
5
Set individually in accordance with the
actuator characteristics.
0
mm
mm
mm
mm/sec
-
msec
mm/sec
mm/sec
sec
sec
sec
Set individually in accordance with the
actuator characteristics.
Effective actuator length
Effective actuator length
0 [Standard type]
100
0 [Level]
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.
Set individually in accordance with the
actuator characteristics.
100
0
0
0
-
0 [PEND]
-
0 [Enable]
No. Category Symbol
Name
41
c
FPIO
Operating-mode input disable selection
[0: Enable / 1: Disable]
42
b
ENBL
Enable function [0: Enable/1: Disable]
HMC
Polarity of home check sensor input
[0: Contact a / 1: Contact b]
43
b
Unit
Default factory setting
-
0 [Enable]
-
1 [Disable]
Set individually in accordance with the
actuator characteristics.
45
c
SIVM
Silent interval multiplier
-
0 [Do not apply multiplier]
46
b
OVRD
Speed override
%
100
47
b
IOV2
PIO jog speed
mm/sec
100
48
b
IOID
PIO inching distance
mm
0.1
49
b
IOD2
PIO inching distance 2
mm
0.1
50
b
LDWT
Load output judgment time
msec
0
51
b
TRQZ
Torque check range [0: Enable / 1: Disable]
-
0 [Enable]
53
b
HSTP
Default stop mode
-
0 [Power-saving mode is disabled]
77
b
LEAD
Ball screw lead
78
b
ATYP
Axis operation type
-
79
b
ATYP
Rotational axis mode selection
-
80
b
ATYP
Shortcut selection for rotation
-
83
b
ETYP
Absolute unit [0: Not used / 1: Used]
-
84
C
FMOD
Fieldbus operation mode
-
Set for each network.
85
C
NADR
Fieldbus node address
-
Set for each network.
86
C
FBRS
Fieldbus baud rate
-
Set for each network.
87
C
NTYP
Network type
-
Set for each network.
88
a
SWLM
Software limit margin
90
C
FMIO
Fieldbus I/O format
-
Set for each network.
PSFC
Current-limiting value at standstill after missing work
part in push & hold operation
-
0 [Current-limiting value at standstill]
b
(Note 1)
(Note 2)
mm
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.
8. Parameter Settings
91
mm
Set individually in accordance with the
actuator characteristics.
The numbers are shown in the PC software, but not on the teaching pendant.
The missing numbers are not used and therefore omitted.
The category codes are provided as a matter of convenience and not displayed.
Parameter Nos. 84 to 87 and 90 are used when a network connection specification is selected. For
details, refer to the operation manual for each network (CC-Link, DeviceNet or PROFIBUS).
129
8.2 Detail Explanation of Parameters
If a parameter has been changed, always restart the controller using a software reset command or by
reconnecting the power.
8.2.1
Parameters Relating to the Actuator Stroke Range
z Soft limit (No.3/4 LIMM/LIML)
Set the soft limit in the positive direction in parameter No. 3, and that in the negative direction in parameter No. 4.
The factory setting for the soft limits conforms to the effective actuator length. Change the settings, as necessary,
to prevent crash with an obstacle or when the actuator must be stroked slightly beyond its effective length.
A wrong soft limit setting will cause the actuator to crash into the mechanical end, so exercise due caution.
The minimum setting unit is “0.01 [mm].”
(Note) To change a soft limit, set a value corresponding to 0.3 mm outside of the effective range.
Example) Set the effective range to between 0 mm and 80 mm
Parameter No. 3 (positive side) 80.3
Parameter No. 4 (negative side) –0.3
8. Parameter Settings
Soft limits set in the controller
Approx.
0.3 mm
Approx.
0.3 mm
Effective range
Approx. 0.1 mm
8 0
0
Approx. 0.1 mm
Allowable jogging/inching range after home return
z Software limit margin (No. 88 SWLM)
If the actuator exceeds the range defined by the soft limits, a “soft limit over error” will occur.
By setting parameter No. 88, you can suppress detection of this error for the distance corresponding to the value
set in parameter No. 88 from the soft limits.
The minimum setting range is 0.01 mm.
Software
limit margin
Error
detection zone
130
Soft limit
Stroke
Soft limit
Software
limit margin
Error
detection zone
z Zone boundary (1: No.1/2 ZONM/ZONL 2: No.23/24 ZNM2/ZNL2)
These parameters set the zone within which the zone output signal (ZONE1) turns ON when the selected PIO
pattern is “0” (standard type), “4” (7-point type) or “5” (3-point type).
The zone output signal turns ON when the current position is between the negative-side boundary and positiveside boundary. Set the positive-side boundary in parameter No. 1, and negative-side boundary in No. 2.
The minimum setting unit is “0.01 [mm].”
Example) To turn ON the ZONE1 signal when the actuator with a 300-mm stroke enters the section of 100 to
200 mm, set 200.00 in parameter No. 1 (Zone boundary+) and 100.00 in parameter No. 2 (Zone
boundary-).
0
(Home)
200
100
300 mm
ZONE1 turns ON
8. Parameter Settings
(Note) This controller does not use parameter No. 23 (Zone boundary 2+) and parameter No. 24 (Zone
boundary 2-).
131
z Home return direction (No.5 ORG)
Unless specified by the user, the home return direction is set to the motor direction at the factory.
Should a need arise to change the home direction after the actuator has been assembled into your system,
reverse the setting in parameter No. 5 between “0” and “1.”
If necessary, also change the home return offset, soft limit and excited-phase signal detection direction
parameters.
Caution: The home direction cannot be reversed for a rod-type actuator.
8. Parameter Settings
z Home return offset (No.22 OFST)
The controller is shipped from the factory with an optimal value set in parameter No. 22, so the distance from
each mechanical end to the home becomes uniform.
The minimum setting unit is “0.01 [mm].”
The home return offset can be adjusted in the following conditions:
[1] Want to align the actuator home and the system’s mechanical home after the actuator has been assembled
into the system
[2] Want to set a new home after reversing the factory-set home direction
[3] Want to eliminate a slight deviation generated after replacing the actuator
Caution: If the home return offset has been changed, the soft limit parameters must also be adjusted
accordingly.
8.2.2
Parameters Relating to the Actuator Operating Characteristics
z PIO jog speed (No.26 IOJV)
When the selected PIO pattern is “1” (teaching type), this parameter defines the jog speed to be applied when
jog input commands are received from the PLC.
The factory setting is “100 [mm/sec].”
Set an appropriate value in parameter No. 26 in accordance with the purpose of use.
The maximum speed is limited to “250 [mm/sec].”
(Note) Parameter No. 47 (PIO jog speed 2) is not used for this controller.
z PIO inching distance (No.48 IOID)
When the selected PIO pattern is “1” (teaching type), this parameter defines the inching distance to be applied
when inching input commands are received from the PLC.
The factory setting is “0.1 [mm].”
Set an appropriate value in parameter No. 48 in accordance with the purpose of use.
The maximum limit is limited to “1 [mm].”
(Note) Parameter No. 49 (PIO inching distance 2) is not used for this controller.
z Default speed (No.8 VCMD)
The factory setting is the rated speed of the actuator.
When a target position is set in an unregistered position table, the setting in this parameter will be used as the
speed data for the applicable position number.
To reduce the default speed from the rated speed, change the setting in parameter No. 8.
132
z Default acceleration/deceleration (No.9 ACMD)
The factory setting is the rated acceleration/deceleration of the actuator.
When a target position is written to an unregistered position table or the current position is read in the teaching
mode, the setting in this parameter will be used as the acceleration/deceleration data for the applicable position
number.
To reduce the default acceleration/deceleration from the rated acceleration/deceleration, change the setting in
parameter No. 9.
z Default positioning band (in-position) (No.10 INP)
The factory setting is “0.10 [mm].”
When a target position is written to an unregistered position table or the current position is read in the teaching
mode, the setting in this parameter will be used as the positioning band data for the applicable position number.
Increasing the default positioning band will allow the position complete signal to be output early. Change the
setting in parameter No. 10, as necessary.
Caution: For the positioning band, set the value greater than that of the encoder resolution.
Setting it smaller may cause a servo error.
z Current-limiting value during home return (No.13 ODPW)
The factory setting conforms to the standard specification of the actuator.
Increasing this setting will increase the home return torque.
This setting need not be changed in normal conditions of use. However, if an increased slide resistance causes
the home return to complete before the correct position depending on the affixing method, load condition or other
factor when the actuator is used in a vertical application, the value set in parameter No. 13 must be increased.
(As a guide, the maximum limit is 100% for the RA3C/RA3D types and 75% for all other types.)
z Home sensor input polarity (No. 18 LS)
This parameter is supported when a RCP2-RTB/RTC rotational axis is used in the home sensor mode.
Definition of settings : 0 (Sensor not used)
: 1 (Sensor polarity of contact a)
: 2 (Sensor polarity of contact b)
z Speed override (No.46 OVRD)
Use this parameter when moving the actuator at a slower speed to prevent danger when the system is initially
started for test operation.
When move commands are issued from the PLC, the moving speed set in the “Speed” field of the position table
can be overridden by the value set by parameter No. 46.
Actual moving speed = [Speed set in the position table] x [Value of parameter No. 46] 100
Example) Value in the “Speed” field of the position table500 (mm/s)
Value of parameter No. 46 20 (%)
Under the above settings, the actual moving speed becomes 100 mm/s.
The minimum setting unit is “1 [%],” while the input range is “1 to 100 [%].” The factory setting is “100 [%].”
(Note) This parameter is ignored for move commands from the PC and teaching pendant.
133
8. Parameter Settings
z Current-limiting value at standstill during positioning (No.12 SPOW)
The factory setting conforms to the standard specification of the actuator.
Increasing this setting will increase the holding torque at standstill.
This setting need not be changed in normal conditions of use. However, to prevent hunting caused by large
external force applied while the actuator is at standstill, the value set in parameter No. 12 must be increased.
(Do not increase the value beyond 70%.)
z Default direction of excited-phase signal detection (No.28 PHSP)
When the servo is turned on for the first time after the power on, excited-phase detection is performed This
parameter defines the direction of this detection.
The parameter need not be changed in normal conditions. In certain situations, such as when the actuator was
contacting a mechanical end or obstacle when the power was turned on and cannot be moved by hand, change
the direction to one that allows the motor to operate smoothly.
To do so, set parameter No. 28 to “0” or “1.” If the detection direction should be the same as the home return
direction, specify the same value currently set in parameter No. 5 (Home return direction).
To set a direction opposite to the home return direction, specify the value different from the one currently set in
parameter No. 5 (Home return direction).
(Example 1) Power was turned on when the slider was contacting the bottom mechanical end in a configuration
where the actuator is installed vertically with the motor at the top.
Top
Home return
direction
Home position
8. Parameter Settings
Set the same value.
Direction of excitedphase signal detection
Bottom
The slider is contacting the bottom mechanical end.
(Example 2) Power was turned on when the slider was contacting the bottom mechanical end in a configuration
where the actuator is installed vertically with the motor at the bottom.
Top
Direction of excitedphase signal detection
Home position
The slider is contacting the bottom mechanical end.
Bottom
Set different values.
Home return
direction
z Excited-phase signal detection time (No.29 PHSP)
When the servo is turned on for the first time after the power on, excited-phase detection is performed. This
parameter defines the time of this detection.
The parameter need not be changed in normal conditions, because a detection time appropriate for the standard
specification of the actuator has been set at the factory.
Should an excitation detection error or abnormal operation occur when the servo is turned on for the first time
after the power on, one remedial action that can be taken is to change the detection time set by parameter No.
29.
If you wish to change this parameter, contact IAI beforehand.
z Safety speed (No.35 SAFV)
This parameter defines the feed speed to be applied during manual operation.
The factory setting is “100 [mm/sec].”
To change this speed, set an optimal value in parameter No. 35.
Take note that the maximum speed is limited to “250 [mm/s]” and that you should set a speed not exceeding this
value.
134
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z Push speed (No.34 PSHV)
This parameter defines the push speed to be applied after the actuator reaches the target position in push & hold
operation.
Before the shipment, this parameter has been set to the default value selected in accordance with the
characteristics of the actuator.
Set an appropriate speed in parameter No. 34 by considering the material and shape of the work part, and so on.
Take note that maximum speed is limited to “20 [mm/sec]” even on high-speed types and that you should use
the actuator at push speeds not exceeding this level.
Push speed
Speed
Load
8. Parameter Settings
Positioning band
Caution: It is recommended that you set the push speed to 5 [mm/s] or above to minimize the
negative effect of push force variation.
z Push completion judgment time (No.6 PSWT)
This parameter is used as a condition for determining that the work part was contacted and the push & hold
operation has completed.
As for the specific method of judgment, the push & hold operation is deemed to have completed if the currentlimiting value set in the position table has been retained for the time set by parameter No. 6.
Set an optimal time matching the current-limiting value, by considering the material and shape of the work part,
and so on.
The minimum setting unit is “1 [msec],” while the maximum value is “9999 [msec].” The factory setting is “255
[msec].”
(Note) The chart below explains how completion of push & hold operation is determined if the work part shifted
during the judgment and the current has changed as a result, based on a judgment time of 255 msec.
Push current
Starting position
Target position
Counting starts.
The count increases to 200.
The count decreases to 180.
The count increases to 255.
Push & hold operation is
deemed to have completed.
If the motor current remains at or above the push current for 200 msec and then drops below this level for 20
msec, the count will decrease by 20. When the push current is reached again thereafter, counting will start from
180. If the motor current remains at or above the push current for 75 msec, the count will increase to 255 and
thus push & hold operation will be deemed to have completed.
In total, 295 msec was required for the judgment.
136
z Enable function (No.42 FDIO4)
Whether to enable or disable the deadman switch function on an ANSI-type teaching pendant is defined by
parameter No. 42.
* An ANSI-type teaching pendant will be developed in the future.
