ACON-CY Controller Solenoid Valve Type

ACON-CY Controller Solenoid Valve Type
ACON-CY Controller
Solenoid Valve Type
Operation Manual
First Edition
CAUTION
1. PC Software and Teaching Pendant Models
New functions have been added to the entire ACON 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 RCS controllers can no longer be used.
If you are using this controller, use a compatible PC software program and/or teaching pendant
selected from the following models.
Model
PC software (with RS232C
communication cable)
PC software (with USB
communication cable)
Teaching pendant
Simple teaching pendant
Data setting unit
Remarks
RCM-101-MW
RCM-101-USB
RCM-T
RCM-E
RCM-P
All are compatible with existing RCS
controllers.
2. Recommendation for Backing Up Latest Data
This controller uses nonvolatile memory to store position table data and parameters. Although data in
the memory is retained even after the power is cut off, the stored data will be lost if the nonvolatile
memory is damaged.
It is therefore recommended that you regularly back up the latest position table data and parameters in
case of accidental data loss. Regular backup will also let you restore data quickly if the controller must
be replaced for other reasons.
Use the following methods to back up data:
[1] Use the PC software to save the data to a CD or FD.
[2] Create a position table sheet or parameter sheet and keep a written record of backup.
Safety Precautions (Please read before using the product.)
Before installing, operating, maintaining or inspecting this product, please peruse this operating manual as well as
the operating manuals and other related documentations for all equipment and peripheral devices connected to
this product in order to ensure the correct use of this product and connected equipment/devices. Those
performing installation, operation, maintenance and inspection of the product must have sufficient knowledge of
the relevant equipment and their safety. The precautions provided below are designed to help you use the
product safely and avoid bodily injury and/or property damage.
In this operating manual, safety precautions are classified as “Danger,” “Warning,” “Caution” and “Note,”
according to the degree of risk.
Danger
Failure to observe the instruction will result in an imminent danger leading to
death or serious injury.
Warning
Failure to observe the instruction may result in death or serious injury.
Caution
Failure to observe the instruction may result in injury or property damage.
Note
The user should take heed of this information to ensure the proper use of the
product, although failure to do so will not result in injury.
It should be noted that the instructions under the
Caution and
Note headings may also lead to serious
consequences, if unheeded, depending on the situation.
All instructions contained herein provide vital information for ensuring safety. Please read the contents carefully
and handle the product with due caution.
Please keep this operating manual in a convenient place for quick reference whenever needed, and also make
sure that the manual will get to the end-user.
Danger
[General]
z Do not use this product for the following applications:
1. Medical equipment used to maintain, control or otherwise affect human life or physical health
2. Mechanisms and machinery designed for the purpose of moving or transporting people
3. Important safety parts of machinery
This product has not been planned or designed for applications requiring high levels of safety. Use of this
product in such applications may jeopardize the safety of human life. The warranty covers only the product
as it is delivered.
[Installation]
z Do not use this product in a place exposed to ignitable, inflammable or explosive substances. The product
may ignite, burn or explode.
z Avoid using the product in a place where it may come in contact with drops of water or oil.
z Never cut and/or reconnect the cables supplied with the product for the purpose of extending or shortening the
cable length. Doing so may result in fire.
[Operation]
z Do not pour water onto the product. Spraying water over the product, washing it with water or using it in water
may cause the product to malfunction, resulting in injury, electric shock, fire, etc.
[Maintenance, Inspection, Repair]
z Never modify the product. Unauthorized modification may cause the product to malfunction, resulting in injury,
electric shock, fire, etc.
z Do not disassemble and reassemble the product. Doing so may result in injury, electric shock, fire, etc.
Warning
[General]
z Do not use the product outside the specifications. Using the product outside the specifications may cause it to
fail, stop functioning or sustain damage. It may also significantly reduce the service life of the product. In
particular, observe the maximum loading capacity and speed.
[Installation]
z If the machine will stop in the case of system problem such as emergency stop or power failure, design a
safety circuit or other device that will prevent equipment damage or injury.
z Be sure to provide Class D grounding for the controller and actuator (formerly Class 3 grounding: Grounding
resistance at 100 Ω or less). Leakage current may cause electric shock or malfunction.
z Before supplying power to and operating the product, always check the operation area of the equipment to
ensure safety. Supplying power to the product carelessly may cause electric shock or injury due to contact
with the moving parts.
z Wire the product correctly by referring to the operation manual. Securely connect the cables and connectors
so that they will not be disconnected or come loose. Failure to do so may cause the product to malfunction or
cause fire.
[Operation]
z Do not touch the terminal block or various switches while the power is supplied to the product. Failure to
observe this instruction may result in electric shock or malfunction.
z Before operating the moving parts of the product by hand (for the purpose of manual positioning, etc.), confirm
that the servo is turned off (using the teaching pendant). Failure to observe this instruction may result in injury.
z Do not scratch the cables. Scratching, forcibly bending, pulling, winding, crushing with heavy object or
pinching a cable may cause it to leak current or lose continuity, resulting in fire, electric shock, malfunction,
etc.
z Turn off the power to the product in the event of power failure. Failure to do so may cause the product to
suddenly start moving when the power is restored, thus resulting in injury or product damage.
z If the product is generating heat, smoke or a strange smell, turn off the power immediately. Continuing to use
the product may result in product damage or fire.
z If any of the internal protective devices (alarms) of the product has actuated, turn off the power immediately.
Continuing to use the product may result in product damage or injury due to malfunction. Once the power
supply is cut off, investigate and remove the cause and then turn on the power again.
z If the LEDs on the product do not illuminate after turning on the power, turn off the power immediately. The
protective device (fuse, etc.) on the live side may remain active. Request repair to the IAI sales office from
which you purchased the product.
[Maintenance, Inspection, Repair]
z Before conducting maintenance/inspection, parts replacement or other operations on the product, completely
shut down the power supply. At this time, take the following measures:
1. Display a sign that reads, “WORK IN PROGRESS. DO NOT TURN ON POWER” at a conspicuous place,
in order to prevent a person other than the operator from accidentally turning on the power.
2. When two or more operators are to perform maintenance/inspection together, always call out every time
the power is turned on/off or an axis is moved in order to ensure safety.
[Disposal]
z Do not throw the product into fire. The product may burst or generate toxic gases.
Caution
[Installation]
z Do not use the product under direct sunlight (UV ray), in a place exposed to dust, salt or iron powder, in a
humid place, or in an atmosphere of organic solvent, phosphate-ester machine oil, etc. The product may lose
its function over a short period of time, or exhibit a sudden drop in performance or its service life may be
significantly reduced. Use of the product under any of these conditions may also result in malfunction.
z Do not use the product in an atmosphere of corrosive gases (sulfuric acid or hydrochloric acid), etc. Rust may
form and reduce the structural strength.
z When using the product in any of the places specified below, provide a sufficient shield. Failure to do so may
result in malfunction:
1. Place where large current or high magnetic field is present
2. Place where welding or other operations are performed that cause arc discharge
3. Place subject to electrostatic noise
4. Place with potential exposure to radiation
z Do not install the product in a place subject to large vibration or impact. Doing so may result in the
malfunctioning of the product.
z Provide an emergency-stop device in a readily accessible position so the device can be actuated immediately
upon occurrence of a dangerous situation during operation. Lack of such device in an appropriate position
may result in injury.
z Provide sufficient maintenance space when installing the product. Routine inspection and maintenance cannot
be performed without sufficient space, which will eventually cause the equipment to stop or the product to
sustain damage.
z Always use IAI’s genuine cables for connection between the controller and the actuator. Also use IAI’s
genuine products for the key component units such as the actuator, controller and teaching pendant.
z Before installing or adjusting the product or performing other operations on the product, display a sign that
reads, “WORK IN PROGRESS. DO NOT TURN ON POWER.” If the power is turned on inadvertently, injury
may result due to electric shock or sudden activation of an actuator.
[Operation]
z Turn on the power to individual equipment one by one, starting from the equipment at the highest level in the
system hierarchy. Failure to do so may cause the product to start suddenly, resulting in injury or product
damage.
z Do not insert a finger or object in the openings in the product. It may cause fire, electric shock or injury.
[Maintenance, Inspection, Repair]
z Do not touch the terminals when performing an insulation resistance test. Electric shock may result. (Do not
perform any withstand voltage test, since the product uses DC voltage.)
Note
[Installation]
z Do not place objects around the controller that will block airflows. Insufficient ventilation may damage the
controller.
z Do not configure a control circuit that will cause the load to drop in case of power failure. Configure a control
circuit that will prevent the table or load from dropping when the power to the machine is cut off or an
emergency stop is actuated.
[Installation, Operation, Maintenance]
z When handling the product, wear protective gloves, protective goggles, safety shoes or other necessary gear
to ensure safety.
[Disposal]
z When the product becomes no longer usable or necessary, dispose of it properly as an industrial waste.
Others
„ IAI shall not be liable whatsoever for any loss or damage arising from a failure to observe the items specified in
“Safety Precautions.”
Table of Contents
1.
Overview ..........................................................................................................................................1
1.1
1.2
1.3
1.4
1.5
1.6
2.
Specifications .................................................................................................................................10
2.1
2.2
2.3
3.
Introduction .....................................................................................................................................1
Differences from Air Cylinders in Control Functions .......................................................................2
How to Read Model Name..............................................................................................................4
System Configuration......................................................................................................................5
Steps from Unpacking to Adjustment by Trial Operation................................................................6
1.5.1 Handling of Servo Input Signal ..........................................................................................8
Warranty Period and Scope of Warranty ........................................................................................9
Basic Specifications ..................................................................................................................... 10
Name and Function of Each Part of the Controller ...................................................................... 11
External Dimensions .................................................................................................................... 12
Installation and Wiring....................................................................................................................13
3.1
3.2
3.3
3.4
3.5
3.6
3.7
3.8
Installation Environment............................................................................................................... 13
Supplied Voltage.......................................................................................................................... 13
Noise Elimination Measures and Grounding ............................................................................... 13
Heat Radiation and Installation .................................................................................................... 15
External Connection Diagram ...................................................................................................... 16
Wiring the Power Supply.............................................................................................................. 17
Wiring the Brake Forced-release Switch ..................................................................................... 17
Wiring the Emergency Stop Circuit.............................................................................................. 18
3.8.1 Cutting Off the Drive Signal (Standard) .......................................................................... 18
3.8.2 Cutting Off the Motor Drive Power .................................................................................. 20
3.9 Connecting the Actuator .............................................................................................................. 21
3.9.1 Motor Relay Cable .......................................................................................................... 21
3.9.2 Encoder Relay Cable ...................................................................................................... 22
3.10 Connecting the I/O Flat Cable...................................................................................................... 23
3.11 Connecting the Communication Cable ........................................................................................ 24
4.