Setting
Enable (Use)
0
Disable (Do not use)
1
The factory setting is “1 [Disable].”
z Polarity of home check sensor input (No.43 AIOF)
The home check sensor is not included in the standard specification, but it can be installed as an option.
Normally this parameter need not be changed, but if the customer wishes to change the mode after the shipment,
change the value of Parameter No. 43.
Definition of settings: 0 (Standard specification without home check sensor)
1 (Use the home check sensor based on contact-a sensor polarity)
2 (Use the home check sensor based on contact-b sensor polarity)
Mechanical end
Power on position
Home check sensor
Home position
z Load output judgment time (No.50 LDWT)
If the torque check function is used in push & hold operation, the load output (LOAD signal) will turn ON when a
specified condition is met. Since the command torque does not remain constant but fluctuates within a certain
band while the actuator is moving, whether or not to turn ON the load output is determined based on whether the
total duration of periods in which the command torque has exceeded the threshold corresponds at least to a
specified time. This specified time is set using this parameter. The default value is “255 msec.”
137
8. Parameter Settings
[Explanation of operation]
[1] When a home return command is issued, the actuator moves until contacting the mechanical end. Upon
contact with the mechanical end, the home check sensor signal is detected.
[2] Next, the actuator reverses its direction and stops at the home position.
[3] The controller determines that the movement has completed successfully if the home check sensor signal
had changed when the actuator stopped. If the sensor signal remains the same, the controller recognizes
that “position deviation” has occurred, in which case the controller will generate a “Home sensor not
detected” error and output an alarm signal.
z Torque check range (No.51 TRQZ)
This parameter sets whether or not to use the check range when determining if the threshold has been
exceeded. The default value is “0,” i.e., to enable the check range.
Enable (Use the check range to make judgment)
Disable (Do not use the check range to make judgment)
Setting
0
1
z Ball screw lead length (No.77 LEAD)
This parameter defines the ball screw lead length.
A default value appropriate for the characteristics of the actuator is set at the factory.
8. Parameter Settings
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 will fix the current value to a
range of 0 to 359.99. If the index mode is selected, shortcut control can be used.
Definition of settings : 0 (Normal mode)
: 1 (Index mode)
Caution:
Push & hold operation cannot be performed in the index mode. If push action data is entered
in the position data, the data will be disabled and the actuator will perform normal movement.
The positioning band will correspond to the default positioning band set by the applicable
parameter.
z Shortcut selection for rotational axis (No.80 ATYP)
Set this parameter if you want to rotate the rotational axis in a specific direction.
“Shortcut” refers to a type of operation in which the actuator moves to the next point by taking the shortest path.
Setting
0
1
Do not select
Select
*
When shortcut is selected, the actuator can be rotated in a specific direction.
Point No. 1
Point No. 4
Point No. 2
Point No. 3
138
Positions
Point number
1
2
3
4
Position data
0
90
180
270
One degree of position data
corresponds to 1 mm.
If the actuator is moved in the order to positions 1 Æ 2 Æ 3 Æ 4, the actuator will operate differently depending
on whether or not shortcut is selected, as explained below.
When shortcut 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
When shortcut is selected
Point No. 1
Point No. 1
Point No. 3
Point No. 4
8. Parameter Settings
Point No. 2
Point No. 2
Point No. 4
Point No. 3
z Absolute unit (No.83 ETYP)
Parameter No. 83 sets whether or not an optional simple absolute unit is used.
Not used
Used
Setting
0
1
z Current-limiting value at standstill after missing work part in push & hold operation (No. 91 PSFC)
This parameter defines the current-limiting value when the actuator is at standstill after missing the work part in
push & hold operation.
Parameter No. 91
0
1
Description
Current-limiting value at standstill
(An appropriate value has been set according to the characteristics of the
applicable actuator.)
Current-limiting value during push & hold operation
139
8.2.3
Parameters Relating to the External Interface
z PIO pattern selection (No.25 IOPN)
Select the PIO operation pattern in parameter No. 25.
This setting forms the basis of operation, so be sure to set this parameter at the beginning.
The factory setting is “0 [Standard type].”
Parameter No.
25 setting
0
8. Parameter Settings
1
2
3
4
5
140
Feature of PIO pattern
Standard type
A basic type supporting 64 positioning points and two zone outputs.
* How to set zone boundaries within which to output a zone signal:
Zone boundaries are set using parameter Nos. 1 and 2 for one zone output, and in the
position table for another zone output.
Teaching type
In this type, 64 positioning points and one zone output (boundaries are set in the
position table) are supported.
In addition to the normal positioning mode, the user can also select the teaching mode
in which the actuator can be jogged via commands from a PLC and the current actuator
position can be written to a specified position.
(Note 1) Jog commands from a PLC are also accepted in the positioning mode.
(Note 2) Positions can be rewritten by approximately 100,000 times.
256-point positioning type
The number of positioning points is increased to 256, so only one zone output is
available (boundaries are set in the position table).
512-point positioning type
The number of positioning points is increased to 512, so no zone output is available.
7-point type
The number of positioning points is limited to seven to offer separate direct command
inputs and movement complete outputs for respective positions.
PLC ladder sequence circuits can be designed easily.
3-point type
Use of the controller as an air cylinder is assumed in this type.
Movement complete output signals function differently in this type, compared to the 7point type.
Specifically, the signal functions not only to “indicate movement complete,” but also to
“detect a position” in the same manner as auto-switches of an air cylinder. Push & hold
operation cannot be performed.
z Movement command type (No.27 FPIO)
When the PIO pattern is set to “7-point type,” define the operation condition of the movement command input
(ST0 to ST6) in parameter No. 27.
The factory setting is “0 [Level mode].”
Description of the movement command input
Level mode:
The actuator starts moving when the input signal turns ON. When the signal turns OFF
during the movement, the actuator will decelerate to a stop and complete its operation.
Edge mode:
The actuator starts moving when the rise edge of the input signal is detected. The
actuator will not stop even when the signal turns OFF during the movement, until the
target position is reached.
Setting
0
1
[Level mode]
8. Parameter Settings
Movement command input
(ST0 to ST6)
Position complete
(PE0 to PE6)
Stopped
Actuator movement
Target position
(Note)
Turn OFF the movement command input after confirming that the target position has been reached.
[Edge mode]
Movement command input
(ST0 to ST6)
Position complete
(PE0 to PE6)
Actuator movement
Target position
141
z Pause input disable selection (No.15 FPIO)
Parameter No. 15 defines whether the pause input signal is disabled or enabled.
Setting
Enable (use)
0
Disable (do not use) the signal
1
The factory setting is “0 [Enable].”
8. Parameter Settings
z Servo ON input disable selection (No.21 FPIO)
Parameter No. 21 defines whether the servo ON input signal is disabled or enabled.
Setting
Enable (use)
0
Disable (do not use)
1
The factory setting is “0 [Enable].”
z Home-return input disable selection (No.40 FPIO)
Parameter No. 40 defines whether the home-return input signal is disabled or enabled.
Setting
Enable (use)
0
Disable (do not use)
1
The factory setting is “0 [Enable].”
z Operating-mode input disable selection (No.41 FPIO)
Parameter No. 41 defines whether the operating-mode input signal is disabled or enabled.
Setting
Enable (use)
0
Disable (do not use)
1
The factory setting is “0 [Enable].”
142
z Output mode of position complete signal (No.39 FPIO)
This parameter is effective when any PIO pattern other than “5” [3-point type] is selected.
It defines the status of completed position number signals [PM1 to PM256], movement complete signals at
respective positions [PE0 to PE6] and position complete signal [PEND] to be applied if the servo turns off or
“position deviation” occurs while the actuator is standing still after completing positioning.
The following two conditions can be considered:
[1] The position has deviated, due to external force and while the servo was on, beyond the value set in the
“Positioning band” field of the position table.
[2] The position has deviated, due to external force and while the servo was off, beyond the value set in the
“Positioning band” field of the position table.
This parameter is provided to permit flexible specification of how the “position complete status” is monitored in
accordance with the characteristics of the system or sequence circuit on the PLC side.
The ON/OFF status of each position complete signal is controlled as follows in accordance with the setting of
parameter No. 39.
Setting of
parameter No. 39
8. Parameter Settings
Definition of completed position number signals [PM1 to PM256], movement
complete signals at respective positions [PE0 to PE6] and position complete signal
[PEND]
0 [PEND]
[1] The servo is on
The signal remains ON even after the current position has exited the range set by
the “Positioning band” field of the position table, with respect to the target position.
[2] The servo is off
The signal is OFF unconditionally regardless of the current position.
1 [INP]
Regardless of the servo on/off status, the signal turns ON if the current position is
within the range set by the “Positioning band” field of the position table, with respect
to the target position, and turns OFF if the current position is outside this range.
* In this mode, the applicable signals are used as limit switches.
The factory setting is “0 [PEND].”
z SIO communication speed (No.16 BRSL)
Set the communication speed to be used when the control is performed via serial communication using the
PLC’s communication module.
Set an appropriate value in parameter No. 16 in accordance with the specification of the communication module.
One of 9600, 19200, 38400 and 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 defines the minimum delay until the controller’s transmitter will be activated after completion of
command reception, when serial communication is performed using the PLC’s communication module.
The factory setting is “5 [msec],” but other necessary delay time must be set in parameter No. 17 if the
specification of the communication module exceeds 5 msec.
143
8. Parameter Settings
z Silent interval multiplier (No.45 SIVM)
This parameter is not used for this controller. It is applied to controllers of RS485 serial communication type.
If specified, this parameter defines the multiplier to be applied to the silent interval time for delimiter judgment in
the RTU mode.
The default setting is the communication time corresponding to 3.5 characters in accordance with the Modbus
specification.
This setting need not be changed for normal operations performed with a PC or teaching pendant.
If the scan time of the PLC is not optimal and the character transmission interval exceeds the silent interval, the
silent interval time can be extended using parameter No. 45.
The minimum setting unit is “1 [time],” while the input range is “0 to 10.” If “0” is set, no multiplier is applied.
144
8.2.4
Servo Gain Adjustment
Before the shipment, the servo has been adjusted in accordance with the standard specification of the actuator.
Accordingly, the servo settings need not be changed in normal conditions.
Nonetheless, the parameters relating to servo adjustment are made accessible by the customer so that speedy
actions can be taken in situations where vibration or noise occurs due to the affixing method of the actuator, load
condition, or the like.
In particular, custom types (having a longer ball screw lead or stroke than standard types) are more vulnerable to
vibration and noise due to external conditions.
In these circumstances, the following parameters must be changed. Contact IAI for details.
z Servo gain number (No.7 PLG0)
Parameter No.
Unit
Input range
7
5 rad/sec
0 ~ 31
Default
6
This parameter determines the response when a position control loop is used.
Increasing the set value improves the tracking performance with respect to the position command.
However, increasing the parameter value excessively increases the chances of overshooting.
If the set value is small, the tracking performance with respect to the position command drops and positioning
takes a longer time.
8. Parameter Settings
Speed
Set value is large (overshooting).
Set value is small.
Time
z Speed loop proportional gain (No.31 VLPG)
Parameter No.
Unit
Input range
Default
Set individually in accordance with the
31
--1 ~ 27661
actuator characteristics.
This parameter determines the response when a speed control loop is used.
Increasing the set value improves the tracking performance with respect to the speed command (i.e., servo
rigidity increases).
The greater the load inertia, the larger this parameter value should be.
However, increasing the parameter value excessively makes the actuator more vulnerable to overshooting or
shaking, leading to mechanical vibration.
Speed
Set value is large (overshooting).
Set value is small.
Time
145
z Speed loop integral gain (No.32 VLPT)
Parameter No.
Unit
Input range
32
---
Default
Set individually in accordance with the
actuator characteristics.
1 ~ 217270
This parameter determines the level of response with respect to a speed control loop.
Decreasing the setting results in lower response to the speed command and decreases the reactive
force upon load change. If the setting is too low, compliance with the position command drops and the
positioning time increases as a result.
Increasing the setting too much increases the tendency of the actuator to overshoot or oscillate,
resulting in increased mechanical vibration.
Setting is high (overshoot)
Speed
8. Parameter Settings
Setting is low
Time
z Torque filter time constant (No.33 TRQF)
Parameter No.
Unit
Input range
33
---
1 ~ 2500
Default
Set individually in accordance with the
actuator characteristics.
This parameter determines the filter time constant for torque commands.
If the resonance frequency of the machine is smaller than the response frequency of the servo loop, the motor
vibrates.
This mechanical resonance can be suppressed by increasing the value set in this parameter.
However, increasing the parameter value excessively may reduce the stability of control.
146
9. PC/Teaching Pendant Connection Method in Multi-axis
Configurations
This section explains the method to permanently connect a PC/teaching pendant in configurations consisting of
multiple axes, so that the PC/teaching pendant connector need not be removed/inserted each time.
The connector is connected to a SIO converter, and the SIO converter sends/receives data to/from each
controller via RS485 serial communication.
The basic specifications are as follow:
[1] Maximum number of connected axes: 16
[2] Maximum length of serial communication cable: 100 m or less
[3] Terminal resistor: 220 : (Be sure to install a terminal resistor for the last axis to prevent the effect of
radiating noise.)
9.1 Connection Example
Teaching pendant
[CON-T, RCM-T]
PC software
(Optional)
(Note)
<RCM-101-MW>
<RCM-101-USB>
3&7HDFKLQJ3HQGDQW&RQQHFWLRQ0HWKRGLQ0XOWLD[LV&RQ¿JXUDWLRQV
RS232C type
USB type
External equipment communication
cable <CB-RCA-SIO-***> cannot be
used for connection to a PC.
RS232C cross cable
(Provided by the user)
SIO converter (with built-in terminal resistor)
<RCB-TU-SIO-A> Vertical type
<RCB-TU-SIO-B> Horizontal type
Components:
E-Con connector (AMP 4-1473562-4: housing color green)
E-Con connector (AMP 3-1473562-4: housing color orange)
Junction (AMP 5-1473574-4)
Green
Green
Green
Input power
supply
Terminal resistor
R = 220 :
Controller power supply
Controller link cable
<CB-RCB-CTL002>
ADRS switch: 0
Controller 1
ADRS switch: 1
Controller 2
ADRS switch: n-1
Controller n
Caution: Do not connect the teaching pendant and PC at the same time.
If both are connected at the same time, a communication error (message level) will occur.
147
9.2 SIO Converter (Optional)
This unit is a RS232C-RS485 converter.
When multiple controllers are linked, you can connect a teaching pendant to the mini DIN 8-pin connector to
move all axes together or edit the parameters of all axes at once.
z Explanation of function
[3] Link connectors (J4, J5)
[2] Link-connection terminal block (TB1)
[1] Power/emergency-stop terminal block (TB2)
[7] Monitor LEDs
3&7HDFKLQJ3HQGDQW&RQQHFWLRQ0HWKRGLQ0XOWLD[LV&RQ¿JXUDWLRQV
[4] D-sub, 9-pin connector
[6] PORT switch
[5] Mini DIN, 8-pin connector
[1] Power/emergency-stop terminal block (TB2)
EMG1, EMG2
24V
0V
FG
Provide a contact output for the emergency-stop switch on the teaching pendant
(RCM-T/E).
EMG1 and EMG2 connect to the emergency-stop switch on the teaching pendant
when the PORT switch is ON, or are shorted when the PORT switch is OFF.
These terminals comprise an interlock with a safety circuit provided by the user.
Positive side of the 24-V power supply power supply for the teaching pendant
and conversion circuit
Current consumption: 0.1 A max.
Negative side of the 24-V power supply
FG of the 24-V power supply
[2] Link-connection terminal block (TB1)
A connection port for linking the controller.
“A” on the left side connects to SGA (wire color: orange/red 1) on the extension cable.
“B” on the right connects to SGB (wire color: orange/black 1) on the extension cable.
(Note) Be sure to use twisted pair wires for the above two connections (SGA/SGB).
[3] Link connectors (J4, J5)
e-con connector ports for linking controllers. You can connect an optional link cable (CB-RCB-CTL002)
directly to each connector. Take note that J4 and J5 are provided for connection of two axes only. If you
want to connect three or more axes, use the terminal block indicated by [2].
148
[4] D-sub, 9-pin connector (RS232C)
A connection port with a PLC’s communication module. It can also be connected to a PC. For the
communication cable, use the RS232C cross cable specified below.
[5] Mini DIN, 8-pin connector (RS485)
A connection port with a teaching pendant or PC. For the communication cable, use the cable (equipped
with a RS232C/RS485 converter) that comes with the PC software (RCM-101-MW).
[6] PORT switch
A switch for enabling/disabling the mini DIN connector.
Set the switch to the ON position if a device is connected to the mini DIN connector, or to the OFF position
if no device is connected.
[7] Monitor LEDs
LED1 --- Lit when the controller is transmitting
LED2 --- Lit when the RS232 is transmitting
3&7HDFKLQJ3HQGDQW&RQQHFWLRQ0HWKRGLQ0XOWLD[LV&RQ¿JXUDWLRQV
149
9.3 Address Switch
Set an address (0 to 15) as a hexadecimal (0 to F) using the ADRS switch on the front panel of each controller to
define the slave number for the controller.
Assign “0” to the controller nearest the host, and then assign 1, 2, 3, …, E and F to the remaining controllers in
the direction of moving away from the host.
After all addresses have been set, reconnect the power.
Caution: After the setting, be sure to confirm that the addresses are not duplicated.
Adjust the arrow to a desired
position using a flathead
screwdriver.
9.4 Connection Cables
3&7HDFKLQJ3HQGDQW&RQQHFWLRQ0HWKRGLQ0XOWLD[LV&RQ¿JXUDWLRQV
z Controller link cable
Model number: CB-RCB-CTL002
Controller end
200 mm
E-Con connector
6
3-1473562-4
8
3
(Housing color: Orange)
5
1
2
Mini DIN connector
Signal
SGA
SGB
+5V
EMB
EMGA
+24V
GND
EMGB
No.
1
2
3
4
5
6
7
8
No.
1
2
3
4
Yellow
Orange
Blue
Signal
SGA
SGB
GND
(Reference) Connection diagram for RS232C cross cable
SIO converter end
D-sub, 9-pin female connector
PC end
Signal
RD
SD
DTR
SG
DSR
RS
CS
150
No.
1
2
3
4
5
6
7
8
9
No.
1
2
3
4
5
6
7
8
9
SignalD-sub, 9-pin
(Female connector for PC,
RD Male connector for PLC)
SD
DTR
SG
DSR
RS
CS
9.5 Detail Connection Diagram
Two-paired shielded cable
Recommended brand:
Four-way junction (AMP: 5-1473574-4)
Taiyo Electric Wire & Cable
HK-SB/20276XL
2PX22AWG
[B]
1[A]
2
SIO converter
TB1
A
1
1
B
2
2
3
3
4
4
TB2
EMG2
EMG1
24V
E-Con connector (AMP: 4-1473562-4)
0V
Housing color: Green
FG
Controller link cable
CB-RCB-CTL002
Yellow
SGA
1
1
1
7
Controller 1
SGA
2
2
Blue
Blue
2
SGB
3
3
7
GND
4
4
Controller 2
E-Con connector (AMP: 3-1473562-4)
Housing color: Orange
(Note) The user must provide the two-paired shielded cable.
If cables other than the recommended brands are connected to [A] and [B], use those with a cablesheath outer diameter of 1.35 to 1.60 mm.
Accessories (Optional):
[1] Controller link cable CB-RCB-CTL002 (connector on both ends), length 200 mm
[2] Four-way junction, made by AMP: 5-1473574-4
[3] E-Con connector, made by AMP: 4-1473562-4 (green)
[4] Terminal resistor 220 : (with E-Con connector)
Of the above, [2], [3] and [4] are provided for the same number as the controller link cables. Therefore, not all
units are needed when multiple axes are used.
151
3&7HDFKLQJ3HQGDQW&RQQHFWLRQ0HWKRGLQ0XOWLD[LV&RQ¿JXUDWLRQV
GND
2
1
Orange
Orange
SGB
Yellow
10. Troubleshooting
10.1 Action to Be Taken upon Occurrence of Problem
10. Troubleshooting
Upon occurrence of a problem, take an appropriate action according to the procedure below in order to ensure
speedy 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 an emergency stop has been actuated or the motor drive power is
cut off.
b. Check for error in the host controller.
c. Check the voltage of the main 24-VDC power supply.
d. Check the voltage of the 24-VDC power supply for I/O signals.
e. Check for alarm.
Confirm the details of error on the PC or teaching pendant.
f. Check the cables for connection error, disconnection or pinching.
Before performing a continuity check, turn off the power (to prevent a runaway actuator) and disconnect the
cables (to prevent accidental power connection due to a sneak current path).
g. Check the I/O signals.
h. Check the noise elimination measures (grounding, installation of surge killer, etc.).
i. Review the events leading to the occurrence of problem, as well as the operating condition at the time of
occurrence.
j. Check the serial numbers of the controller and actuator.
k. Analyze the cause.
l. Take action.
Please check items a through j before contacting IAI.
(Reference)
SV (lamp)
ALM (lamp)
*ALM (signal)
Changes in status indicator lamps and *ALM output signal in respective conditions
Servo OFF
Servo ON
Unlit
Unlit
ON
Lit
Unlit
ON
Emergency stop
actuated
Unlit
Lit
ON
Motor drive power cut off
Unlit
Lit
ON
(Note 2) The *ALM output signal is a contact-b signal.
After the power is turned on, this signal remains ON while the controller is normal. It remains OFF
while the power is cut off.
It cannot be used as a contact-b interlock when the power is cut off.
152
10.2 Alarm Level Classification
Alarms are classified into two levels based on the corresponding symptoms.
Alarm level
ALM lamp
*ALM signal
What happens when alarm
generates
Input an alarm reset signal
(RES) from the PLC.
Reset by the PC/teaching
pendant.
Reconnect the power.
Operation
cancellation
Lit
Output
The actuator decelerates
to a stop and then the
servo turns OFF.
Cold start
Lit
Output
The actuator decelerates
to a stop and then the
servo turns OFF.
How to reset
(Note) The *ALM output signal is a contact-b signal.
After the power is turned on, this signal will remain ON while the controller is normal, and turn OFF if
an alarm occurs.
Although the *ALM signal will turn OFF when the power is cut off, it cannot be used as a contact-b
interlock.
„ How to reset operation-cancellation level alarms
Input an alarm reset signal (RES) continuously for 6 msec or more.
This resets the *ALM signal to ON, so turn OFF the RES signal after confirming that the *ALM signal is ON.
6 msec or more
10. Troubleshooting
Alarm reset input signal (RES)
Alarm present
No alarm
Alarm output signal (*ALM)
Caution: Reset each alarm after identifying and removing the cause of the alarm. If the cause of the
alarm cannot be removed or the alarm still persists after the cause has been removed,
contact IAI.
If the same error occurs again after resetting the alarm, it means that the cause of the alarm
still remains.
153
10. Troubleshooting
10.3 Alarm Description Output Using PIO
In PIO patterns 0 to 3 (64 to 512-point positioning type), alarm information can be output using the ports for
completed position output signals (four bits of PM1 to PM8) so that when an alarm occurs, the nature of the
alarm can be identified on the PLC side.
Program the PLC so that whether a given output is a completed position number or alarm can be identified
based on the status of the alarm output signal (*ALM).
Bit assignment table for alarm description (z= OFF, { = ON)
PM8
PM4
PM2
PM1 Description: Code number in ( )
ALM
{
x
x
x
x
Normal
Software reset command when servo ON (090)
Position number error during teaching (091)
z
z
z
{
z
PWRT signal detected during movement (092)
PWRT signal detected before completion of home return (093)
Movement command when servo OFF (080)
Position movement command before home return completion
(082)
Absolute position movement command before home return
z
z
z
{
{
completion (083)
Movement command during home return (084)
Position number error during movement (085)
Deceleration command error (0A7)
z
z
{
z
z
Unmatched PCB (0F4)
Parameter data error (0A1)
Position data error (0A2)
z
z
{
{
z
Position command information data error (0A3)
Unsupported motor/encoder type (0A8)
Excitation detection error (0B8)
z
z
{
{
{
Home sensor not detected (0BA)
Home return timeout (0BE)
z
{
z
z
z
Excessive actual speed (0C0)
Motor power-supply overvoltage (0C9)
Overheating (0CA)
z
{
z
z
{
Control power-supply overvoltage (0CC)
Control power-supply voltage low (0CE)
Deviation overflow (0D8)
z
{
z
{
{
Software stroke limit overtravel error (0D9)
Out of push & hold operation range error (0DC)
z
{
{
z
z
Servo error (0C1)
Relating to encoder disconnection
Encoder receive error (0E5)
Phase-A/B disconnection detection (0E8)
Phase-A disconnection detection (0E9)
z
{
{
z
{
Phase-B disconnection detection (0EA)
Absolute encoder error detected 1 (0ED)
Absolute encoder error detected 2 (0EE)
Absolute encoder error detected 3 (0EF)
CPU error (0FA)
z
{
{
{
z
FPGA error (0FB)
Logic error (0FC)
Nonvolatile memory write verification error (0F5)
z
{
{
{
{
Nonvolatile memory write timeout (0F6)
Damaged nonvolatile memory (0F8)
154
10.4 Alarm Description and Cause/Action
(1) Message level alarms
Code
080
Error name
Movement command
when servo OFF
Cause/Action
Cause:
Action:
082
083
084
Position movement
command before home
return completion
Cause:
Absolute position
movement command
before home return
completion
Cause:
Movement command
during home return
Cause:
Action:
Action:
Action:
A movement command was input as a numerical command when the servo
was OFF.
Input a SON signal to turn the servo ON (the SV signal or PEND signal
should turn ON).
If this error occurred when parameter No. 21 was set to “Disable,” contact IAI.
A position movement command was input when home return was not yet
completed.
Input a HOME signal to perform home return, confirm that the home return
has completed (the HEND signal should be ON), and then input the position
movement command.
An absolute position movement command was input when home return was
not yet completed. (This action will not generate an error in the position
number specification mode.)
Input a HOME signal to perform home return, confirm that the home return
has completed (the HEND signal should be ON), and then input the position
movement command.
A movement command was input as a numerical command when home
return was in progress.
Input the movement command after confirming that the home return has
completed (the HEND signal should be ON).
Position number error
during movement
Cause:
Action:
No value is entered under the specified position number.
Enter valid data in the position table.
090
Software reset
command when servo
ON
Cause:
Action:
A software reset command was input when the servo was ON.
Perform the software reset when the servo is OFF (the SV signal is OFF).
091
Position number error
during teaching
Cause:
The specified position number is not inside the specifiable range when writing
the current position in the teaching mode.
Specify a position number inside the specifiable range.
Action:
092
PWRT signal detected
during movement
Cause:
Action:
093
0A2
PWRT signal detected
before completion of
home return
Cause:
Position data error
Cause:
Action:
Action:
The current-position write signal (PWRT) was input in the teaching mode
while the actuator was jogging.
Input the PWRT signal after confirming that the jog button is not pressed and
the actuator is stopped (MOVE output signal is OFF).
The current-position write signal (PWRT) was input in the teaching mode
when home return was not yet completed.
Input the HOME signal first to perform home return, and then input the PWRT
signal after confirming that home return has completed (HEND output signal
is ON).
[1] A move command was input when no target position was set in the
“Position” field.
[2] The target position in the “Position” field exceeds a soft limit setting.
[3] An incremental target position was specified in the “Position” field in the 3point type.
[1] Set a target position first.
[2] Change the target position to a value inside the soft limit setting.
[3] Specify an absolute target position.