Position Table Settings ..................................................................................................................25
5.
Operation Using I/O Signals ..........................................................................................................32
5.1
5.2
Interface Circuit ............................................................................................................................ 32
5.1.1 External Input Specifications........................................................................................... 32
5.1.2 External Output Specifications........................................................................................ 33
5.1.3 Recognition of Input Signals ........................................................................................... 34
Proximity Switch Type.................................................................................................................. 35
5.2.1 Explanation of I/O Signals............................................................................................... 35
5.2.2 Timings after Power On .................................................................................................. 37
• Steps from Initial Startup to Actuator Adjustment......................................................... 37
• Normal Operating Procedure........................................................................................ 38
5.2.3
5.3
5.4
6.
Position Table and Parameter Settings Required for Operation..................................... 40
„ Test Operation .............................................................................................................. 40
• Safety speed during manual feed................................................................................. 40
• Speed override for move commands from the PLC ..................................................... 40
„ Full-scale Operation ..................................................................................................... 40
• Power-saving when the standby time at the target position is long ............................. 40
5.2.4 Homing ............................................................................................................................ 42
5.2.5 Positioning Operation...................................................................................................... 43
• Meaning of Position Detection Output Signals (LS0, LS1, LS2) .................................. 44
• Notes on Setting the Positioning Band......................................................................... 44
• Speed Change during Movement................................................................................. 45
• Pausing during Movement............................................................................................ 46
• Forced Return in Case of Emergency .......................................................................... 46
Standard Type ............................................................................................................................. 47
5.3.1 Explanation of I/O Signals............................................................................................... 47
5.3.2 Timings after Power On .................................................................................................. 49
• Steps from Initial Startup to Actuator Adjustment......................................................... 49
• Normal Operating Procedure........................................................................................ 50
5.3.3 Position Table and Parameter Settings Required for Operation..................................... 52
„ Test Operation .............................................................................................................. 52
• Safety speed during manual feed................................................................................. 52
• Speed override for move commands from the PLC ..................................................... 52
„ Full-scale Operation ..................................................................................................... 53
• Power-saving when the standby time at the target position is long ............................. 53
• Complete signal output mode....................................................................................... 53
5.3.4 Homing ............................................................................................................................ 54
5.3.5 Positioning Operation...................................................................................................... 55
• Meaning of Positioning Complete Output Signals (PE0, PE1, PE2) ............................ 56
• Notes on Setting the Positioning Band......................................................................... 56
• Speed Change during Movement................................................................................. 57
• Pausing during Movement............................................................................................ 58
• Forced Return in Case of Emergency .......................................................................... 58
• Constant Pitch Feed ..................................................................................................... 59
5.3.6 Zone Output Signal ......................................................................................................... 61
5.3.7 Push-motion Operation ................................................................................................... 62
5.3.8 Examples of Tact Time Reduction Combining Zone Outputs and 3 Stop Points ........... 64
Power-saving Mode at Standby Positions ................................................................................... 66
Parameter Settings ........................................................................................................................68
6.1
6.2
Parameter List.............................................................................................................................. 68
Detail Explanation of Parameters ................................................................................................ 70
6.2.1 Parameters Relating to Actuator Stroke Range.............................................................. 70
• Soft Limits ..................................................................................................................... 70
• Home Direction ............................................................................................................. 70
• Home Offset.................................................................................................................. 71
• Zone Limits ................................................................................................................... 71
6.2.2
Parameters Relating to Actuator Operating Characteristics ........................................... 72
• Default Speed ............................................................................................................... 72
• Default Acceleration/Deceleration ................................................................................ 72
• Default Positioning Band (In-position) .......................................................................... 72
• Default acceleration/deceleration mode ....................................................................... 72
• Current-limiting Value during Homing .......................................................................... 72
• Speed Override............................................................................................................. 73
• Default Direction of Excited Phase Signal Detection.................................................... 73
• Excited Phase Signal Detection Time .......................................................................... 73
• Pole sensing type ......................................................................................................... 73
• Safety Speed ................................................................................................................ 73
• Automatic Servo-off Delay Time................................................................................... 74
• Default Standstill Mode................................................................................................. 74
• Push Speed .................................................................................................................. 75
• Push-motion Completion Judgment Time .................................................................... 75
• Enable Function............................................................................................................ 76
• Home Check Sensor Input Polarity .............................................................................. 76
• Home sensor input polarity........................................................................................... 77
• Primary filter time constant for position command ....................................................... 77
• S-motion ratio setting.................................................................................................... 77
6.2.3 Parameters Relating to External Interface ...................................................................... 78
• PIO Pattern Selection ................................................................................................... 78
• Positioning Complete Signal Output Mode................................................................... 78
• Servo-on Input Disable Selection ................................................................................. 79
• SIO Communication Speed .......................................................................................... 79
• Minimum Delay Time for Slave Transmitter Activation................................................. 79
• Silent Interval Multiplication Factor............................................................................... 79
6.2.4 Servo Gain Adjustment ................................................................................................... 80
• Servo Gain Number...................................................................................................... 80
• Speed Loop Proportional Gain ..................................................................................... 80
• Speed Loop Integral Gain............................................................................................. 81
• Torque Filter Time Constant......................................................................................... 81
• Current control band number........................................................................................ 81
• Feed-forward gain ........................................................................................................ 82
7.
Troubleshooting .............................................................................................................................83
7.1
7.2
7.3
7.4
What to Do When A Problem Occurs .......................................................................................... 83
Alarm Level Classification............................................................................................................ 84
Alarms, Causes and Actions........................................................................................................ 85
(1) Operation Cancellation Alarms .................................................................................. 85
(2) Cold Start Alarms ....................................................................................................... 87
Messages Displayed during Teaching Pendant Operation ......................................................... 89
7.5
Common Problems and Recommended Actions......................................................................... 91
• I/O Signals Cannot Be Sent or Received to/from the PLC........................................... 91
• The ALM Lamp Illuminates after the Power Is Turned On. .......................................... 91
• After Turning On the Power, the SV Lamp Does Not Illuminate upon Servo-on Signal
Input.............................................................................................................................. 91
• With an Actuator Installed in Vertical Orientation,
Positioning Completes Prematurely. ............................................................................ 92
• The Actuator Overshoots while Decelerating to a Stop. .............................................. 92
• Stopped Position Sometime Deviates from the Home Position or Target Position...... 92
• The Actuator Moves Only a Half, or as Much as Twice, the Specified Travel. ............ 92
• The SV Lamp Blinks. .................................................................................................... 92
* Appendix.............................................................................................................................................93
Actuator Specification List...................................................................................................................... 93
Position Table Record ............................................................................................................................ 94
Parameter Record .................................................................................................................................. 95
1.
1.1
Overview
Introduction
As a dedicated controller for our RCS actuators, this controller becomes smaller and more affordable and
incorporates a new set of features to offer greater convenience and safety, while maintaining the functions of the
RCA controller.
This controller also provides a power-saving function to address the growing need for saving energy.
The key features and functions of this controller are summarized below.
z Limited I/O positioning points (3 points)
The I/O signals are designed to function in the same manner as those of air cylinders. Two operation types
are supported. The movement complete signals have different meanings in each type.
• Proximity switch type --- Each movement complete signal works as an auto switch. Even when positioning
operation is not performed, a movement complete signal is output once the
specified position is passed.
• Standard type --A movement complete signal is output only when positioning operation has
completed following a move command.
* The controller is configured to support the proximity switch type before shipment.
z Separate zone output limits for each of 3 positions (rear end, intermediate point, front end)
Before, the zone output limits were set by parameters and thus fixed to a certain width for all positions. To
increase flexibility, setting fields have been added to the position table to allow different limits to be set for
each position.
This function is useful in preventing contact with peripheral equipment or reducing the tact time.
z Independent acceleration and deceleration settings
The position table now has separate fields for acceleration and deceleration.
The purpose of this change is to prevent works made of certain materials or having certain shapes from
receiving impact or vibration when the actuator decelerates to a stop.
By reducing the deceleration setting, a more gradual deceleration curve can be achieved.
z Limitation of feed speed during adjustment by test operation
The feed speed during adjustment by test operation can be limited to ensure safety.
z Power-saving measure
An automatic servo-off function is provided by assuming situations where the motor is used in applications
requiring a long standby time.
When actually starting your system or if you have encountered any problem, also refer to the manuals for the
actuator, teaching pendant, PC software and/or any other component you are using, in addition to this manual.
This manual does not cover all possible deviations from normal operations or unexpected phenomena such
as complex signal changes resulting from critical timings.
Therefore, the reader should assume that items not described in this manual are “not permitted,” as a rule.
*
This manual has been prepared with the utmost attention to ensure accuracy and completeness. However,
there may still be inaccuracies and omissions. Should you find any inaccurate description or if you have any
comment, please contact IAI.
Keep this manual in a convenient place so that you can easily reference it whenever necessary.
1
1.2
Differences from Air Cylinders in Control Functions
For those of you who have been using air cylinders and have never used motorized cylinders before, this section
gives a brief explanation of how this controller is different from air cylinders.
Read the following information and implement controls appropriate for your system.
Item
Drive method
Target position
setting
Air cylinder
Air pressure by solenoid valve
control.
Mechanical stopper (including
shock absorber).
ACON
Ball screw drive using an AC servo motor.
Entry of a coordinate value in the “Position” field of
the position table.