155
10. Troubleshooting
085
Code
Error name
Cause/Action
0A3 Position command
Cause: The speed or acceleration/deceleration effective when the numerical
information data error
command was issued exceeded the maximum settable value.
Action: Change the speed or acceleration/deceleration to an appropriate
value.
0A7 Deceleration
If a position command is issued while the actuator is moving where the target
command error
position corresponding to the position number is located near a soft limit and
the deceleration is also set low, the actuator may move past the soft limit.
Deceleration starting position not
resulting in soft limit overshoot
If a command is issued here,
soft limit overshoot will occur.
Soft limit
Cause: When the speed was changed during movement, the next move
command was not issued quick enough.
Action: Quicken the speed change timing so that the actuator will not
overshoot the soft limit.
10. Troubleshooting
0BA Home sensor not
detected
0BE Home return timeout
0C0 Excessive actual
speed
156
This error indicates that the actuator equipped with the home check sensor
has not yet successfully completed the home return operation.
Cause: [1] The work part contacted any surrounding equipment or structure
during home return.
[2] The slide resistance of the actuator is high in some location.
[3] The home check sensor is not properly installed, faulty or open.
Action: If the work part is not contacting any surrounding equipment or
structure, [2] or [3] is suspected. Please contact IAI.
Cause: Home return does not complete after elapse of the time set by the
applicable manufacturer’s parameter following the start of home
return operation. (This error does not occur in normal operations.)
Action: The controller and actuator combination is wrong, among others.
Please contact IAI.
Cause: The motor speed exceeded the maximum level set by the applicable
manufacturer’s parameter. Although this error does not occur in
normal operations, it may occur if the load decreased before a servo
error was detected and the actuator moved quickly as a result, which
can be caused by various reasons including the following:
[1] The slide resistance of the actuator is high in some location.
[2] The load increased due to momentary application of external
force.
Action: Check the assembly condition of mechanical parts for any
abnormality.
If the actuator itself is suspected as the cause, please contact IAI.
Code
Error name
0C1 Servo error
0C9 Motor power-supply
overvoltage
0CC Control power-supply
overvoltage
0CE Control power-supply
voltage low
0D8 Deviation overflow
157
10. Troubleshooting
0CA Overheating
Cause/Action
This error indicates that the motor could not be operated for 2 seconds or more
after the move command was accepted and before the target position was
reached.
Cause: [1] The motor extension cable connector is loose or 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 slide resistance of the actuator itself is high.
[5] The positioning band setting is smaller than the encoder resolution.
Action: [1] Check the wiring condition of the motor extension cable.
[2] Check the wiring condition of the brake cable. Also, turn on/off the
brake release switch and check if the brake makes “click” sounds.
[3] Check the assembly condition of mechanical parts for any
abnormality.
[4] If the payload is normal, turn off the power and move the actuator
by hand to check the slide resistance.
If the actuator itself is suspected as the cause, please contact IAI.
[5] Set the positioning band value greater than that of the encoder
resolution.
This error indicates that the motor power-supply voltage is excessively high (24
V + 20%: 28.8 V or above).
Cause: [1] The 24-V input power-supply voltage is high.
[2] A faulty part inside the controller.
Action: Check the input power-supply voltage.
If the voltage is normal, please contact IAI.
This error indicates that the temperature around the power transistor in the
controller is excessively high (95 C or above).
Cause: [1] The surrounding air temperature is high.
[2] A faulty part inside the controller.
Action: [1] Lower the surrounding air temperature.
If [1] does not apply, please contact IAI.
This error indicates that the 24-V input power-supply voltage is excessively high
(24 V + 20%: 28.8 V or above).
Cause: [1] The 24-V input power-supply voltage is high.
[2] A faulty part inside the controller.
Action: Check the input power-supply voltage.
If the voltage is normal, please contact IAI.
This error indicates that the 24-V input power-supply voltage is low (24 V
- 20%: 19.2 V or below).
Cause: [1] The 24-V input power-supply voltage is low.
[2] A faulty part inside the controller.
Action: Check the input power-supply voltage.
If the voltage is normal, please contact IAI.
The position deviation counter has overflowed.
Cause: [1] The speed dropped during movement due to the effect of an
external force, etc.
[2] The pole sense detection operation after power on is unstable.
Action: [1] Check the load conditions—such as whether the work part is
contacting a surrounding object or the brake is disengaged—and
then correct the abnormality, if any
[2] An overload condition is suspected, so review the load weight.
Code
Error name
0D9 Software stroke limit
overtravel error
0DC Out of push & hold
operation range error
10. Troubleshooting
0ED Absolute encoder
error (1)
0EE Absolute encoder
error (2)
158
Cause/Action
Cause: [1] The actuator installed vertically overshot and exceeded a software
stroke limit due to a large load or high deceleration setting when
the target position was set to a point near the software stroke limit.
[2] The actuator was moved to outside the software stroke limits with
the servo turned off, and then the servo was turned on.
Action: [1] Set the deceleration curve properly so that the actuator will not
overshoot when stopping.
[2] Return the actuator to inside the software stroke limits, and then
turn on the servo.
This error occurs when the actuator was pushed back to the target position due
to an excessive push force after completion of push & hold operation.
Review the entire system.
Cause:
[1] When the power was reconnected after completion of an absolute reset, the
current position changed due to an external factor or for other reason while
the absolute unit was communicating with the controller.
[2] When an absolute reset was performed, the current position changed due to
an external factor or for other reason while the simple absolute unit was
communicating with the controller.
Action:
[1] When the detail code is H’0001
Turn off the power, make sure the actuator is not receiving vibration, etc.,
and then turn the power back on.
[2] When the detail code is H’0002
Make sure the actuator is not receiving vibration, etc., and then perform a
home return operation again.
Cause:
[1] The power was turned on for the first time after connecting the battery to the
simple absolute unit.
[2] When the detail code is H’0001
The battery voltage dropped to a level at which the encoder counter in the
simple absolute unit could no longer retain the count.
[3] When the detail code is H’0002
The encoder connector was unplugged during a power outage, or the
encoder cable was disconnected.
[4] When the detail code is H’0003
A parameter was changed.
Action:
If [1], [2] or [4] is suspected as the cause, perform an absolute reset by referring
to the operation manual for the simple absolute unit (5.2, “Absolute Reset
Method”).
[2] Supply power for at least 48 hours to charge the battery fully, and then
perform an absolute reset.
Code Error name
0EF Absolute encoder
error (3)
0F5
159
10. Troubleshooting
0F6
Cause/Action
Cause:
The current value changed at a speed equal to or greater than the specified
rotational speed due to an external factor or for other reason while the power
was cut off.
Action:
Change the speed setting in the simple absolute unit and also implement
measures to prevent the actuator from moving at a speed equal to or above the
specified setting while the power is cut off.
If the battery backup time is more than sufficient, try setting a higher motor
speed.
See also: 5.1.1, “Piano Switch Settings” in the operation manual for the simple
absolute unit.
If this error occurred, perform an absolute reset by following the specified
procedure (5.2, “Absolute Reset Method”).
Nonvolatile memory
When data has been written to the nonvolatile memory, the written data is read
write verification error again to check (verify) if it matches the original data.
This error indicates that the two data do not match.
Cause: [1] Faulty nonvolatile memory
[2] The memory has been rewritten more than 100,000 times.
(The nominal rewrite limit of the nonvolatile memory is around
100,000 times.)
Action: If the alarm generates again after reconnecting the power, please
contact IAI.
Nonvolatile memory
This error indicates that response is not received within the specified time after
write timeout
data was written to the nonvolatile memory.
Cause: [1] Faulty nonvolatile memory
[2] The memory has been rewritten more than 100,000 times.
(The nominal rewrite limit of the nonvolatile memory is around
100,000 times.)
Action: If the alarm generates again after reconnecting the power, please
contact IAI.
(2) Cold-start level alarms
Code
0A1
0A8
10. Troubleshooting
0B8
0E5
160
Error name
Parameter data error
Unsupported
motor/encoder type
Pole sense error
Encoder reception
error
Cause:
Action:
Cause:
Action:
Cause/Action
The input range of parameter range data is not appropriate.
(Example) This error occurs when the magnitude relationship of a pair
of range parameters is inappropriate, such as when the
value of soft limit- is mistakenly set to 300 mm when the
value of soft limit+ is 200.3 mm.
Change the parameters to appropriate values.
The motor type or encoder type set in the parameter is not supported.
If the error persist after reconnecting the power, contact IAI.
This controller performs excited-phase detection when the servo is turned on for
the first time after the power on. This error indicates that the specified encoder
signal level could not be detected after excitation for the time set by parameter
No. 29 (Excited-phase signal detection time).
Cause: [1] Loose or disconnected motor-extension cable connector
[2] Brake cannot be released on a controller equipped with brake.
[3] Large motor load due to application of external force
[4] Power was input when the actuator was contacting a mechanical
end.
[5] Large slide resistance of the actuator itself
Action: [1] Check the wiring condition of the motor extension cable.
[2] Check the wiring condition of the brake cable, and also turn on/off
the brake release switch to see if the brake makes “click” sounds.
[3] Check for abnormality in the assembly condition of mechanical
parts.
[4] Move the actuator away from the mechanical end and then
reconnect the power.
[5] If the load weight is normal, cut off the power and move the actuator
by hand to check the slide resistance.
If the actuator is suspected to be the cause, please contact IAI.
Cause:
[1] The controller was powered up before the simple absolute unit when the 24V power supply was turned on.
[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 encoder cable disconnection, etc.
Action:
[1] Make sure the simple absolute unit is powered up before the controller (or
at least the two are powered up simultaneously).
[2] Change the installation location of the controller. Provide noise elimination
measures such as setting a frame ground, noise filter or clamp filter.
[3] Check the encoder extension cable connecting the controller and simple
absolute unit to see if the connectors are loose. Or, replace the cable.
Code Error name
0E8 Phase-A/B
disconnection
detection
0E9 Phase-A
disconnection
detection
0EA Phase-B
disconnection
detection
Unmatched PCB
0F8
Damaged nonvolatile
memory
0FA CPU error
0FB FPGA error
0FC Logic error
161
10. Troubleshooting
0F4
Cause/Action
Encoder signals cannot be detected correctly.
Cause:
[1] Loose or disconnected encoder-extension cable connector
[2] Piano switch 4 on the simple absolute unit is not set correctly.
[3] If a RA10C actuator is used together with an actuator or actuators of other
type, the encoder cables may not be connected in the correct combination.
Action:
[1] Check for loose or disconnected connector.
[2] Check if the settings conform to 5.1.1, “Piano Switch Settings” in the
operation manual for the simple absolute unit.
[3] Check the model number of the encoder cable.
(Encoder cable connecting the simple absolute unit and actuator)
Note) This action is applicable only to RCP2 series controllers.
Cable for RA10C type: CB-RFA-*Other actuators: CB-RCP2-*
This controller uses a different motor drive circuit depending on the motor
capacity, and thus adopts a different printed circuit board (PCB) appropriate for
each motor capacity.
For this reason, whether the motor type set by the applicable manufacturer’s
parameter matches the board is checked in the initialization process after
startup.
This error indicates that the two do not match.
Cause: The parameter was not entered correctly or the correct board was not
assembled.
Action: Should this error occur, please contact IAI.
Abnormal data was detected during the nonvolatile memory check after starting.
Cause: [1] Faulty nonvolatile memory
[2] The memory has been rewritten more than 100,000 times.
(The nominal rewrite limit of the nonvolatile memory is around
100,000 times.)
Action: If the alarm generates again after reconnecting the power, please
contact IAI.
The CPU is not operating properly.
Cause: [1] Faulty CPU
[2] Malfunction due to noise
Action: If the alarm generates again after reconnecting the power, please
contact IAI.
Malfunction occurred in the controller.
Cause: Faulty internal part of the controller (FPGA)
Malfunction due to noise
Action: If the alarm generates again after reconnecting the power, please
contact IAI.
Malfunction occurred in the controller.
Cause: Faulty internal part of the controller
Malfunction due to noise
Action: If the alarm generates again after reconnecting the power, please
contact IAI.
10.5 Messages Displayed during Operation Using the Teaching Pendant
This section explains the warning messages that may be displayed during operation using the teaching pendant.
Code
Message name
112 Invalid data
113
114
115
117
11E
10. Troubleshooting
11F
121
122
133
162
Description
An inappropriate value was entered in a parameter.
(Example) 9601 was entered as the serial communication speed by
mistake.
Enter an appropriate value again.
Value too small
The entered value is smaller than the setting range.
Value too large
The entered value is larger than the setting range.
Refer to the actuator specifications or parameter table and enter an
appropriate value again.
Home return nonThe current position was written when home return was not yet completed.
completion
Execute home return again.
No movement data
Target position is not set under the selected position number.
Enter the target position first.
Paired data mismatch
The values indicating the magnitude relationship of a pair of data are
inappropriate.
(Example) The same value was entered in both the parameters for + and
– soft limits.
Enter appropriate values again.
Absolute position too small The minimum movement toward the target position is determined by the
lead length of the drive system and resolution of the encoder.
This message indicates that the entered target value is smaller than the
minimum movement.
(Example) If the lead length is 20 mm, the encoder’s resolution is 800
pulses and accordingly the minimum movement becomes 20 y
800 = 0.025 mm/pulse.
In this case, this message will be displayed if 0.02 mm is entered as the
target position.
Push & hold search end
The final position in push & hold operation exceeds the soft limit.
over
This has no negative effect if the actuator contacts the work part. If the
actuator misses the work part, however, the soft limit will be reached and
thus this message is displayed as a warning.
Change either the target position or positioning band.
Multiple axes connected at Address was assigned when multiple axes were connected.
assignment
Assign each address only when one axis is connected.
Address change prohibited Address numbers are set using the rotary switches on the front panel.
They cannot be set using the teaching pendant.