A value can be entered by keying in a number from
a PC/teaching pendant, or by moving the actuator
to a desired position and then reading the achieved
position directly.
Example) Example of entry of “400 mm” stroke
Position No.
0
1
2
Target position
detection
Speed setting
Acceleration/
deceleration setting
Position
5 (mm), rear end
400 (mm), front end
200 (mm), intermediate point
Installation of a reed switch or other Judgment based on internal coordinates
external detection sensor.
determined by the position information received
from the position detector (encoder).
No external detection sensor is required.
Adjustment by a speed controller. Entry of a feed speed in the “Speed” field of the
position table (unit: mm/sec).
Note that the rated speed is set automatically as the
default feed speed.
In accordance with the load, air
Entry in the “Acceleration” and “Deceleration” fields
supply volume, and speed
of the position table (minimum setting unit: 0.01 G).
controller/solenoid valve
Reference: 1 G = Gravitational acceleration
performance.
Note that the rated acceleration and deceleration
are set automatically as the default acceleration
and deceleration.
Desired values can be set in fine steps to achieve
gradual acceleration/deceleration curves.
Acceleration
Start
position of
movement
Deceleration
End
position
The greater the set value, the steeper the curve
becomes. On the other hand, the smaller the set
value, the more gradual the curve becomes.
2
ACON
When the power is turned on, mechanical
coordinates are not stored in the controller and thus
the current position is not yet determined.
For this reason, a rear end move command must be
executed after the power has been turned on, in
order to establish coordinates.
The actuator performs homing first, and then moves
to the rear end.
[2]
Rear end
[3]
Power-on position
[1]
Home position
Item
Air cylinder
Position check upon Judgment using a reed switch or
power on
other external detection sensor.
[1] The actuator moves toward the mechanical end
on the motor side at the homing speed.
[2] The actuator contacts the mechanical end,
reverses its direction, and stops temporarily at
the home position.
[3] The actuator moves to the rear end at the
speed set in the “Speed” field of the position
table.
(Note) Make sure there is no obstacle along the
homing path.
3
1.3
How to Read Model Name
<Series>
<Type>
CY: Dedicated controller
for 3-point positioning
by I/Os
<Actuator characteristics>
[Motor wattage]
20S: 20 W (RA3 only)
20: 20 W
30: 30 W
[Encoder type]
I:
Incremental
4
<Power-supply voltage>
0: 24 VDC
<I/O flat cable length>
0: No cable
2: 2 m
3: 3 m
5: 5 m
<I/O signal type>
NPxxNPN [Sink]
PNxxPNP [Source]
1.4
System Configuration
This controller performs positioning to 3 points (rear end, intermediate point, front end) via a PLC and I/O signals.
Standard teaching
pendant
<RCM-T>
Host system <PLC>
ACON-CY controller
Flat cable
<supplied with the
controller>
Cable length: 2 m
* If a PLC will not be used,
disable the servo-on
input by the applicable
parameter.
24-VDC I/O
power supply
PC
PC software
(optional)
RS232C type <RCM-101-MW>
USB type <RCM-101-USB>
RCA actuator
Brake forced-release
switch
Input power
supply
24 VDC
Power-supply
terminal block
24V
0V
External EMG switch
Caution: If the actuator is not equipped with a brake, the BK terminal need not be connected.
5
1.5
Steps from Unpacking to Adjustment by Trial Operation
If you are using this controller for the first time, refer to the steps explained below and perform the specified tasks
carefully by making sure you check all necessary items and connect all required cables.
1.
Checking the items in the package
Should you find any of the following items missing or of a wrong model type, please contact your IAI sales agent.
z Controller
ACON-CY
z Actuator
z I/O flat cable
CB-PAC-PIO ***
z Motor cable
CB-ACS-MA ***
z Encoder cable
CB-ACS-PA ***
z Operation manual
<Options>
z Teaching pendant
RCM-T (standard)
RCM-E (simple)
RCM-P (data setting)
2.
Installation
Affix the actuator and install the robot hand → Refer to the operation manual for your actuator.
Install the controller
→ Chapter 3, “Installation and Wiring”
[1]
[2]
3.
•
•
•
•
•
•
z PC software
RS232C type <RCM-101-MW>
USB type
<RCM-101-USB>
(Each software program comes with a cable.)
Wiring/connection
Wire the 24-V power supply.
Wire the brake forced-release switch (if the actuator is equipped with a brake).
Connect the grounding wire to ground.
Wire the emergency stop circuit and motor drive power supply.
Connect the motor cable and encoder cable.
Connect the I/O flat cable.
4.
Turning on the power and checking for alarms
Confirm first that the emergency stop circuit is not actuated, and then supply the 24-V power.
If the monitor LED [SV/ALM] on the front face of the controller illuminates in orange for 2 seconds and then turns
off, the controller is normal.
If the [SV/ALM] illuminates in red, it means that an alarm is present.
In this case, connect a PC or teaching pendant and check the nature of the alarm, and remove the cause by
referring to Chapter 7, “Troubleshooting.”
5.
Checking the servo-on status
Forcibly output a servo-on signal from the PLC.
The actuator enters a servo lock mode. If the monitor LED [SV/ALM] on the front face of the controller illuminates
in green, the controller is functioning normally.
6
6.
Setting a mode
If you want to use the “standard type” PIO pattern, change the value of Parameter No. 25 to “1.”
→ Chapter 6, “Parameter Settings”
* The factory setting is to use the “proximity switch type.”
7.
Setting a safety speed
The controller is shipped with the safety speed set to 100 mm/s.
Change the safety speed, if necessary. (The safety speed must not exceed 250 mm/s.)
→ Chapter 6, “Parameter Settings”
8.
Setting a target position
Use the teaching pendant or PC to set a target position in the “Position” field of the position table (rear end, front
end, intermediate point).
* If any movement operation is started without setting a target position first, the message “No movement data”
will be displayed. Determine an appropriate target position by fine-tuning the work or robot hand.
* Once a target position is set, other items (speed, acceleration/deceleration, positioning band, etc.) will be set
to their defaults automatically.
→ Chapter 4, “Position Table Settings”
Caution: A servo-on signal must be input from the PLC to perform any movement operation using the
teaching pendant or PC.
If a servo-on signal cannot be input because the ladder sequence for the PLC is not yet
complete, temporarily change the value of Parameter No. 21 (Servo-on signal disable
selection) to “1.” Be sure to reset this parameter to “0” the next time you perform automatic
operation.
→ Refer to 1.5.1, “Handling of Servo-on Input Signal.”
9.
Confirming the safety circuit operation
Confirm that the drive-signal cutoff circuit (or motor drive-power cutoff circuit) operates normally.
→ Chapter 3, “Installation and Wiring”
10.
Adjustment by test operation
Input a move command from the PLC to perform positioning.
If necessary, perform the following fine adjustments:
• Depending on the weight, material and/or shape of the work, vibration or noise may occur. If you notice
undesirable vibration or noise, lower the speed, acceleration and/or deceleration.
• You may also want to adjust the zone output signal limits and positioning band to prevent contact with
peripheral equipment or reduce the tact time.
→ Chapter 4, “Position Table Settings”
→ Chapter 5, “Operation Using I/O Signals”
7
1.5.1
Handling of Servo Input Signal
This controller is shipped with the servo-on input signal enabled by the applicable parameter.
To perform adjustment when the control circuit is not yet complete, therefore, follow the flowchart below to take
appropriate measures.
Wire the power
supply/emergency stop
circuits.
Connect the
motor/encoder cables.
Turn on the power.
I/O wiring complete?
Change the value of Parameter No. 21
(Servo-on signal disable selection) to
“1” to disable the servo-on signal.
PLC program complete?
Forcibly turn on the servo-on signal from
the PLC, or change the value of
Parameter No. 21 (Servo-on signal
disable selection) to “1” to disable the
servo-on signal.
Turn on the servo in accordance with
the PLC or forcibly turn it on via PLC
operation.
*
8
If you have changed the parameter, be sure to reset it to the original value before commencing
automatic operation.
1.6
Warranty Period and Scope of Warranty
The controller you have purchased passed IAI’s strict shipping tests.
This product comes with IAI’s warranty, the details of which are described below.
1. Warranty period
The warranty period ends upon either of the following, whichever occurs first:
• Elapse of 18 months after the shipment from IAI
• Elapse of 12 months after the delivery to the specified location
2. Scope of warranty
IAI will repair free of charge any defect occurring within the above period despite using the product in appropriate
conditions, provided that the defect is clearly the responsibility of the manufacturer. Note, however, that the
following items are not covered by the warranty:
•
•
•
•
•
•
•
•
Natural fading of paint or other deterioration normally expected over time
Wear of consumable parts due to use
Noise and other perceptive phenomena that do not affect mechanical function
Problem resulting from an inappropriate handling or use by the customer
Problem resulting from insufficient or incorrect maintenance or inspection
Problem due to use of any part other than IAI’s genuine part
Problem resulting from alteration, etc., not authorized by IAI or its sales agent
Problem resulting from an act of God, accident, fire, etc.
The warranty only covers the product as delivered. IAI is not responsible for any losses arising from a defect in
the delivered product. The customer must hand-carry the product to IAI’s factory.
Please familiarize yourself with the warranty details specified above.
9
2.
2.1
Specifications
Basic Specifications
Specification item
Model
Number of controlled axes
Power-supply voltage
Power-supply capacity
Encoder resolution
Positioning command
Backup memory
PIO interface
LED indicator
Serial communication
Encoder interface
Forced release of electromagnetic brake
Cable length
Dielectric strength
Environment Ambient operating temperature
Ambient operating humidity
Operating environment
Ambient storage temperature
Ambient storage humidity
Vibration resistance
Protection class
Weight
External dimensions
10
Description
ACON-CY
1 axis per unit
24 VDC +10%/-10%
2.4 A max.
800 P/rev
Separate commands for positioning to rear end, front end and
intermediate point
Position number data and parameters are stored in the
nonvolatile memory.
Serial EEPROM life: Approx. 100,000 times of rewriting
24-VDC insulation
4 input points
• Front end move command
• Rear end move command
• Intermediate point move command
• Servo-on
6 output points
• Front end movement complete
• Rear end movement complete
• Intermediate point movement complete
• Ready (or zone output under the standard type)
• Homing complete
• *Alarm
SV (green) --- Whether or not the servo is on / ALM (red) --Whether or not an alarm is present.
RS485, 1 channel (conforming to the Modbus protocol)
Incremental specification conforming to EIA RS-422A/423A
24 V is applied to the BK terminal on the power-supply terminal
block.
Actuator cable: 20 m or shorter
I/O flat cable: 5 m or shorter
500 VDC 10 mΩ
0 to 40°C
85% RH or below (non-condensing)
Free from corrosive gases.
-10 to 65°C
90% RH or below (non-condensing)
10 to 57 Hz in all X/Y/Z directions / Single amplitude: 0.035 mm
(continuous), 0.075 mm (intermittent)
Natural air cooling (IP20)
128 g or below
35 (W) x 120 (H) x 68 (D) mm
2.2
Name and Function of Each Part of the Controller
Status indicator LED
SV (Green) --- Indicates whether or not the
servo is on.
If this LED is blinking, the
controller is in the automatic
servo-off mode.
ALM (Red) --- Indicates whether or not an
alarm is present.
PIO connector
The PIO pattern number is indicated here.
If the PIO pattern is different for each
system, indicate the applicable PIO
pattern here to prevent confusion.
Connects the PLC and PIO.
SIO connector
Connects the teaching
pendant/PC.
The model of the connected
actuator is indicated here.
The I/O signal type is indicated here.
NPN --- Sink type
PNP --- Source type
Encoder connector
Connects the encoder cable.
Motor connector
Connects the motor cable.
Power-supply terminal block
Connection terminal for the brake forced-release switch to be used when the actuator is
equipped with a brake. Connect the opposite side of the switch to 24 V.
Contacts for cutting off the motor drive power to achieve a safety level of safety category 1.
MPI and MPO connect to the input side and output side of the motor power supply, respectively.
MPI, MPO
(If these contacts are not used, connect them using a jumper cable. The controller is shipped with
MPI and MPO connected by a jumper cable.)
24 V
Positive side of the 24-VDC input power supply.
BK
0V
EMG -
Negative side of the 24-VDC input power supply.
Connection terminal for the emergency stop circuit (for cutting of motor drive signals).
A common ground is used, so connect the opposite side of the emergency stop switch (or
contacts) to the positive side of the 24-VDC input power supply.
„ Model indication of the connected actuator type
The type, ball screw lead and stroke of the actuator are indicated. When connecting the cables, confirm that
the actuator is of the correct specifications.
Example of indication:
The actuator type is SA4C.
The ball screw lead is 5 mm.
The stroke is 200 mm.
11
2.3
External Dimensions
An external view and dimensions of this product are shown below.
Controller model label
Example of indication:
12
3.
Installation and Wiring
Pay due attention to the environment where the controller is
installed.
3.1
Installation Environment
(1) When installing and wiring the controller, do not block the ventilation holes for cooling. (Insufficient ventilation
may not only prevent the controller from demonstrating its design performance fully, but it may also cause a
breakdown.)
(2) Prevent foreign matter from entering the controller through the ventilation holes. This controller is not
dustproof or splashproof (against water or oil), so avoid using the controller in a place subject to large
amounts of dust, oil mist or splashes of cutting fluid.
(3) Keep the controller from direct sunlight or irradiated heat from large heat sources such as heat treatment
furnaces.
(4) Use the controller in an environment of 0 to 40°C in ambient temperature and 85% or below in humidity
(non-condensing), where the ambient air is free from corrosive or flammable gases.
(5) Use the controller in an environment where it does not receive external vibration or impact.
(6) Prevent electrical noise from entering the controller or connected cables.
3.2
Supplied Voltage
The controller takes a supplied voltage of 24 VDC ± 10%.
(Maximum power-supply current: 2.4 A)
3.3
Noise Elimination Measures and Grounding
The following explains the noise elimination measures that should be taken when using this controller.
(1) Wiring and power connection
[1]
Provide dedicated class-D grounding using a grounding wire with a size of 2.0 to 5.5 mm2 or larger.
Other
equipment
Controller
Controller
Other
equipment
Connect a cable of
the largest possible
size over the shortest
possible distance
Metal
enclosure
Class-D grounding
Good
Avoid this pattern.
13
[2]
Cautions on wiring method
Use a twisted cable to connect the 24-VDC external power supply.
Separate the controller wiring from high-power lines of motive power circuits, etc. (Do not tie them together or
place in the same cable duct.)
If you want to extend the motor or encoder cable beyond the length of the supplied cable, contact IAI.
(2) Noise sources and elimination
Noise generates from many sources, but the most common sources of noise you should consider when designing
a system are solenoid valves, magnet switches and relays. Noise generation from these components can be
prevented by the method explained below.
AC solenoid valves, magnet switches, relays
Method --- Install a surge absorber in parallel with the coil
Point
Connect to each coil over the shortest possible wiring distance.
When a surge absorber is installed on the terminal block, etc., its
noise elimination effect will decrease if the distance from the coil
is long.
14
3.4
Heat Radiation and Installation
Design the control panel size, controller layout and cooling method so that the temperatures around the
controller will always be kept to 40°C or below.
Mount the controller vertically on the wall, as shown below. Since cooling is provided by means of natural
convection, follow this orientation and provide a minimum clearance of 50 mm above and below the controller
to allow sufficient airflows to circulate.
If you are installing multiple controllers side by side, provide a fan on top of the controllers to agitate the airflows
as an effective way to keep the ambient temperatures constant.
Provide a minimum clearance of 80 mm between the front face of the controller and the wall (cover).
Fan
At least 50 mm
At least 80 mm
At least 50 mm
Airflow
Regardless of whether you are installing one or more controllers, provide sufficient clearances around each
controller to permit easy access for installation and removal of the controller.
15
3.5
External Connection Diagram
An example of standard wiring is shown below.
(Note) The PIO signal names are those based on the proximity switch type.
The color of the encoder relay cable is different for the robot cable specification. Refer to 3.9.2,
“Encoder Relay Cable.”
ACON-CY controller
24-VDC power
supply for I/O signals
For teaching pendant/PC
connection
Brake release
switch
Terminal block
Brown 1
Red 1
Orange 1
Yellow 1
Green 1
Blue 1
Purple 1
Gray 1
White 1
Black 1
Brown 2
Red 2
Flat cable
Input power
supply 24 V
0V
24 VDC
External EMG
switch
Motor relay cable
0 V (NPN specification)
24 V (PNP specification)
Load
Load
Load
Load
Load
Load
0 V (NPN specification)
24 V (PNP specification)
Actuator
Red
White
Black
Motor
Encoder relay cable
Blue
Home check
sensor
Orange
Gray
Red
Black
Yellow
Pink
Purple
Orange/
White
Green/
white
Encoder
Blue/Red
Green
Blown
Tighten together with a mounting screw.
16
Holding brake
3.6
Wiring the Power Supply
Connect the positive side and negative side of the 24-VDC power supply to the 24-V terminal and N terminal on
the power-supply terminal block, respectively.
Push with a flat-head
screwdriver to open the cable
inlet.
Power-supply
terminal block
Cable inlet
Input power supply
24 VDC
(Max. 2 A per unit)
Use a wire satisfying the following specifications.
Item
Applicable wire
Specification
Twisted wire: AWG 22 (0.3 mm2) (copper wire)
(Note) Provide proper termination to prevent shorting due to contact with wire offcut.
If the wiring path is long, provide a relay terminal block and connect the
original wire to another wire of a different size.
Relay terminal block
Power-supply terminal block
Input power
supply
Temperature rating of
insulation sheath
Length of bare wire
3.7
60°C or above
Wiring the Brake Forced-release Switch
If the actuator is equipped with a brake, provide a forced-release switch to permit a reset means during startup
adjustment or in case of emergency.
The customer must provide the switch (24 VDC, with a minimum contact capacity of 0.2 A).
Connect one side of the switch to the positive side of the 24-VDC power supply, and connect the other side to the
BK terminal on the power-supply terminal block.
The brake will be released when the switch is closed. Brake forced-release Power-supply
switch
terminal block
Input power supply
24 VDC
(Max. 2 A per unit)
Danger: If the actuator is oriented vertically, exercise due caution when releasing the brake to prevent the
slider/rod from dropping unexpectedly to pinch your hand or damage the robot hand or work.
17
3.8
3.8.1
Wiring the Emergency Stop Circuit
Cutting Off the Drive Signal (Standard)
Connect one side of the external EMG switch to the positive side of the 24-VDC power supply, and connect the
other side to the BK terminal.
(Note) The EMG switch on the teaching pendant works only on the controller connected to the switch.
SIO connector
ACON-CY controller
Teaching pendant
EMG switch
Connection
SIO
detection
connector
signal (H)
connection
detection
circuit
EMG signal
detection (H)
24-VDC input power
supply
(Max. 2 A per unit)
Power-supply
terminal block
Drive stop
signal (L)
Time
constant
External EMG switch
Power-supply
terminal block (2nd)
Power-supply
terminal block (3rd)
18
Motor
drive
circuit
If a separate emergency stop circuit is provided to stop the entire system, or when multiple controllers are linked
together and each controller has a different power supply, connect external EMG relay contacts.
24-VDC control External EMG
power supply
reset switch
External EMG circuit
DC
0V
Relay
Power-supply
terminal block (1st)
24-VDC input power
supply
(Max. 2 A per unit)
Power-supply
terminal block (2nd)
24-VDC input power
supply
(Max. 2 A per unit)
Power-supply
terminal block (3rd)
24-VDC input power
supply
(Max. 2 A per unit)
19
3.8.2
Cutting Off the Motor Drive Power
If the motor drive power must be cut off in order to meet the required safety category of the entire system, connect
external EMG relay contacts between the MPI terminal and MPO terminal.
Also connect the 24-V controller power supply to the EMG terminal.