Code
180
181
182
183
202
203
Message name
Address change OK
Controller initialization OK
Home change all clear
I/O function changed
Emergency stop
Motor voltage low
Description
These messages are displayed to confirm operation.
(They don’t indicate an operation error or other abnormality.)
10. Troubleshooting
This message indicates that an emergency stop has been actuated.
This message indicates that the motor drive power is cut off on the CG
type.
(Note) If the MPI and MPO terminals are closed, the controller may be
faulty.
20A Servo OFF during
This message indicates that the servo ON signal (SON) was turned
operation
OFF by the PLC while the actuator was moving, and that the servo
turned OFF and the movement was disabled as a result.
20C CSTR-ON during operation This message indicates that a movement command signal was turned
ON by the PLC while the actuator was moving, and that duplicate
movement commands occurred as a result.
20D STP-OFF during operation This message indicates that the pause signal (*STP) was turned OFF
by the PLC while the actuator was moving, and that the movement
was disabled as a result.
20E Soft limit over
This message indicates that a soft limit was reached.
210 HOME-ON during
This message indicates that the home return signal (HOME) was
operation
turned ON by the PLC while the actuator was moving, and that
duplicate movement commands occurred as a result.
211 JOG-ON during operation This message indicates that the jog signal (JOG) was turned ON by
the PLC while the actuator was moving, and that duplicate movement
commands occurred as a result.
220 Write prohibited during
This message indicates that an attempt was made to write position
AUTO
table data or parameter in the AUTO mode.
222 Operation prohibited
This message indicates that an attempt was made to move the
during AUTO
actuator in the AUTO mode.
301 Overrun error (M)
These messages indicate an error in the serial communication with
the controller.
302 Framing error (M)
Cause: [1] Garbage data due to the effect of noise
304 SCIR-QUE OV (M)
[2] Duplicate slave numbers when multiple controllers are
305 SCIS-QUE OV (M)
controlled by serial communication
Action: [1] Adjust the wiring in a manner eliminating the effect of
306 R-BF OV
noise and review the installation of equipment, etc.
308 Response timeout (M)
[2] Change the slave numbers to avoid duplication.
30A Packet R-QUE OV
If the message is still displayed after taking the above actions, please
contact IAI.
30B Packet S-QUE OV
307 Memory command refused This message indicates that the command was refused in the serial
communication with the controller.
309 Write address error
This message indicates that an indeterminate WRITE address error
occurred in the serial communication with the controller.
These conditions do not occur in normal operation. Should they occur,
record the entire error list before cutting off the power for use in the
cause investigation.
Also contact IAI.
163
10. Troubleshooting
Code
Message name
30C No connected axis
164
Description
This message indicates that no controller address is recognized.
Cause: [1] The controller is not operating properly.
[2] Only the supplied communication cable (SGA/SGB) is
disconnected.
[3] If a SIO converter is used, 24V is supplied to the
converter but the link cable is not connected.
[4] The ADRS switch settings are duplicated by mistake
when multiple controllers are linked.
Action: [1] Check if the RDY lamp on the controller is lit. If the lamp
is not lit, the controller is faulty.
[2] If a spare teaching pendant is available, replace the
current pendant with the spare unit, or with a PC, and see
if the message disappears.
[3] Supply power after connecting the link cable between the
converter and controller.
[4] Make sure the ADRS switch settings are not duplicated.
If the message is still displayed after taking the above actions, please
contact IAI.
10.6 Specific Problems
z I/O signals cannot be exchanged with the PLC.
Cause: [1] The 24-V I/O power supply is connected in reverse.
[2] If the problem is with an output circuit, a circuit component may have been damaged due to a
large load that caused the current flowing into the circuit to exceed the maximum current.
[3] Contact failure in the connector or relay terminal block on the PLC end.
[4] Contact failure between the female pins in the flat cable connector and the male pins on the
controller due to expanded female pins.
Action: Check the connection condition of the power supply and connector, as well as the load on the
output side.
If the cause is identified as [1] or [2], the controller must be replaced. If there is a possibility of [4],
the flat cable must be replaced. Please contact IAI.
Warning: When performing a continuity check of the flat cable, pay due attention not to expand
the female pins in the connector. It may cause contact failure and disable normal
operation of the controller.
z The SV lamp does not illuminate when the servo ON signal is input after the power was input.
(The servo does not turn ON.)
Cause: [1] Contact failure of the flat cable
[2] Faulty controller
Check the servo ON signal (SON) on the I/O monitor screen of the PC or teaching pendant.
If the signal is input, probably the controller is faulty. Please contact IAI.
165
10. Troubleshooting
z The ALM lamp illuminates when the power is input.
(An alarm is present, or an emergency stop has been actuated or the motor power 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 then remove the cause.
* If the ALM output signal is ON, the emergency stop circuit has been actuated. Check the following points,
among others:
[1] Is the emergency-stop switch on the operation panel pressed or any necessary interlock released?
[2] Is the emergency-stop switch on the teaching pendant pressed?
[3] Is parameter No. 42 (Enable function) enabled by mistake by connecting a teaching pendant not
supporting the enable switch?
[4] If multiple controllers are connected, is the crossover wiring correct?
z Home return ends in the middle in a vertical application.
Cause: [1] The load exceeds the rating.
[2] The ball screw is receiving torsional stress due to the affixing method of the actuator, tightening
of bolts only on one side, etc.
[3] The slide resistance of the actuator itself is large.
Action: [1] Increase the value set in parameter No. 13 (Current-limiting value during home return).
Increasing the parameter value will increase the home return torque. As a guide, however,
remember that the maximum limit is 100% for the RA3C/RGD3C types and 75% for all other
types.
[2] Loosen the fixing bolts and check if the slider moves smoothly.
If the slider moves smoothly, review the affixing method and bolt tightening condition.
[3] If the slide resistance of the actuator itself is large, please contact IAI.
10. Troubleshooting
z Noise occurs during downward movements in a vertical application.
Cause: The load exceeds the rating.
Action: [1] Decrease the speed.
[2] Decrease the value set in the parameter No. 7 (Servo gain number). Do not decrease the
parameter setting below “3.”
z Vibration occurs when the actuator is stopped.
Cause: The slider is receiving an external force.
Action: If the external force cannot be removed, increase the value set in parameter No. 12 (Current-limiting
value at standstill during positioning).
Increasing this value will cause the holding torque at standstill to increase, so do not increase the
parameter setting above 70%.
z The actuator overshoots when decelerated to a stop.
Cause: The load inertia is high due to an inappropriate balance of load and deceleration.
Action: Decrease the acceleration/deceleration setting.
z The home and target positions sometimes shift.
Cause: [1] The encoder waveform is disturbed by the effect of noise.
[2] In the case of a rod-type actuator, the non-rotation precision increased due to application of
rotating moment to the rod.
Action: [1] Check if the grounding is implemented correctly. Also check for any equipment being a potential
noise source.
[2] The actuator may have to be replaced in some cases. Please contact IAI.
z The speed is slow during push & hold operation.
Cause: The set current-limiting value is low with respect to the loading mass and slide resistance.
Action: Increase the current-limiting value for push & hold operation.
z The actuator moves only a half of, or twice as much as, the specified movement.
Cause: [1] The combination of controller and actuator is wrong.
The lead length of the ball screw varies depending on the actuator type, so a wrong combination
will cause the movement and speed to change.
[2] Factory setting error at IAI
Action: [1] If multiple actuators of different types must be used, confirm using the identification labels, etc.,
that the correct actuator is connected to the controller.
[2] Please contact IAI.
166
z A servo error occurred while the actuator was moving (ROBO Gripper).
Cause: The work part was not positioned properly and contacted the finger attachment in the positioning
mode.
Action: Adjust the starting position of push action and the thickness of finger attachment (including buffer
material) by considering a possible offset of work part position, so that the work part can be
clamped properly in the push & hold mode.
Immediately after recovery from the error, the feed mechanism may still be locked. Be sure to turn
the open/close screw to loosen each finger attachment before resetting the alarm.
Caution: If the servo ON signal is disabled or the alarm is reset while the servo ON signal is still
ON, the servo will remain ON.
If the open/close screw is turned in this condition, the screw will return automatically and
the lock cannot be released. Therefore, reissuing a movement command will cause the
alarm to generate again.
[2-finger type]
Open/close screw
[3-finger type]
Remove one finger attachment and take out the work part first, and then turn the open/close screw clockwise.
Remove one finger attachment.
Open/close
screw
Turn the screw
clockwise.
Opening direction
167
10. Troubleshooting
OPEN
Turn the screw counterclockwise
using a flathead screwdriver.
z Abnormal operation results when the servo is turned ON after the power ON.
Cause: Excitation phase detection was not performed correctly when the servo was turned ON, because
one of the following conditions existed when the power was input:
[1] The slider or rod was contacting the mechanical end.
[2] The work part was being pushed by a strong external force.
Action: [1] Check if the slider or rod is contacting the mechanical end.
If the slider/rod is contacting the mechanical end, move it away from the mechanical end.
If the actuator is equipped with a brake, move the slider/rod after turning ON the brake release
switch to forcibly release the brake.
At this time, exercise caution not to allow the load to drop suddenly due to its own weight. Your
hand may be caught by the dropped load or the robot hand or work part itself may be damaged.
If the actuator cannot be moved by hand, one possible solution is to check the direction of
excited-phase signal detection and change the direction if necessary. If you wish to use this
method, consult IAI beforehand.
For details, refer to the applicable parameter in 8.2.2, “Parameters Relating to Actuator
Operating Characteristics.”
[2] Check if the load is contacting any surrounding part.
If the load is contacting any surrounding part, provide a clearance of 1 mm or more from the
applicable part.
If the checks in [1] and [2] did not find any problem, please contact IAI.
10. Troubleshooting
z The SV lamp blinks.
The automatic servo-off mode is active. (This is not an error or fault.)
168
* Appendix
List of Specifications of Connectable Actuators
The specifications included in this specification list are limited to those needed to set operating
conditions and parameters. For other detailed specifications, refer to the catalog or operation manual for
your actuator.
Caution
x
x
x
x
The push force is based on the rated push speed (factory setting) indicated in the list, and provides
only a guideline.
Make sure the actual push force is equal to or greater than the minimum push force. If not, the push
force will not stabilize.
Do not change the setting of push speed (parameter No. 34). If you must change the push speed,
consult IAI.
If, among the operating conditions, the positioning speed is set to a value equal to or smaller than
the push speed, the push speed will become the set speed and the specified push force will not
generate.