(Note) The EMG switch on the teaching pendant cuts off the motor driver signal. It does not cut off the motor
drive power.
24-VDC control External EMG
power supply
reset switch
External EMG circuit
DC
0V
Relay
Power-supply
terminal block (1st)
For driving the motor
These lines are
shorted internally.
24-VDC input power
supply
(Max. 2 A per unit)
Power-supply
terminal block (2nd)
For driving the motor
These lines are
shorted internally.
24-VDC input power
supply
(Max. 2 A per unit)
Power-supply
terminal block (3rd)
24-VDC input power
supply
(Max. 2 A per unit)
20
For driving the motor
These lines are
shorted internally.
3.9
Connecting the Actuator
3.9.1
Motor Relay Cable
• Connect the motor relay cable to the MOT connector.
Signal table of controller-end connector (CN2)
Pin No.
1
2
3
Signal
U
V
W
Wire color
Red
White
Black
Description
Motor drive phase U
Motor drive phase V
Motor drive phase W
Controller end
Actuator end
CN2 pin layout
CN1 pin layout
Cable color
Signal
abbreviation
Pin No.
Pin No.
Signal
abbreviation
Housing: DF1E-3S-2.5C (Hirose)
Socket contact: DF1E-2022SC (Hirose)
(or DF1B-2022SC)
Cable color
Red
White
Black
Red
White
Black
Plug housing:
Socket contact:
SLP-03V (J.S.T. Mfg.)
BSF-21T-P1.4 (J.S.T. Mfg.)
21
3.9.2
Encoder Relay Cable
• Connect the encoder relay cable to the PG connector.
Signal table of controller-end connector (CN2)
Pin No.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
Signal abbreviation
F.G
GND
5V
VPS
ENZ
ENZ
ENB
ENB
ENA
ENA
BK BK +
LS LS +
Description
Shielded wire
(Not used)
(Not used)
(Not used)
Encoder power output
Encoder control signal output
(Reserved)
Encoder differential signal phase-Z input
Encoder differential signal phase-B input
Encoder differential signal phase-A input
Brake power –
Brake power +
Home check sensor
Controller end
CN2 pin layout
Actuator end
CN1 pin layout
Standard cable
Robot cable
Pin No.
Cable color
Robot cable
Pin No.
Cable
Signal
abbreviationStandard cable
color
Robot cable
Gray
White/Blue
White/Yellow
White/Purple
Blue
Red
White/Gray
Orange
Black
White/Red
Yellow
Green
Yellow
White/Black
-
Blue
Brown
-
White/Blue
Gray
-
-
White/Yellow
Red
Blue
White/Purple
White/Red
Black
-
-
White/Black
Yellow
Drain
Drain
Orange
Orange
Pink
Pink
Green
Purple
Purple
Green
Purple
White
White
Purple
Gray
Gray
Blue/Red
Blue/Red
Red
Orange/white
Orange/White
Red
Black
Green/White
Green/White
Black
-
-
Orange
White/Gray
-
-
Brown
Blue
-
-
Green
Yellow
Drain
Drain
Housing:
Contact:
22
Standard cable
Signal
abbreviation
PHDR-18VR (J.S.T. Mfg.)
SPHD-001T-P0.5 (J.S.T. Mfg.)
Plug housing:
Socket contact:
Retainer:
XMP-18V (J.S.T. Mfg.)
BXA-001T-P0.6 (J.S.T. Mfg.)
XMS-09V (J.S.T. Mfg.)
3.10 Connecting the I/O Flat Cable
Cable type:
Red 2
Brown 1
Housing:
Contact:
No.
1
2
3
4
Signal name
Proximity switch type
Standard type
24 V
0V
Rear end move command input
Rear end move command
Front end move command input Front end move command
Intermediate point move
Intermediate point move
5
command input
command
6 Servo-on command input
Servo-on command input
Rear end positioning complete
7 Rear end detection output
output
Front end positioning complete
8 Front end detection output
output
Intermediate point detection
Intermediate point positioning
9
output
complete output
10 Ready output
Zone output
11 Homing complete output
Homing complete output
12 Alarm output
Alarm output
51353-1200 (MOLEX)
56134-9000 (MOLEX)
Color
Wiring
Brown-1
Red-1
Orange-1
Yellow-1
Green-1
Blue-1
Purple-1
Flat cable
(pressurewelded)
Gray-1
White-1
Black-1
Brown-2
Red-2
Warning: When checking the continuity of the flat cable, exercise due caution not to bend the female
pins on the connector outward. It may cause contact failure, resulting in malfunction.
23
3.11 Connecting the Communication Cable
Connect the communication cable to the SIO connector.
Pin layout of cable-end connector
RS485 conversion adapter end
Signal
Cable color abbreviation
Pin No.
Controller end
Pin No.
Signal
abbreviation
Cable color
Brown
Yellow
Yellow
Orange
Red
Orange
Brown/Green
Blue
Black
Green
Shorting wire UL1004AWG28 (Black)
Not connected to the shield.
24
Red/Blue
Black
Shield
4.
Position Table Settings
To move the actuator to a specified position, basically you must enter the target position in the “Position” field of
the position table.
A target position can be specified as an absolute coordinate indicating a distance from the home (absolute mode),
or as a relative coordinate indicating a relative travel from the current position (incremental mode).
Once a target position is entered, all other fields will be automatically populated by the defaults set by the
corresponding parameters.
The defaults vary depending on the actuator characteristics.
The position table is explained by using the PC software screen as an example.
(The display on the teaching pendant is different.)
Position
[mm]
Speed
[mm/s]
Zone +
[mm]
Acceleration Deceleration
[G]
[G]
Zone –
[mm]
Acceleration/
deceleration
mode
Push
[%]
Incremental
Threshold
[%]
Positioning band
[mm]
Command Standstill
mode
mode
1
Comment
Rear end
Front end
Intermediate point
(1) No.
• Each number indicates a position data number. The respective numbers are defined as
follows:
No. 0 --- Entry field for conditions to move to the rear end.
No. 1 --- Entry field for conditions to move to the front end.
No. 2 --- Entry field for conditions to move to the intermediate point.
(2) Position
• Enter a target position of the front end, rear end or intermediate point, in mm.
Absolute mode:
Enter a distance from the actuator home.
Incremental mode: The actuator is assumed to operate at a constant pitch. Enter a
relative travel from the current position.
For example, you can move the actuator to the front end from the
intermediate point via incremental moves at a 30-mm pitch.
(Use of the standard type is recommended because zone output
signals are available in this type.)
Position
(mm)
Absolute mode:
The rear end is positioned 5 mm away from the home.
Incremental mode: The front end is positioned 30 mm away from the current
position.
Absolute mode:
The intermediate point is positioned 200 mm away from the
home.
*
On the teaching pendant, an equal sign indicates that the applicable position is set in the
incremental mode.
25
(3) Speed
• Enter a speed at which to move the actuator, in mm/sec.
The default speed varies depending on the actuator type.
(4) Acceleration/
deceleration
• Enter an acceleration/deceleration at which to move the actuator, in G.
Basically, specify values inside the rated acceleration/deceleration range shown in the
catalog.
The input range is greater than the rated range specified in the catalog. This is to
accommodate situations where “the tact time must be reduced when the work is
substantially lighter than the rated load capacity.”
If the work generates detrimental vibration during acceleration/deceleration, decrease the
acceleration/deceleration settings.
Speed
Target position
Start position
AccelerationDeceleration
0.3 G
0.2 G
Time
Increasing the set value makes deceleration/deceleration quicker, while
decreasing it makes deceleration/deceleration more gradual.
Caution:
When setting speed and acceleration/deceleration, refer to the supplied specification list of
supported actuators and also consider the installation condition and load shape to determine
appropriate values that will not cause the actuator to receive excessive impact or vibration.
To set values higher than the recommended values, the payload should be considered and the
actuator characteristics vary depending on the model. Therefore, for the maximum settings
allowed for each actuator model, please contact IAI’s Sales Engineering Section.
(5) Push
• Select “positioning operation” or “push-motion operation.”
The factory setting is “0.”
0:
Normal positioning operation
Other than 0: The set value indicates a current-limiting value, meaning that push-motion
operation is performed.
(6) Threshold
• This field is not used with this controller.
The factory setting is “0.”
26
(7) Positioning
band
• What this field means is different in “positioning operation” and “push-motion operation.”
“Positioning operation”:
In the proximity switch type, this field defines the width within which the movement
complete signal turns ON.
In the standard type, this field defines how far before the target position the movement
complete signal turns ON.
The factory setting is “0.1” mm.
Proximity switch type
Movement complete signal
Target position
Positioning band
Standard type
Increasing the positioning band
quickens the starting of next sequence
operation, and consequently the tact
time becomes shorter. Set an optimal
value by considering the balance of the
entire system.
The movement complete
signal turns ON here.
“Push-motion operation”:
This field defines the maximum push distance to be applied
during push-motion operation from the target position.
Consider the mechanical variation of the work and set an
appropriate positioning band so that positioning will not complete
before the work is contacted.
Target position
Positioning band
The work is contacted and push-motion
operation is deemed complete, so the
movement complete signal turns ON here.
Work
Target position
Positioning band (maximum push distance)
27
(8) Zone +/–
• This field defines the range within which the zone output signal turns ON during operation
of the standard type.
To increase flexibility, a different range can be set for each target position.
[Setting example]
Position
[mm]
Zone +
[mm]
Zone –
[mm]
Comment
Rear end
Front end
Rear end
Move command to the rear end
Home
Intermediate point
Zone output signal
Front end
Move command to the front end
Move command to the intermediate
point
Zone output signal
28
Intermediate
point
Zone output signal
+ side
limit
(9) Acceleration/
deceleration
mode
• This field defines the acceleration/deceleration pattern characteristics.
The factory setting is “0.”
0: Trapezoid pattern
1: Primary delay filter
2: S-motion
Trapezoid pattern
Speed
Acceleration
Deceleration
Time
*
Set the acceleration and deceleration in the “Acceleration” and “Deceleration” fields of the
position table.
Primary delay filter
When this pattern is selected, the motor operates along a more gradual
acceleration/deceleration curve than during linear acceleration/deceleration operation
(trapezoid pattern). Use this pattern when you want to prevent the work from receiving
microvibration during acceleration or deceleration.
Speed
Time
*
The level of primary delay is set in Parameter No. 55 (Primary filter time constant for
position command). The setting unit is “0.1” msec, and the setting range is “0” to “1,000.”
If “0” is set, the primary delay filter is disabled.
Take note that this setting is not reflected in jogging or inching performed from a PC or
teaching pendant.
29
S-motion
When this pattern is selected, the motor accelerates along a curve that rises gradually to a certain
point and then climbs quickly.
Use this pattern when you want to set high acceleration/deceleration to meet the required tact time
while still allowing the motor to accelerate and decelerate gradually at the start of movement and
immediately before stopping.
Speed
Time
*
The level of S-motion is set in Parameter No. 56 (S-motion ratio setting). The setting unit is “%,”
and the setting range is “0” to “100.”
(The above graph is based on a setting of 100%.)
If “0” is set, the S-motion function is disabled.
Take note that this setting is not reflected in jogging or inching performed from a PC or teaching
pendant.
(10) Incremental
• This field defines whether to use the absolute mode or incremental mode.
The factory setting is “0.”
0: Absolute mode
1: Incremental mode
Warning: When using the proximity switch type, be sure to specify the absolute mode. If the
incremental mode is specified, a position data error will occur.
(11) Command
mode
30
• This field is not used with this controller.
The factory setting is “0.”
(12) Standstill
mode
• This field defines the power-saving mode to be applied while the actuator is standing by
after completing the positioning to the target position set in the “Position” field under the
applicable position number.
0: Power-saving mode is disabled. * The factory setting is “0” [Disable].
1: Automatic servo-off mode. The delay time is defined by Parameter No. 36.
2: Automatic servo-off mode. The delay time is defined by Parameter No. 37.
3: Automatic servo-off mode. The delay time is defined by Parameter No. 38.
Automatic servo-off mode
The servo automatically turns off after elapse of a specified time following the completion of positioning.
(Since no holding current is required, power consumption decreases.)
When the PLC issues the next move command, the servo will turn on again and the actuator will start
moving.
Move command
Automatic servo-off mode
(The green LED blinks.)
Servo status
Servo on
Actuator movement
Target position
Delay time after completion of positioning until
the servo turns off (sec)
This delay time is set by a parameter.
31
5.
Operation Using I/O Signals
This chapter explains the wiring/connection and operation timings you should know to perform positioning
operation using a PLC and I/O signals.
For PIO pattern, two types are available. The movement complete signals have different meanings in each type,
so select an appropriate type according to your specific application.
* The factory setting is to use the LS mode.
5.1
Interface Circuit
The standard interface circuit conforms to the NPN specification, but the PNP specification type is also available
as an option.
To simplify wiring, a common power line is used for both the NPN specification and PNP specification.
Accordingly you need not reverse the power connections when using the PNP specification.
5.1.1
External Input Specifications
Item
Number of input points
Input voltage
Input current
Operating voltage
Leak current
Insulation method
Specification
4 points
24 VDC ± 10%
5 mA per circuit
ON voltage: Min. 18 V (3.5 mA)
OFF voltage: Max. 6 V (1 mA)
Max. 1 mA per point
Photocoupler
Controller
Internal circuit configuration
[NPN specification]
Internal circuit
+24-V external
power supply
Each
input
Controller
[PNP specification]
Internal circuit
+24-V external
power supply
Each
input
32
5.1.2
External Output Specifications
Item
Specification
Number of input points
Rated load voltage
Maximum current
Residual voltage
Insulation method
6 points
24 VDC
20 mA per point
Max. 2 V
Photocoupler
Internal circuit configuration
[NPN specification]
Controller
Load
Internal circuit
Each output
Load
+24-V external
power supply
[PNP specification]
Controller
Internal circuit
+24-V external
power supply
Each output
Load
Load
33
5.1.3
Recognition of Input Signals
The input signals of this controller have an input time constant to prevent malfunction due to chattering, noise,
etc.
Each input signal is switched when the new signal state has continued for at least 6 msec.
In other words, when the input is switched from OFF to ON, the controller will recognize that the input signal is ON
after 6 msec. The same applies when the input is switched from ON to OFF.
Input signal
Recognition by the controller
34
Not recognized
Not recognized
5.2
Proximity Switch Type
This type assumes applications where the servo is turned on/off frequently by the PLC or the automatic servo-off function
is used. Use this type if your application meets the following conditions:
[1] The servo is turned off as a secondary safety measure when the emergency stop circuit is configured to directly
cut off the input power.
(Note) When the servo-on signal is turned OFF, the actuator will decelerate to a stop at the emergency stop
torque for a specified time, after which the servo will turn off.
[2] The servo is turned off to reduce power consumption in case the standby time is long.
[3] The actuator is equipped with a brake, and when reactive force is applied upon stopping due to clamping of the
work, etc., the servo is turned off to apply brake force to supplement the built-in brake.
Caution:
5.2.1
The controller is shipped with the proximity switch type pre-selected, so you need not change any
parameter if the proximity switch type is to be used.
Explanation of I/O Signals
Pin No. Wire color
Signal name
1
Brown 1 +24 V
2
Red 1
0V
Rear end move
3
Orange 1
command input
Front end move
4
Yellow 1
command input
Intermediate point move
5
Green 1
command input
Signal abbreviation
Function overview
P24V
I/O power supply
0V
ST0
Move command to the rear end
ST1
Move command to the front end
ST2
6
Blue 1
Servo-on command input SON
7
Purple 1
8
Gray 1
9
White 1
10
Black 1
Rear end detection
output
Front end detection
output
Intermediate point
detection output
Ready output
11
Brown 2
Homing complete output HEND
12
Red 2
Alarm output
LS0
LS1
LS2
SV
*ALM
Move command to the intermediate point
The servo remains on while this signal is ON.
The servo remains off while this signal is OFF.
This signal remains ON while the rear end is
recognized.
This signal remains ON while the front end is
recognized.
This signal remains ON while the intermediate point
is recognized.
This signal is output when the servo is on.
This signal is OFF immediately after the power is
turned on, and turns ON once homing is completed.
This signal remains ON while the actuator is normal,
and turns OFF if an alarm has occurred.
„ Move Command Input for Each Position (ST0, ST1, ST2)
Since the number of positioning points is limited to three, you can use these inputs just like when controlling an air
cylinder.
While each signal remains ON, the actuator moves to the target position.
If the signal turns OFF before the movement is completed, the actuator will decelerate to a stop.
Before executing each move command, enter a target position as an absolute coordinate in the “Position” field under
one of Nos. 0 to 2 in the position table.
Input signal
Target position
Remarks
ST0
Rear end
The target position is defined in the “Position” field under Position No. 0.
ST1
Front end
The target position is defined in the “Position” field under Position No. 1.
ST2
Intermediate point The target position is defined in the “Position” field under Position No. 2.
„ Servo-on Command Input (SON)
The servo remains on while this signal is ON.
To ensure safety, it is recommended that the PLC be configured to monitor the condition of the entire system and turn
ON this signal once all conditions required for movement are satisfied.
Caution:
This signal may have to be turned ON when adjusting the actuator by connecting a PC or teaching
pendant. If this signal cannot be output because the PLC ladder sequence circuit is not yet complete,
temporarily change the value of Parameter No. 21 (Servo-on input disable selection) to “1” to disable the
signal. Be sure to reset the parameter value to “0” before commencing automatic operation. → Refer to
Chapter 6, “Parameter Settings.”
35
„ Detection Output for Each Position (LS0, LS1, LS2)
Just like the LS signals of an air cylinder, each signal turns ON when the current actuator position is inside the
positioning band set for the applicable target position.
(Note) Even if the servo turns off or an emergency stop is actuated while the actuator is standing still at the
target position, the signal will remain ON as long as the actuator position is inside the positioning
band.
Output signal
Position detected
LS0
Rear end
LS1
Front end
LS2
Intermediate point
Remarks
The detection position is defined in the “Position” and “Positioning band”
fields under Position No. 0.
The detection position is defined in the “Position” and “Positioning band”
fields under Position No. 1.
The detection position is defined in the “Position” and “Positioning band”
fields under Position No. 2.
„ Ready Output (SV)
This signal is a monitor signal indicating that the servo is on and the motor can be driven.
While this signal is ON, the SV LED (green) on the front face of the enclosure is lit.
The SV LED (green) blinks during the automatic servo-off mode.
Use this signal as a condition for starting a move command on the PLC side.
„ Homing Complete Output (HEND)
This signal is OFF immediately after the power is turned on.
To establish the initial coordinate, only a rear end move command is accepted after power on. Once a rear
end move command has been input, the actuator performs homing and then moves to the rear end.
This signal will turn ON after the homing is completed.
Once turned ON, this signal will remain ON until the input power is cut off.
Use this signal as an interlock signal before homing.
(Reference) Acceptance of each move command before homing is explained below:
[1] A rear end move command is accepted.
[2] An intermediate point move command is not accepted.
[3] A front end move command is accepted, but once the actuator moves forward at the homing
speed and contacts the mechanical end, the actuator will stop and a front end detection
output (LS1) will turn ON.
In this case, the LS1 signal should be recognized as a tentative signal.
Movement to the front end is permitted to accommodate a situation where there is an
obstacle between the actuator and the rear end.
„ Alarm Output (*ALM)
This signal remains ON while the actuator is normal, and turns OFF if an alarm has occurred.
Cause the PLC to monitor the OFF state of this signal and provide an appropriate safety measure for the
entire system.
Check the nature of each alarm by connecting a PC/teaching pendant, and remove the cause. For details of
alarms, refer to Chapter 7, “Troubleshooting.”
36
5.2.2
Timings after Power On
z Steps from Initial Startup to Actuator Adjustment
[1] Cancel the emergency stop or connect the motor drive power.
[2] Supply the 24-VDC I/O power (PIO connector pins 1 and 2).