Actuator
series
Type
Feed
screw
No. of
encoder
pulses
Lead
1
Ball screw
800
RA3C
Ball screw
800
[mm]
5
2.5
5
RGD3C
Ball screw
800
2.5
RCP2
(rod
type)
RA4C
Ball screw
Horizontal/
vertical
Horizontal/
vertical
Horizontal/
vertical
Horizontal/
vertical
Horizontal
Vertical
[mm/s]
[mm/s]
[G]
[N]
[N]
[mm/s]
1.25
25
0.05
50
100
3
6.25
187
21
73.5
50
156.8
21
73.5
50
156.8
30
150
75
284
0.2
3.12
114
6.25
187
3.12
Horizontal/
vertical
12.5
5
Horizontal/
vertical
6.25
800
Horizontal
3.12
Vertical
RGS4C
Ball screw
Horizontal/
vertical
12.5
5
Horizontal/
vertical
6.25
2.5
Horizontal
Vertical
114
0.2
93
458 (at to 250st)
350 (at 300st)
250 (at 50 to 200st)
237 (at 250st)
175 (at 300st)
125 (at 50 to 200st)
118 (at 250st)
87 (at 300st)
20
20
0.2
20
150
358
30
150
75
284
114
10
800
Maximum Rated push
push force
speed
Maximum speed
10
2.5
Maximum
Minimum
acceleration/
push force
deceleration
Minimum
speed
* Appendix
RA2C
Mounting
direction
3.12
458 (at to 250st)
350 (at 300st)
250 (at 50 to 200st)
237 (at 250st)
175 (at 300st)
125 (at 50 to 200st)
118 (at 250st)
87 (at 300st)
0.2
20
150
358
114
169
Actuator
series
Type
RGD4C
Feed
screw
Ball screw
No. of
encoder
pulses
Lead
10
Horizontal/
vertical
12.5
5
Horizontal/
vertical
6.25
800
16
Ball screw
800
8
4
16
RGS6C
Ball screw
800
RCP2
(rod
type)
8
4
16
RGD6C
Ball screw
800
8
4
5
* Appendix
SRA4R
Ball screw
800
2.5
5
SRGS4R Ball screw
800
2.5
5
SRGD4R Ball screw
800
2.5
170
Minimum
speed
[mm/s]
[mm]
2.5
RA6C
Mounting
direction
Horizontal
3.12
Maximum speed
[mm/s]
458 (at to 250st)
350 (at 300st)
250 (at 50 to 200st)
237 (at 250st)
175 (at 300st)
125 (at 50 to 200st)
118 (at 250st)
87 (at 300st)
Vertical
114
Horizontal
450
Vertical
Horizontal/
vertical
Horizontal/
vertical
Horizontal
Vertical
Horizontal/
vertical
Horizontal/
vertical
Horizontal
Vertical
Horizontal/
vertical
Horizontal/
vertical
Horizontal/
vertical
Horizontal
Vertical
Horizontal/
vertical
Horizontal
Vertical
Horizontal/
vertical
Horizontal
Vertical
20
10
5
20
210
5
130
6.25
250
6.25
3.12
6.25
3.12
124
125
250
124
125
250
124
125
150
75
284
130
470
300
800
75
240
130
470
300
800
75
240
130
470
300
800
0.3
26
90
0.2
50
170
0.3
26
90
0.2
50
170
0.3
26
90
0.2
50
170
0.2
0.2
0.2
[mm/s]
20
240
400
210
30
75
450
10
[N]
358
400
130
[N]
150
130
5
Maximum Rated push
push force
speed
0.2
450
210
3.12
[G]
400
10
20
Maximum
Minimum
acceleration/
push force
deceleration
20
20
20
20
20
20
Actuator
series
Type
Feed
screw
No. of
encoder
pulses
Lead
Mounting
direction
Minimum
speed
[mm/s]
[mm]
Horizontal
20
25
Vertical
SA5C
Ball screw
800
Horizontal
12
15
Vertical
Horizontal
RCP2
(slider
type)
6
7.5
Vertical
3.75
Vertical
Horizontal
12
15
Vertical
SA5R
Ball screw
Horizontal
800
6
7.5
Vertical
Horizontal
3
3.75
Vertical
[mm/s]
380 (at 50st)
540 (at 100st)
660 (at 150st)
770 (at 200st)
860 (at 250st)
940 (at 300st)
1000 (at 350 to 550st)
980 (at 600st)
850 (at 650st)
740 (at 700st)
650 (at 750st)
580 (at 800st)
380 (at 50st)
540 (at 100st)
660 (at 150st)
770 (at 200st)
800 (at 250 to 600st)
740 (at 700st)
650 (at 750st)
580 (at 800st)
300 (at 50st)
460 (at 100st)
600 (at 150 to 550st)
540 (at 600st)
460 (at 650st)
400 (at 700st)
360 (at 750st)
300 (at 800st)
295 (at 50st)
300 (at 100 to 550st)
270 (at 600st)
230 (at 650st)
200 (at 700st)
180 (at 750st)
150 (at 800st)
150 (at to 550st)
135 (at 600st)
115 (at 650st)
100 (at 700st)
90 (at 750st)
75 (at 800st)
300 (at 50st)
460 (at 100st)
600 (at 150 to 550st)
540 (at 600st)
460 (at 650st)
400 (at 700st)
360 (at 750st)
300 (at 800st)
295 (at 50st)
300 (at 100 to 550st)
270 (at 600st)
230 (at 650st)
200 (at 700st)
180 (at 750st)
150 (at 800st)
150 (at to 550st)
135 (at 600st)
115 (at 650st)
100 (at 700st)
90 (at 750st)
75 (at 800st)
Maximum
Minimum
acceleration/
push force
deceleration
[G]
Maximum Rated push
push force
speed
[N]
[N]
11
39
[mm/s]
0.7
0.2
20
0.7
40
115
70
210
140
330
±
±
±
±
±
±
±
±
±
0.3
0.7
0.3
* Appendix
Horizontal
3
Maximum speed
0.7
0.3
0.3
0.2
0.3
0.2
0.2
0.2
171
Actuator
series
Type
Feed
screw
No. of
encoder
pulses
Lead
Mounting
direction
Minimum
speed
[mm/s]
[mm]
Horizontal
20
25
Vertical
SA6C
Ball screw
800
Horizontal
12
15
Vertical
Horizontal
RCP2
(slider
type)
6
7.5
* Appendix
Vertical
Horizontal
3
3.75
Vertical
Horizontal
12
15
Vertical
SA6R
Ball screw
Horizontal
800
6
7.5
Vertical
Horizontal
3
3.75
Vertical
172
Maximum speed
[mm/s]
380 (at 50st)
540 (at 100st)
660 (at 150st)
770 (at 200st)
860 (at 250st)
940 (at 300st)
1000 (at 350 to 550st)
980 (at 600st)
850 (at 650st)
740 (at 700st)
650 (at 750st)
580 (at 800st)
380 (at 50st)
540 (at 100st)
660 (at 150st)
770 (at 200st)
800 (at 250 to 600st)
740 (at 700st)
650 (at 750st)
580 (at 800st)
300 (at 50st)
460 (at 100st)
600 (at 150 to 550st)
540 (at 600st)
460 (at 650st)
400 (at 700st)
360 (at 750st)
300 (at 800st)
295 (at 50st)
300 (at 100 to 550st)
270 (at 600st)
230 (at 650st)
200 (at 700st)
180 (at 750st)
150 (at 800st)
150 (at to 550st)
135 (at 600st)
115 (at 650st)
100 (at 700st)
90 (at 750st)
75 (at 800st)
300 (at 50st)
460 (at 100st)
600 (at 150 to 550st)
540 (at 600st)
460 (at 650st)
400 (at 700st)
360 (at 750st)
300 (at 800st)
295 (at 50st)
300 (at 100 to 550st)
270 (at 600st)
230 (at 650st)
200 (at 700st)
180 (at 750st)
150 (at 800st)
150 (at to 550st)
135 (at 600st)
115 (at 650st)
100 (at 700st)
90 (at 750st)
75 (at 800st)
Maximum
Minimum
acceleration/
push force
deceleration
[G]
Maximum Rated push
push force
speed
[N]
[N]
11
39
[mm/s]
0.7
0.2
20
0.7
40
115
70
210
140
330
±
±
±
±
±
±
±
±
±
0.3
0.7
0.3
0.7
0.3
0.3
0.2
0.3
0.2
0.2
0.2
Actuator
series
Type
Feed
screw
No. of
encoder
pulses
Lead
Mounting
direction
Minimum
speed
[mm/s]
[mm]
Horizontal
16
20
Vertical
SA7C
Ball screw
800
8
4
16
SA7R
Ball screw
800
8
4
12
SS7C
Ball screw
800
6
3
RCP2
(slider
type)
Horizontal
Vertical
Horizontal
Vertical
Horizontal
Vertical
Horizontal
Vertical
Horizontal
Vertical
Horizontal
Vertical
Horizontal
Vertical
Horizontal
Vertical
10
5
20
10
Ball screw
800
6
3
600 (at 50 to 500st)
470 (at 600st)
7.5
300 (at 50 to 500st)
230 (at 600st)
3.75
150 (at 50 to 500st)
115 (at 600st)
7.5
3.75
25
Vertical
Horizontal
SS8C
Ball screw
800
10
12.5
Vertical
Horizontal
5
6.25
Vertical
600 (at 50 to 500st)
470 (at 600st)
440 (at 50 to 500st)
440 (at 600st)
250 (at 50 to 500st)
230 (at 600st)
105 (at 50 to 500st)
105 (at 600st)
666 (at 50 to 800st)
625 (at to 900st)
515 (at to 1000st)
600 (at 50 to 800st)
600 (at to 900st)
515 (at to 1000st)
333 (at 50 to 800st)
310 (at to 900st)
255 (at to 1000st)
300 (at 50 to 800st)
300 (at to 900st)
255 (at to 1000st)
165 (at 50 to 800st)
155 (at to 900st)
125 (at to 1000st)
150 (at 50 to 800st)
150 (at to 900st)
125 (at to 1000st)
Maximum
Minimum
acceleration/
push force
deceleration
[G]
Maximum Rated push
push force
speed
[N]
[N]
[mm/s]
90
250
150
500
280
800
±
±
±
±
±
±
±
±
±
40
120
75
220
140
350
±
±
±
±
±
±
±
±
±
50
180
95
320
180
630
0.3
0.2
0.3
0.2
0.2
0.2
0.3
0.2
0.3
0.2
0.2
0.2
0.3
0.2
0.3
0.2
0.2
0.2
20
20
0.3
0.2
0.3
0.2
0.2
0.2
* Appendix
Horizontal
20
380 (at 50st)
470 (at 100st)
533 (at 150 to 750st)
480 (at 800st)
400
266 (at 50 to 700st)
240 (at 800st)
15
15
Horizontal
Vertical
Horizontal
Vertical
133 (at 50 to 700st)
120 (at 800st)
133 (at 50 to 700st)
120 (at 800st)
Vertical
SS7R
[mm/s]
380 (at 50st)
470 (at 100st)
533 (at 150 to 750st)
480 (at 800st)
266 (at 50 to 700st)
240 (at 800st)
5
Horizontal
12
Maximum speed
0.3
0.2
0.3
20
0.2
0.2
0.2
173
Actuator
series
Type
Feed
screw
No. of
encoder
pulses
Lead
Mounting
direction
Minimum
speed
[mm/s]
[mm]
Horizontal
20
25
Vertical
Horizontal
SS8R
Ball screw
800
10
12.5
Vertical
Horizontal
RCP2
(slider
type)
5
6.25
Vertical
Horizontal
HS8C
Ball screw
800
30
37.5
Vertical
Horizontal
HS8R
Ball screw
800
30
37.5
* Appendix
Vertical
RCP2
(belt
type)
RCP2
(gripper
type)
174
BA6/
BA6U
BA7/
BA7U
*566
*5/6
*56
*50
GRST
*5/6
*5/0
*566
*560
*5+0
*5+%
Belt
800
Belt
800
±
±
±
±
±
±
±
±
±
±
±
±
Equivalent
+RUL]RQWDO
to 54
Equivalent
+RUL]RQWDO
to 54
±
±
GHJV
±
±
±
±
±
±
±
±
2
±
2
±
Maximum speed
[mm/s]
600 (at 50 to 800st)
600 (at to 900st)
515 (at to 1000st)
333 (at 50 to 800st)
333 (at to 900st)
333 (at to 1000st)
300 (at 50 to 800st)
300 (at to 900st)
255 (at to 1000st)
250 (at 50 to 800st)
250 (at to 900st)
250 (at to 1000st)
160 (at 50 to 800st)
155 (at to 900st)
125 (at to 1000st)
140 (at 50 to 800st)
140 (at to 900st)
140 (at to 1000st)
1200 (at 50 to 800st)
1000 (at to 900st)
800 (at to 1000st)
750 (at 50 to 800st)
750 (at to 900st)
750 (at to 1000st)
1200 (at 50 to 800st)
1000 (at to 900st)
800 (at to 1000st)
750 (at 50 to 800st)
750 (at to 900st)
750 (at to 1000st)
Maximum
Minimum
acceleration/
push force
deceleration
[G]
Maximum Rated push
push force
speed
[N]
[N]
[mm/s]
±
±
±
±
±
±
±
±
±
±
±
±
±
±
±
±
±
0.3
0.2
0.3
0.2
0.2
0.2
0.3
0.2
0.3
0.2
±
±
±
±
GHJV
±
±
±
±
±
±
±
±
±
±
±
±
GHJV
GHJV
GHJV
Actuator
series
Type
Feed
screw
No. of
encoder
pulses
±
RTBS
800
±
±
RTBSL
800
±
±
RTCS
800
±
±
RTCSL
800
±
±
RTB
800
±
±
RTBL
800
±
5&3
URWDU\
W\SH
±
RTC
800
±
±
RTCL
800
±
800
±
±
RTBBL
800
±
±
RTCB
800
±
±
RTCBL
800
±
Maximum Rated push
push force
speed
Maximum speed
[mm/s]
[mm/s]
[G]
[N]
[N]
[mm/s]
±
GHJV
GHJV
±
±
±
±
±
GHJV
GHJV
±
±
±
±
±
GHJV
GHJV
±
±
±
±
±
GHJV
GHJV
±
±
±
±
±
GHJV
GHJV
±
±
±
±
±
GHJV
GHJV
±
±
±
±
±
GHJV
GHJV
±
±
±
±
±
GHJV
GHJV
±
±
±
±
±
GHJV
GHJV
±
±
±
±
±
GHJV
GHJV
±
±
±
±
±
GHJV
GHJV
±
±
±
±
±
GHJV
GHJV
±
±
±
±
±
GHJV
GHJV
±
±
±
±
±
GHJV
GHJV
±
±
±
±
±
GHJV
GHJV
±
±
±
±
±
GHJV
GHJV
±
±
±
±
±
GHJV
GHJV
±
±
±
±
±
GHJV
GHJV
±
±
±
±
±
GHJV
GHJV
±
±
±
±
±
GHJV
GHJV
±
±
±
±
±
GHJV
GHJV
±
±
±
±
±
GHJV
GHJV
±
±
±
±
±
GHJV
GHJV
±
±
±
±
±
GHJV
GHJV
±
±
±
±
[mm]
Gear ratio:
1/30
Gear ratio:
Gear ratio:
1/30
Gear ratio:
Gear ratio:
1/30
Gear ratio:
Gear ratio:
1/30
Gear ratio:
Gear ratio:
Gear ratio:
1/30
Gear ratio:
Gear ratio:
1/30
Gear ratio:
Gear ratio:
1/30
Gear ratio:
Gear ratio:
1/30
Gear ratio:
Gear ratio:
1/30
Gear ratio:
Gear ratio:
1/30
Gear ratio:
Gear ratio:
1/30
Gear ratio:
Gear ratio:
1/30
Maximum
Minimum
acceleration/
push force
deceleration
Minimum
speed
Mounting
direction
* Appendix
±
RTBB
Lead
175
Actuator
series
Type
Feed
screw
No. of
encoder
pulses
Lead
Lead
screw
800
RA2BC
Lead
screw
800
2
1
Horizontal/
vertical
6
RCP3
(rod
type)
4
RA2AR
Lead
screw
800
RA2BR
Lead
screw
800
800
SA2BC
Lead
screw
800
* Appendix
RCP3
(slider
type)
Lead
screw
SA2BR
Lead
screw
2
1
Horizontal
300
5
200
2.5
100
4
5
2
2.5
2
1
5
Horizontal
2.5
1.25
7.5
Horizontal
4
6
4
2
176
7.5
7.5
4
800
100
2.5
1.25
Horizontal
2
Ball screw
2.5
5
6
SA3R
200
2.5
800
800
5
2
5
2
Ball screw
5
4
6
SA3C
300
2.5
1.25
7.5
Horizontal/
vertical
4
800
7.5
5
Horizontal/
vertical
Horizontal
Vertical
Horizontal
Vertical
Horizontal
Vertical
Horizontal
Vertical
Horizontal
Vertical
Horizontal
Vertical
[mm/s]
2.5
2.5
6
SA2AR
5
2
4
Lead
screw
5
2.5
1.25
4
2
1
Maximum speed
180 (at 25st)
200 (at 50 to 100st)
100
50
180 (at 25st)
280 (at 50st)