[3] Supply the 24-VDC controller power (24-V and 0-V terminals on the power-supply terminal block).
[4] Set the minimum required parameters.
(Example) • To temporarily disable the servo-on input because the PLC is not yet ready to accept the
input, change the value of Parameter No. 21 (Servo-on input disable selection) to “1.”
• To change the feed speed during teaching, change the value of Parameter No. 35 (Safety
speed).
[5] Input a servo-on signal from the PLC (if the servo-on input is enabled).
[6] Connect a PC or teaching pendant to adjust the actuator.
• Set optimal values in the “Position,” “Speed,” “Acceleration,” “Deceleration” and other fields
under Nos. 0 to 2 in the position table.
Emergency stop cancelled
Safety circuit status
Supply of 24-VDC I/O
power
Supply of 24-VDC
controller power
Initial parameter
settings
* Servo-on input
(SON)
SV lamp (front panel)
An orange light comes
on for 2 seconds, and
then turns off.
Green
Ready output (SV)
Max. 2 sec max
*
Use a teaching pendant or PC to set
optimal values in the respective fields
under Nos. 0 to 2 in the position table.
If you have changed the value of Parameter No. 21 (Servo-on input disable selection) to “1,” the servo-on
input signal is not required.
Caution:
In the “Emergency stop actuated → Turn on the power → Servo-on input → Cancel the
emergency stop” sequence, the servo will turn on up to 2 seconds after the emergency stop is
cancelled.
Servo-on input
Emergency stop cancelled
Servo on
Max. 2 sec max
37
z Normal Operating Procedure
The operating procedure in a normal condition is explained below.
[1] Cancel the emergency stop or connect the motor drive power.
[2] Supply the 24-VDC I/O power.
[3] Supply the 24-VDC controller power.
[4] Input a servo-on signal from the PLC
[5] First, input a rear end move command signal from the PLC (to cause the actuator to stand by at the rear
end).
[6] Start automatic operation.
Emergency stop cancelled
Safety circuit status
Supply of 24-VDC
I/O power
Supply of 24-VDC
controller power
Servo-on input
(SON)
Green
SV lamp
(front panel)
Ready output (SV)
Max. 2 sec max
Input a move command after the SV has turned
ON. (If a move command is input when the SV
is OFF, the command will be ignored.)
Rear end move
command input (ST0)
Homing complete
output (HEND)
Rear end detection
output (LS0)
38
Rear end
Home position
Mechanical end
Power-on position
Max. 6 msec
Start of continuous
operation
Warning: The magnetic-pole phase is detected when the servo is turned on for the first time after
turning on the power. The actuator may move by up to 2 to 3 mm due to this detection
operation, although the specific distance will vary depending on the ball screw lead. If the
power is turned on when the actuator is positioned near a mechanical end, the detection
operation may cause the actuator to contact the mechanical end and reverse.
39
5.2.3
Position Table and Parameter Settings Required for Operation
„ Test Operation
Immediately after the system has been started, the movement speed can be reduced as follows to ensure
safety of the operator and prevent damage to the jigs, etc.
Change the applicable parameters as necessary.
→ For details on the change operation, refer to the operation manual for the PC/teaching pendant you are
using.
Safety speed during manual feed
The feed speed that applies when the actuator is moved with a PC/teaching pendant is defined by Parameter
No. 35.
The factory setting of this parameter is 100 mm/s. Change the setting if necessary.
Note that the maximum speed is limited to 250 mm/s.
Speed override for move commands from the PLC
You can reduce the feed speed that applies when the actuator is moved by outputting a rear end, front end or
intermediate point move command from the PLC.
You can override the “Speed” field of the position table based on the value of Parameter No. 46, in order to
reduce the actual speed to below the speed set in the “Speed” field.
Actual movement speed = [Speed set in the position table] x [Value of Parameter No. 46] ÷ 100
Example) Value in the “Speed” field of the position table
500 (mm/s)
Value of Parameter No. 46
20 (%)
Under the above settings, the actual movement speed becomes 100 mm/s.
The minimum setting unit is 1 (%), and the input range is 1 to 100 (%). The factory setting is 100 (%).
„ Full-scale Operation
In situations where the actuator remains standstill for a long time at a standby position, this controller provides
a mode to reduce power consumption in such standstill state as part of the controller’s energy-saving function.
Use this mode after confirming that it will not cause problems in any part of the system.
Power-saving when the standby time at the target position is long
In this case, you can select the desired mode based on the value set in the “Standstill mode” field of the
position table.
(The setting of Parameter No. 53 is ignored.)
→ For details, refer to 5.4, “Power-saving Mode at Standby Positions” and 6.2.2, “Parameters Relating to
Actuator Operating Characteristics.”
40
41
5.2.4
Homing
This controller adopts an incremental position detector (encoder), so once the power is cut off, the mechanical
coordinates will be lost.
Accordingly, homing must be performed to establish the initial mechanical coordinate every time the power is
turned on.
To perform homing, input a rear end move command (ST0).
Operation timings
PLC processing 1: The rear end move command signal (ST0) turns ON when the start button is pressed.
Operation:
[1] The actuator starts moving toward the mechanical end on the home side.
[2] After contacting the mechanical end, the actuator reverses its direction and
temporarily stops at the home position.
→ The homing complete signal (HEND) turns ON.
[3] The actuator moves toward the rear end, and stops at the rear end.
→ The rear end detection output (LS0) turns ON.
PLC processing 2: The rear end move command signal (ST0) turns OFF.
PLC processing 3: The actuator starts continuous operation.
Rear end move
command input (ST0)
Homing complete
output (HEND)
Rear end positioning
complete output (PE0)
Max. 6 msec
Caution:
42
Home position
Rear end
[3]
[2]
Mechanical end
Power-on position
[1]
Take note of the following points regarding homing:
[1] Confirm that no obstacle exists between the actuator and the rear end.
[2] If an obstacle exists between the actuator and the rear end, move the actuator toward the
front end and remove the obstacle. The controller accepts a front end move command prior
to homing to accommodate the aforementioned condition.
In this case, the actuator moves forward at the homing speed and once the mechanical end
is reached, the front end detection output (LS1) will turn ON.
This LS1 signal should be recognized as a tentative signal.
[3] Do not input an intermediate move command. (Even if an intermediate move command is
input, it will be ignored.)
5.2.5
Positioning Operation
This section explains how to move the actuator from the rear end to the front end, by using an actuator with a
400-mm stroke as an example.
Although the actuator is not stopped at the intermediate point in this example, you can increase the positioning
band and use the intermediate point detection output signal (LS2) just like the zone output signal.
Example of position table
Position
[mm]
Speed
[mm/s]
Acceleration Deceleration
[G]
[G]
Push
[%]
Positioning
band [mm]
Comment
Rear end
Front end
Intermediate point
Operation timings
PLC processing 1: The rear end move command signal (ST0) and intermediate point move command
signal (ST2) turn OFF, and the front end move command signal (ST1) turns ON.
Operation:
[1] The actuator starts moving toward the front end.
[2] When the actuator passes the position corresponding to 5.1 mm, the rear end
detection output (LS0) turns OFF.
[3] When the actuator reaches the position corresponding to 150 mm, the
intermediate point detection output (LS2) turns ON. The LS2 turns OFF once the
actuator passes the position corresponding to 250 mm.
PLC processing 2: If necessary, use the intermediate point detection output (LS2) as a trigger signal for
peripheral equipment.
[4] The actuator starts decelerating after reaching the position corresponding approx.
365 mm.
[5] When the actuator passes the position corresponding to 379.9 mm, the front end
detection output (LS1) turns ON.
[6] The actuator stops after reaching the position corresponding to 380 mm.
PLC processing 3: When the front end detection output (LS1) turns ON, the sequence processing is
performed at the front end. Once the sequence processing is completed, the front end
move command signal (ST1) turns OFF.
Front end move
command input (ST1)
Rear end detection
output (LS0)
Intermediate point
detection output (LS2)
Front end detection
output (LS1)
Sequence is
performed at
the front end
Speed
Rear end
5 mm
Caution:
Intermediate point
200 mm
Front end
380 mm
Time
Design a ladder sequence circuit where only one move command signal turns ON at a given time.
If two or more signals are input simultaneously, the signals will be processed according to the set
priorities.
Priorities: [1] Rear end, [2] front end, [3] intermediate point
43
z Meaning of Position Detection Output Signals (LS0, LS1, LS2)
These signals are handled in the same way as limit switches (LSs). They turn ON when the following
conditions are met:
[1] The homing complete output signal (HEND) is ON.
[2] The current position is within the allowable distance before or after each target position (inside the
positioning band).
Accordingly, each output signal also turns ON when the actuator is manually moved while the servo is off, in
addition to when the actuator is moving following the applicable move command.
If an emergency stop is actuated while the actuator is moving and operation must be resumed from the PLC
when none of the position detection output signals (LS0, LS1, LS2) is ON, move the actuator manually to the
target position to turn on the corresponding position detection output signal.
Caution:
All position detection outputs will turn OFF once a phase A/B open detection alarm generates.
z Notes on Setting the Positioning Band
The positioning band setting defines the range of coordinates at which the position detection output signal will
turn ON.
Condition for a position detection output signal to turn ON = Target position ± (positioning band)
With a normal move command, once the position detection output signal turns ON, the sequence processing
will be performed and the move command input signal will turn OFF.
Take note that if the positioning band is wide and the move command input signal turns OFF too quickly, the
target position may not be achieved.
(Example) If the feed speed is 300 mm/s and deceleration is 0.3 G, the deceleration distance is approx. 15
mm. If the positioning band is set to 30 mm, the position detection output signal will turn ON before
the actuator starts decelerating. If the PLC turns OFF the move command input signal immediately
thereafter, the controller will start the deceleration stop processing. As a result, the actuator will
stop before the target position.
Front end move
command input (ST1)
Front end detection
output (LS1)
Correct starting point
of deceleration
The actuator stops before
the front end.
Front end
Positioning band
The positioning band is greater
than the deceleration distance.