300 (at 75 to 150st)
180 (at 25st)
200 (at 50 to 150st)
100
180 (at 25st)
200 (at 50 to 150st)
100
50
180 (at 25st)
280 (at 50st)
300 (at 75 to 150st)
180 (at 25st)
200 (at 50 to 150st)
100
180 (at 25st)
200 (at 50 to 100st)
100
50
180 (at 25st)
280 (at 50st)
300 (at 75 to 150st)
180 (at 25st)
200 (at 50 to 150st)
100
180 (at 25st)
200 (at 50 to 100st)
100
50
180 (at 25st)
280 (at 50st)
300 (at 75 to 150st)
180 (at 25st)
200 (at 50 to 150st)
100
7.5
Horizontal/
vertical
6
SA2AC
Minimum
speed
[mm/s]
[mm]
4
RA2AC
Mounting
direction
Maximum
Minimum
acceleration/
push force
deceleration
[G]
0.2
Maximum Rated push
push force
speed
[N]
[N]
0.9
16.1
1.9
3.8
28.3
39.5
0.6
11.9
0.9
16.1
0.2
[mm/s]
5
5
1.9
28.3
0.9
16.1
1.9
3.8
28.3
39.5
0.6
11.9
0.9
16.1
1.9
28.3
±
±
±
±
±
±
±
±
±
±
±
±
9
15
14
22
27
44
9
15
14
22
27
44
0.2
0.2
0.3
0.2
0.3
0.2
0.2
0.2
0.3
0.2
0.3
0.2
0.2
0.2
5
5
20
±
Actuator
series
Type
Feed
screw
No. of
encoder
pulses
Lead
[mm]
10
SA4C
Ball screw
800
5
2.5
10
SA4R
Ball screw
800
Mounting
direction
5
2.5
Horizontal
Vertical
Horizontal
Vertical
Horizontal
Vertical
Horizontal
Vertical
Horizontal
Vertical
Horizontal
Vertical
Minimum
speed
[mm/s]
[G]
12.5
380 (at 50st)
500 (at 100st to 500st)
6.25
250
3.12
125
12.5
380 (at 50st)
500 (at 100st to 500st)
6.25
250
3.12
125
0.7
0.3
0.7
0.3
0.7
0.3
0.3
0.2
0.3
0.2
0.2
0.2
25
RCP3
(slider
type)
Vertical
SA5C
Ball screw
800
15
Vertical
Horizontal
6
7.5
Vertical
Horizontal
3
3.75
Vertical
380 (at 50st)
540 (at 100st)
660 (at 150st)
770 (at 200st)
860 (at 250st)
940 (at 300st)
1000 (at 350 to 600st)
910 (at 650st)
790 (at 700st)
690 (at 750st)
610 (at 800st)
380 (at 50st)
540 (at 100st)
660 (at 150st)
770 (at 200st)
800 (at 250 to 650st)
790 (at 700st)
690 (at 750st)
610 (at 800st)
380 (at 50st)
540 (at 100st)
600 (at 150st to 550st)
570 (at 600st)
490 (at 650st)
425 (at 700st)
370 (at 750st)
330 (at 800st)
300 (at 50st to 550st)
285 (at 600st)
245 (at 650st)
210 (at 700st)
185 (at 750st)
165 (at 800st)
150 (at 50st to 550st)
140 (at 600st)
120 (at 650st)
105 (at 700st)
90 (at 750st)
80 (at 800st)
Maximum Rated push
push force
speed
[N]
[N]
20
34
40
68
82
136
20
34
40
68
82
136
17
28
[mm/s]
20
±
0.7
0.2
20
* Appendix
Horizontal
12
Maximum
Minimum
acceleration/
push force
deceleration
[mm/s]
Horizontal
20
Maximum speed
0.7
28
47
57
95
113
189
0.3
0.7
0.3
0.7
0.3
177
Actuator
series
Type
Feed
screw
No. of
encoder
pulses
Lead
Mounting
direction
Minimum
speed
[mm/s]
[mm]
Horizontal
12
15
Vertical
SA5R
Ball screw
Horizontal
800
6
7.5
Vertical
Horizontal
3
3.75
Vertical
Horizontal
* Appendix
RCP3
(slider
type)
20
25
Vertical
SA6C
Ball screw
800
Horizontal
12
15
Vertical
Horizontal
6
7.5
Vertical
Horizontal
3
3.75
Vertical
178
Maximum speed
[mm/s]
380 (at 50st)
540 (at 100st)
600 (at 150st to 550st)
570 (at 600st)
490 (at 650st)
425 (at 700st)
370 (at 750st)
330 (at 800st)
300 (at 50st to 550st)
285 (at 600st)
245 (at 650st)
210 (at 700st)
185 (at 750st)
165 (at 800st)
150 (at 50st to 550st)
140 (at 600st)
120 (at 650st)
105 (at 700st)
90 (at 750st)
80 (at 800st)
380 (at 50st)
540 (at 100st)
660 (at 150st)
770 (at 200st)
860 (at 250st)
940 (at 300st)
1000 (at 350 to 600st)
910 (at 650st)
790 (at 700st)
690 (at 750st)
610 (at 800st)
380 (at 50st)
540 (at 100st)
660 (at 150st)
770 (at 200st)
800 (at 250 to 650st)
790 (at 700st)
690 (at 750st)
610 (at 800st)
380 (at 50st)
540 (at 100st)
600 (at 150st to 550st)
570 (at 600st)
490 (at 650st)
425 (at 700st)
370 (at 750st)
330 (at 800st)
300 (at 50st to 550st)
285 (at 600st)
245 (at 650st)
210 (at 700st)
185 (at 750st)
165 (at 800st)
150 (at 50st to 550st)
140 (at 600st)
120 (at 650st)
105 (at 700st)
90 (at 750st)
80 (at 800st)
Maximum
Minimum
acceleration/
push force
deceleration
[G]
Maximum Rated push
push force
speed
[N]
[N]
30
47
58
95
112
189
17
28
[mm/s]
0.3
0.2
0.3
20
0.2
0.2
0.2
0.7
0.2
20
0.7
28
47
57
95
113
189
0.3
0.7
0.3
0.7
0.3
Actuator
series
Type
Feed
screw
No. of
encoder
pulses
Lead
Mounting
direction
Minimum
speed
[mm/s]
[mm]
Horizontal
12
15
Vertical
RCP3
(slider
type)
SA6R
Ball screw
Horizontal
800
6
7.5
Vertical
Horizontal
3
3.75
Vertical
6
TA3C
Ball screw
800
4
2
6
TA3R
Ball screw
800
4
2
TA4C
Ball screw
800
4
2
RCP3
(table
type)
6
TA4R
Ball screw
800
4
2
10
TA5C
Ball screw
800
5
2.5
10
TA5R
Ball screw
800
5
2.5
7.5
5
2.5
7.5
5
2.5
[mm/s]
380 (at 50st)
540 (at 100st)
600 (at 150st to 550st)
570 (at 600st)
490 (at 650st)
425 (at 700st)
370 (at 750st)
330 (at 800st)
300 (at 50st to 550st)
285 (at 600st)
245 (at 650st)
210 (at 700st)
185 (at 750st)
165 (at 800st)
150 (at 50st to 550st)
140 (at 600st)
120 (at 650st)
105 (at 700st)
90 (at 750st)
80 (at 800st)
300
200
200
133
100
67
300
200
200
133
100
67
7.5
300
5
200
2.5
100
7.5
300
5
200
2.5
100
12.5
465
400
6.25
250
3.12
125
12.5
465
400
6.25
250
3.12
125
Maximum
Minimum
acceleration/
push force
deceleration
[G]
Maximum Rated push
push force
speed
[N]
[N]
30
47
58
95
112
189
5.4
9
8.4
14
16.8
28
5.4
9
8.4
14
16.8
28
9
15
13.2
22
26.4
44
9
15
13.2
22
26.4
44
20
34
40
68
82
136
20
34
40
68
82
136
[mm/s]
0.3
0.2
0.3
20
0.2
0.2
0.2
0.3
0.2
0.3
0.2
0.2
0.2
0.3
0.2
0.3
0.2
0.2
0.2
0.3
0.2
0.3
0.2
0.2
0.2
0.3
0.2
0.3
0.2
0.2
0.2
0.3
0.2
0.3
0.2
0.2
0.2
0.3
0.2
0.3
0.2
0.2
0.2
20
20
* Appendix
6
Horizontal
Vertical
Horizontal
Vertical
Horizontal
Vertical
Horizontal
Vertical
Horizontal
Vertical
Horizontal
Vertical
Horizontal
Vertical
Horizontal
Vertical
Horizontal
Vertical
Horizontal
Vertical
Horizontal
Vertical
Horizontal
Vertical
Horizontal
Vertical
Horizontal
Vertical
Horizontal
Vertical
Horizontal
Vertical
Horizontal
Vertical
Horizontal
Vertical
Maximum speed
20
20
20
20
179
Actuator
series
Type
Feed
screw
No. of
encoder
pulses
Lead
[mm]
12
TA6C
Ball screw
800
6
3
12
TA6R
Ball screw
800
6
3
RCP3
(table
type)
12
TA7C
Ball screw
800
6
3
12
TA7R
Ball screw
800
6
* Appendix
3
180
Mounting
direction
Horizontal
Vertical
Horizontal
Vertical
Horizontal
Vertical
Horizontal
Vertical
Horizontal
Vertical
Horizontal
Vertical
Horizontal
Vertical
Horizontal
Vertical
Horizontal
Vertical
Horizontal
Vertical
Horizontal
Vertical
Horizontal
Vertical
Maximum
Minimum
acceleration/
push force
deceleration
Minimum
speed
Maximum speed
[mm/s]
[mm/s]
[G]
15
560
500
7.5
300
3.75
150
15
560
500
7.5
300
3.75
150
15
600
580
7.5
300
3.75
150
15
600
580
7.5
300
3.75
150
0.3
0.2
0.3
0.2
0.2
0.2
0.3
0.2
0.3
0.2
0.2
0.2
0.3
0.2
0.3
0.2
0.2
0.2
0.3
0.2
0.3
0.2
0.2
0.2
Maximum Rated push
push force
speed
[N]
[N]
30
47
58
95
112
189
30
47
58
95
112
189
30
47
58
95
112
189
30
47
58
95
112
189
[mm/s]
20
20
20
20
Appendix
Correlation diagram of speed and loading capacity for the 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)
Speed (mm/sec)
Load capacity (kg)
Load capacity (kg)
Speed (mm/sec)
Low-speed type
* Appendix
Medium-speed type
Speed (mm/sec)
Speed (mm/sec)
Speed (mm/sec)
(Note) In the above graphs, the number after the type code indicates the lead.
181
Appendix
Correlation diagram of speed and loading capacity for the slider type
(motor-reversing type)
Vertical installation
Load capacity (kg)
Load capacity (kg)
High-speed type
Horizontal installation
Speed (mm/sec)
* Appendix
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)
(Note) In the above graphs, the number after the type code indicates the lead.
182
Speed (mm/sec)
Appendix
Correlation diagram of speed and loading capacity for the 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)
Load capacity (kg)
Load capacity (kg)
Low-speed type
* Appendix
Speed (mm/sec)
Speed (mm/sec)
Speed (mm/sec)
Speed (mm/sec)
(Note)
In the above graphs, the number after the type code indicates the lead.
(Note 1) The figures for horizontal installation assume use of an external guide.
183
Appendix
Correlation diagram of speed and loading capacity for the 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
* Appendix
Speed (mm/sec)
Speed (mm/sec)
(Note) In the above graphs, the number after the type code indicates the lead.
184
Speed (mm/sec)
Appendix
Correlation diagram of speed and loading capacity for the 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)
Load capacity (kg)
Load capacity (kg)
Low-speed type
* Appendix
Speed (mm/sec)
Speed (mm/sec)
Speed (mm/sec)
Speed (mm/sec)
(Note) In the above graphs, the number after the type code indicates the lead.
185
Appendix
Correlation diagram of speed and loading capacity for the dustproof/splash-proof
type
Vertical installation (Note 2)
Load capacity (kg)
Load capacity (kg)
High-speed type
Horizontal installation (Note 1)
Speed (mm/sec)
* Appendix
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 after the type code indicates the lead.
(Note 1) The figures for horizontal installation assume use of an external guide.
(Note 2) Use of the actuator at the maximum loading capacity corresponding to the applicable speed may cause
vibration/overshooting. Select an appropriate model that provides an allowance of approx. 70%.
186
Appendix
Correlation diagram of speed and load capacity for the high-thrust 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)
Speed (mm/sec)
Load capacity (kg)
Load capacity (kg)
Low-speed type
* Appendix
Speed (mm/sec)
Speed (mm/sec)
187
Appendix
Correlation diagram of speed and loading capacity for the RCP3 slider type
Horizontal installation
Vertical installation
Lead 4
Lead 6
Load capacity (kg)
Load capacity (kg)
Lead 2
Lead 2
Lead 4
Speed (mm/sec)
Lead 6
Speed (mm/sec)
* Appendix
Lead 5
Lead 10
Load capacity (kg)
Load capacity (kg)
Lead 2.5
Lead 2.5
Lead 5
Lead 10
Speed (mm/sec)
Speed (mm/sec)
Lead 3
Load capacity (kg)
Lead 12
Load capacity (kg)
Lead 3
Lead 6
Lead 6
Lead 12
Speed (mm/sec)
Speed (mm/sec)
Lead 3
Lead 6
Lead 12
Speed (mm/sec)
188
Load capacity (kg)
Load capacity (kg)
Lead 3
Lead 6
Lead 12
Speed (mm/sec)
Appendix
Correlation diagram of speed and loading capacity for the RCP3 table type
Horizontal installation
Vertical installation
Lead 2.5
Lead 5
Lead 10
Load capacity (kg)
Load capacity (kg)
Lead 2.5
Lead 5
Lead 10
Speed (mm/sec)
Speed (mm/sec)
Lead 3
Lead 12
Load capacity (kg)
Load capacity (kg)
Lead 6
Lead 6
Lead 12
* Appendix
Speed (mm/sec)
Lead 3
Speed (mm/sec)
Lead 6
Speed (mm/sec)
Lead 12
Load capacity (kg)
Load capacity (kg)
Lead 3
Lead 3
Lead 6
Lead 12
Speed (mm/sec)
189
Appendix
Push Force and Current-limiting Value
Caution
x The relationship of push force and current-limiting value is based on the rated push speed (factory
setting) and provides only a guideline.
x Make sure the actual push force is equal to or greater than the minimum push force. If not, the push
force will not stabilize.
x Do not change the setting of push speed (parameter No. 34). If you must change the push speed,
consult IAI.
x If, among the operating conditions, the positioning speed is set to a value equal to or smaller than the
push speed, the push speed will become the set speed and the specified push force will not generate.
RCP2 Series
Rod Type
Push force (N)
RA2C Type
Push force (N)
Push force (N)
* Appendix
High-speed type
Current-limiting value (ratio, %)
Current-limiting value (ratio, %)
190
Current-limiting value (ratio, %)
Current-limiting value (ratio, %)
Push force (N)
Push force (N)
Push force (N)
Low-speed type
Current-limiting value (ratio, %)
Current-limiting value (ratio, %)
Push force (N)
Push force (N)
Push force (N)
Medium-speed type
Current-limiting value (ratio, %)
Current-limiting value (ratio, %)
Current-limiting value (ratio, %)
Appendix
Push force (N)
RA10C type
Current-limiting value (ratio, %)
Lead (type)
Number of pushmotion operations
*
2.5
1.4 million times
5
25 million times
* Appendix
Note
Use the table below as reference on the maximum limit number of push-motion operations when an actuator of each lead type is
operated with the maximum push force and push-motion travel of 1 mm.
10
157.6 million times
The maximum limit number of push-motion operations varies depending on operating conditions such as impact and vibration.
The figures on the left assume that there is no shock or vibration.
191
Appendix
Push force (N)
RCP2 Series
Short Type
Lead 2.5
Lead 5
Current-limiting value (ratio, %)
RCP2 Series
Slider Type
Push force (N)
* Appendix
Current-limiting value (ratio, %)
Push force (N)
SS8C Type
Current-limiting value (ratio, %)
192
SA7C Type
Push force (N)
SA5C/SA6C/SS7C Type
Current-limiting value (ratio, %)
Appendix
Gripper
Gripping force (N)
Gripping force (N)
RCP2 Series
Current-limiting value (ratio, %)
Current-limiting value (ratio, %)
Current-limiting value (ratio, %)
Push force (N)
* Appendix
Gripping force (N)
Gripping force (N)
Current-limiting value (ratio, %)
Standard type
High-speed type
Current-limiting value (ratio, %)
193
Appendix
3-finger Gripper
Gripping force (N)
Gripping force (N)
RCP2 Series
Current-limiting value (ratio, %)
Gripping force (N)
* Appendix
Gripping force (N)
Current-limiting value (ratio, %)
Current-limiting value (ratio, %)
194
Current-limiting value (ratio, %)
Appendix
RCP3 Series
Slim, Compact Rod Type
RA2BC/RA2BR Lead 2
Push force (N)
Push force (N)
RA2AC/RA2AR Lead 1
Current-limiting value (ratio, %)
RA2AC/RA2AR Lead 2
RA2BC/RA2BR Lead 4
Push force (N)
Push force (N)
Current-limiting value (ratio, %)
Current-limiting value (ratio, %)
Current-limiting value (ratio, %)
RA2BC/RA2BR Lead 6
Push force (N)
Push force (N)
* Appendix
RA2AC/RA2AR Lead 4
Current-limiting value (ratio, %)
Current-limiting value (ratio, %)
195
Appendix
RCP3 Series
Slider Type
SA4C Type
Push force (N)
Push force (N)
SA3C Type
Current-limiting value (ratio, %)
Current-limiting value (ratio, %)
Push force (N)
SA5C/SA6C Type
* Appendix
Current-limiting value (ratio, %)
RCP3 Series
Slim, Compact Table Type
TA3C/TA3R Type
TA4C/TA4R Type
Lead 4
Lead 6
Lead 2
Push force (N)
Push force (N)
Lead 2
Table Type
TA6C/TA7C Type
Push force (N)
Push force (N)
TA5C Type
Current-limiting value (ratio, %)
196
Lead 6
Current-limiting value (ratio, %)
Current-limiting value (ratio, %)
RCP3 Series
Lead 4
Current-limiting value (ratio, %)
897
/ 01'2+!3'*4.'
47
74
!!"#$%"&'()$'*!)"+,'-.'
34566789
012
Appendix
Fault check and replacement of the cooling fan
A cooling fan is installed in the large-capacity type (PCON-CF).
To check if the fan is faulty, or when replacing the fan, follow the procedure below:
1)
Unplug all connectors and wires connected to the controller, and take out the controller.
Remove all cables except for the MPI/MPO jumper wire.
Remove the resin case.
x The cutout holes in the resin case are engaged with the hooks on the mounting base plate. Use a
screwdriver, etc., to release the case from each hook, and push the mounting base plate upward.
* Appendix
2)
x Pull out the resin case.
198
Appendix
3)
Check if the fan is normal.
Check method:
[1] Connect the power cable to the 24-V and 0-V
terminals on the power-supply terminal block.
[2] Turn on the power to check if the fan operates.
If the fan is normal, it should operate for approx.
2 seconds.
If the fan is faulty, it will not operate.
(Note) To extend the service life of the fan, a temperature sensor is used to detect the temperature
around the power transistor. The fan will operate when the detected temperature reaches
60qC or above, and stop when the temperature drops to 50qC or below.
Because of this specification, the fan is designed to operate for approx. 2 seconds when the
power is turned on to allow the user to check if the fan is faulty.
4)
If the fan is faulty, replace it after cutting off the power.
[1] Remove the fan.
* Appendix
Remove the flat countersunk head screws
(M3x5 x 2 pcs).
Remove the pan head screws
(M3x12 x 2 pcs).
Pull out the connector by hand.
Removed fan and mounting bracket
[2]
5)
6)
7)
Install a new fan to the mounting bracket, plug in the connector, and affix the mounting bracket
using the flat countersunk head screws.
(Reference) Tightening torque for pan head screws: 61.5 N•cm (6.27 kgf•cm)
[3] To make sure, turn on the power to confirm that the fan operates.
Turn off the power and pull out the power cable.
Install the resin case. Engage the cutout holes in the resin case with the hooks on the mounting base
plate.
Plug in the connectors and cables back to their original conditions.
199
Appendix
Example of Basic PCON Positioning Sequence
Given below is an example of basic sequence for creating a positioning sequence using the PCON.
indicates PIO signals of the controller.
(Completed-position decoding circuit)
Position complete
PEND
Timer1
Completed position codes
PM1
PM2
PM1
PM2
PM4
PM8
Timer1
PM4
PM8
Timer1
PM1
PM2
PM4
PM8
Timer1
PM1
PM2
PM4
PM8
Timer1
PM8
Timer1
PM1
PM2
PM4
Waiting for the completed
position to be read
(PLC scan time or
more, or 100 Psec
or more)
(Home return operation)
Create for the number of positions.
Home return request
Ready
(push button)
PEND
SV
F
A
Completed position 1
B
Completed position 2
C
Completed position 3
D
Completed position 4
E
Completed position 5
HOME
Home return command
HOME
* Appendix
Home return completion
HOME
HEND
PEND
F
Home return
complete pulse
H
Positioning start
pulse to position 1
(Positioning circuit for position 1)
Positioning
start request
to position 1
H
I
Positioning
start request
to position 1
I
Auxiliary positioning
start pulse to position 1
The positioning start request signal is converted to pulse in such a
way that one start signal is issued for one positioning operation.
I
Current positioning
completed position
H
E
K
J
Auxiliary positioning
start for position 1
K
Start check for
position 1
L
Completion of
positioning to position 1
J
J
PEND
L
K
K
A
Auxiliary start
signal for next
positioning
(O)
L
Check if positioning to the specified position has completed.
200
Appendix
(Positioning circuit for position 2)
Positioning
start request
to position 2 N
M
M
Positioning
start request
to position 2
N
Positioning start pulse
to position 2
Auxiliary positioning
start pulse to position 2
N
Current positioning
completed position
(A)
M
P
PEND
Q
O
Auxiliary positioning
start for position 2
P
Start check for
position 2
Q
Completion of
positioning to position 2
R
Position 1 set
S
Position 2 set
O
O
P
P
B
Auxiliary start
signal for next
positioning
* Appendix
If a measure is taken to identify the current position in
the sequence in case the sequence stops in the middle,
as implemented in this circuit, even when a problem
occurs the cause can be identified more easily.
Q
Create for the number of positions.
(Command position number output encoding circuit)
J
O
Auxiliary start
position for
positioning to
other position
S
Set signal
for other
position
R
O
S
J
Auxiliary start
position for
positioning to
other position
R
Set signal
for other
position
The command position is held until
positioning to other position is started, in
order to prevent the command position from
changing during positioning.
Create for the number of positions.
201
Appendix
R
PC1
Command position 1
Position 3
set signal
Position 5
set signal
S
PC2
Command position 2
PC4
Command position 4
PC8
Command position 8
Position 3
set signal
* Appendix
Position 6
set signal
(Start signal circuit)
J
Timer 2
O
Start
command for
positioning to
other position
Waiting for start
5 msec or
more (Must
be longer
than the
PLC’s scan
time.)
Timer 2
CSTR
202
Start signal
Appendix
Recording of Parameters
Recorded date:
Category:
a:
b:
c:
d:
Category
a
a
a
a
5
a
6
7
8
9
10
b
d
b
b
b
12
b
13
b
15
c
16
c
17
c
18
21
22
23
24
25
26
b
c
a
a
a
c
b
27
c
28
b
29
31
32
33
34
35
36
37
38
b
d
d
d
b
b
b
b
b
39
c
40
c
Name
Zone boundary 1+
Zone boundary 1–
Soft limit+
Soft limit–
Home return direction
[0: Reverse / 1: Forward]
Push & hold stop judgment period
Servo gain number
Default speed
Default acceleration/deceleration
Default positioning band (in-position)
Current-limiting value at standstill during
positioning
Current-limiting value during home
return
Pause input disable selection [0: Enable
/ 1: Disable]
SIO communication speed
Minimum delay time for slave transmitter
activation
Unit
mm
mm
mm
mm
Recorded data
msec
mm/sec
G
mm
%
%
bps
* Appendix
No.
1
2
3
4
Parameter relating to the actuator stroke range
Parameter relating to the actuator operating characteristics
Parameter relating to the external interface
Servo gain adjustment
msec
Home sensor input polarity
Servo ON input [0: Enable / 1: Disable]
-
Home return offset
Zone boundary 2+
Zone boundary 2–
PIO pattern selection
PIO jog speed
Movement command type
[0: Level / 1: Edge]
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
Output mode of position complete signal
[0: PEND / 1: INP]
Home-return input disable selection
[0: Enable / 1: Disable]
mm
mm
mm
mm/sec
-
msec
mm/sec
mm/sec
sec
sec
sec
-
203
* Appendix
Appendix
204
No.
Category
41
c
42
b
43
b
45
46
47
48
49
50
c
b
b
b
b
b
51
b
53
77
78
79
80
83
84
85
86
87
88
90
b
b
b
b
b
b
C
C
C
C
a
C
91
b
Name
Operating-mode input disable selection
[0: Enable / 1: Disable]
Enable function [0: Enable / 1: Disable]
Polarity of home check sensor input
[0: Contact a / 1: Contact b]
Silent interval multiplier
Speed override
PIO jog speed
PIO inching distance
PIO inching distance 2
Load output judgment time
Torque check range [0: Enable / 1:
Disable]
Default stop mode
Ball screw lead length
Axis operation type
Rotational axis mode selection
Shortcut selection for rotation
Absolute unit [0: Not used / 1: Used]
Fieldbus operation mode
Fieldbus node address
Fieldbus baud rate
Network type
Software limit margin
Fieldbus I/O format
Current-limiting value at standstill after
missing work part in push & hold
operation
Unit
%
mm/sec
mm
mm
msec
mm
mm
-
Recorded data
Appendix
Change History
Revision Date
Description of Revision
First edition
2006.10
Second edition
2007.03
Third edition
2007.04
Fourth edition
Fifth edition
Sixth edition
2009.12
Sixth B edition
• Note added regarding CE Marking at the beginning
2010.02
Seventh edition
• Operation Manual Catalog No. changed
2010.03
Eighth edition
• “Please Read Before Use” added after top page
• “H: High-acceleration loading specification” added to model name in P.2
2010.04
Ninth edition
• “Precautions for Safety” in P.1 to 7, before Table of Contents, deleted
and swapped to “Safety Guide” after Table of Contents
• “List of Specifications of Applicable Actuators” in Appendix in P.172
swapped with “List of Specifications of Connectable Actuators”
• “Push Force and Current-limiting Value” added to Appendix in P.189
Change History
2009.10
Tenth edition
• Skipped
2010.09
Eleventh edition
• Note added regarding CE Marking at the beginning
• Graph of push force and current-limiting value in P.69 moved to last
pages and note added asking to refer to these pages
• Cautions for push-motion operation added to P. 71
• Correction made to explanations of excited phase signal detection
time in P.89
• Correction made to explanations of excited phase signal detection
time in P.91
• Correction made to explanation for when setting 0 to Parameter No.91
in P.138
• 0C8 error added in P.159
• Correction made to referable parameter numbers in caution note in P.168
2011.01
Twelfth edition
• Correction made in “Speed loop integral gain” in P.145
2011.04
Thirteenth edition
• Swapped over the page for CE Marking
205
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Manual No.: ME0170-18B (October 2014)
Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan
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