44
z Speed Change during Movement
If the work is made of soft material or is a bottle or has other shape that tips over easily, one of the following
two methods can be used to prevent the work from receiving vibration or impact upon stopping:
[1] Decrease the deceleration to make the deceleration curve more gradual.
[2] Initially move the actuator at the rated speed, and decrease the feed speed shortly before the target
position.
An example of [2], or decreasing the feed speed, is explained.
(Example) When moving the actuator from the rear end to the front end, use the intermediate point as a
dummy point. Set the feed speed to 300 mm/s to the intermediate point, and decrease it to 20
mm/s after the intermediate point.
Example of position table
Position
[mm]
Speed
[mm/s]
Acceleration Deceleration
[G]
[G]
Push
[%]
Positioning
band [mm]
Comment
Rear end
Front end
Intermediate point
Operation timings
PLC processing 1: The rear end move command signal (ST0) and front end move command signal (ST1)
turn OFF, and the intermediate point move command signal (ST2) turns ON.
Operation:
[1] The actuator starts moving toward the intermediate point.
[2] When the actuator reaches the position corresponding to 270 mm, the
intermediate point detection output (LS2) turns ON.
PLC processing 2: The intermediate point move command signal (ST2) turns OFF, and the front end move
command signal (ST1) turns ON.
[3] The actuator decelerates from 300 mm/s to 20 mm/s, and stops at the front end.
Intermediate move
command input (ST2)
Front end move
command input (ST1)
Intermediate point
detection output (LS2)
Front end detection
output (LS1)
Speed
Time
Rear end
5 mm
Caution:
Intermediate point
300 mm
Front end
380 mm
By setting a wide positioning band for the intermediate point, smooth speed change can be
achieved without the actuator stopping at the intermediate point.
45
z Pausing during Movement
Move commands are implemented based on signal levels. Accordingly, the actuator moves while the signal is
ON, and once the signal turns OFF, the actuator will decelerate to a stop and the operation will end.
If you want to pause the actuator as a secondary safety measure, turn the move command signals OFF.
(Example) Pausing the actuator while moving toward the front end
Front end move
command input (ST1)
Front end detection
output (LS1)
Speed
Moving
Stopped
Moving
Time
Front end
z Forced Return in Case of Emergency
The following example explains how to return the actuator to the standby position (rear end) after an
emergency situation occurred while the actuator was moving.
(Example) Return the actuator to the standby position (rear end) after an emergency situation occurred while
the actuator was moving toward the front end
Operation timings
PLC processing 1: Upon occurrence of an emergency situation, the rear end move command signal (ST0)
turns ON, and then the front end move command signal (ST1) turns OFF.
Operation:
[1] After the front end move command signal (ST1) turns OFF, the actuator
decelerates to a stop.
[2] The actuator reverses its direction and starts moving toward the rear end.
[3] When the actuator reaches the rear end, the rear end positioning complete output
(PE0) turns ON.
PLC processing 2: The rear end move command signal (ST0) turns OFF.
Occurrence of
emergency situation
Front end move
command input (ST1)
Rear end move
command input (ST0)
Rear end detection
output (LS0)
Speed
Moving to + direction
Moving to - direction
Time
Rear end
46
5.3
Standard Type
This type assumes situations where the system must achieve high productivity. Use this type if your application
meets the following conditions, among others:
[1] Use the zone output signal to quicken the operation timings with respect to the respective equipment and
thereby reduce the tact time.
[2] Use the zone output signal as an interlock signal to prevent contact with peripheral equipment.
Caution:
5.3.1
The controller is shipped with the proximity switch type pre-selected. If you want to use the
standard type, set the value of Parameter No. 25 (PIO pattern selection) to “1.”
→ Refer to Chapter 6, “Parameter Settings”
Explanation of I/O Signals
Signal
abbreviation
Brown 1 +24 V
P24V
Red 1
0V
0V
Orange 1 Rear end move command input ST0
Yellow 1 Front end move command input ST1
Intermediate point move
Green 1
ST2
command input
Pin No. Wire color
1
2
3
4
5
6
Blue 1
7
Purple 1
8
Gray 1
9
White 1
10
Black 1
11
Brown 2
12
Red 2
Signal name
Servo-on command input
Rear end positioning complete
output
Front end positioning complete
output
Intermediate point positioning
complete output
Zone output
SON
PE0
PE1
PE2
PZONE
Homing complete output
HEND
Alarm output
*ALM
Function overview
I/O power supply
Move command to the rear end
Move command to the front end
Move command to the intermediate point
The servo remains on while this signal is ON.
The servo remains off while this signal is OFF.
This signal turns ON upon completion of
movement to the rear end.
This signal turns ON upon completion of
movement to the front end.
This signal turns ON upon completion of
movement to the intermediate point.
This signal remains ON while the actuator is
inside the range set in the “Zone +” and “Zone –”
fields of the position table.
This signal is OFF immediately after the power is
turned on, and turns ON once homing is
completed.
This signal remains ON while the actuator is
normal, and turns OFF if an alarm has occurred.
„ Move Command Input for Each Position (ST0, ST1, ST2)
Since the number of positioning points is limited to three, you can use these inputs just like when controlling an
air cylinder.
While each signal remains ON, the actuator moves to the target position.
If the signal turns OFF before the movement is completed, the actuator will decelerate to a stop.
Before executing each move command, enter a target position as an absolute coordinate in the “Position” field
under one of Nos. 0 to 2 in the position table.
Input signal
ST0
ST1
ST2
Target position
Rear end
Front end
Intermediate point
Remarks
The target position is defined in the “Position” field under Position No. 0.
The target position is defined in the “Position” field under Position No. 1.
The target position is defined in the “Position” field under Position No. 2.
„ Servo-on Command Input (SON)
The servo remains on while this signal is ON.
To ensure safety, it is recommended that the PLC be configured to monitor the condition of the entire system
and turn ON this signal once all conditions required for movement are satisfied.
Caution: This signal may have to be turned ON when adjusting the actuator by connecting a PC or
teaching pendant. If this signal cannot be output because the PLC ladder sequence circuit is not
yet complete, temporarily change the value of Parameter No. 21 (Servo-on input disable
selection) to “1” to disable the signal. Be sure to reset the parameter value to “0” before
commencing automatic operation. → Refer to Chapter 6, “Parameter Settings.”
47
„ Positioning Complete Output for Each Position (PE0, PE1, PE2)
After a move command, the corresponding positioning complete output turns ON when the actuator has
entered the positioning band before the target position.
When the next move command to a different position is issued, the positioning complete output turns OFF.
(Note) If the servo turns off or an emergency stop is actuated while the actuator is standing still at the target
position, the positioning complete output will turn OFF. When the servo subsequently turns on, the
output will turn ON again if the actuator is still inside the positioning band.
Output signal
Position detected
PE0
Rear end
PE1
Front end
PE2
Intermediate point
Remarks
The output position is defined in the “Position” and “Positioning band”
fields under Position No. 0.
The output position is defined in the “Position” and “Positioning band”
fields under Position No. 1.
The output position is defined in the “Position” and “Positioning band”
fields under Position No. 2.
„ Zone Output (PZONE)
This signal can be used as a limit switch (LS) at the intermediate point, or as a simple yardstick during
push-motion operation.
The zone output signal remains ON while the actuator is inside the range specified by the “Zone +” and “Zone
–” fields of the position table, and turns OFF once the actuator leaves the range.
(Note) This signal is enabled after the coordinate system has been established following the completion of
homing. It will not be output immediately after the power is turned on.
As long as homing has already been completed, this signal remains effective while the servo is off or
an emergency stop is actuated.
„ Homing Complete Output (HEND)
This signal is OFF immediately after the power is turned on.
To establish the initial coordinate, only a rear end move command is accepted after power on. Once a rear
end move command has been input, the actuator performs homing and then moves to the rear end.
This signal will turn ON after the homing is completed.
Once turned ON, this signal will remain ON until the input power is cut off.
Use this signal as an interlock signal before homing.
(Reference) Acceptance of each move command before homing is explained below:
[1] A rear end move command is accepted.
[2] An intermediate point move command is not accepted.
[3] A front end move command is accepted, but once the actuator moves forward at the homing
speed and contacts the mechanical end, the actuator will stop and a front end positioning
complete output (PE1) will turn ON.
In this case, the PE1 signal should be recognized as a tentative signal.
Movement to the front end is permitted to accommodate a situation where there is an obstacle
between the actuator and the rear end.
„ Alarm Output (*ALM)
This signal remains ON while the actuator is normal, and turns OFF if an alarm has occurred.
Cause the PLC to monitor the OFF state of this signal and provide an appropriate safety measure for the
entire system.
Check the nature of each alarm by connecting a PC/teaching pendant, and remove the cause. For details of
alarms, refer to Chapter 7, “Troubleshooting.”
48
5.3.2
Timings after Power On
z Steps from Initial Startup to Actuator Adjustment
[1] Cancel the emergency stop or connect the motor drive power.
[2] Supply the 24-VDC I/O power (PIO connector pins 1 and 2).
[3] Supply the 24-VDC controller power (24-V and 0-V terminals on the power-supply terminal block).
[4] Set the minimum required parameters.
(Example) • To switch to the standard type, change the value of Parameter No. 25 (PIO pattern
selection) to “1.”
• To temporarily disable the servo-on input because the PLC is not yet ready to accept the
input, change the value of Parameter No. 21 (Servo-on input disable selection) to “1.”
• To change the feed speed during teaching, change the value of Parameter No. 35 (Safety
speed).
[5] Input a servo-on signal from the PLC.
[6] Connect a PC or teaching pendant to adjust the actuator.
• Set optimal values in the “Position,” “Speed,” “Acceleration,” “Deceleration” and other fields
under Nos. 0 to 2 in the position table.
Emergency stop cancelled
Safety circuit status
Supply of 24-VDC
I/O power
Supply of 24-VDC
controller power
Initial parameter
settings
* Servo-on input
(SON)
SV lamp
(front panel)
An orange light comes
on for 2 seconds, and
then turns off.
Max. 2 sec max
*
Green
Use a teaching pendant or PC to set
optimal values in the respective fields
under Nos. 0 to 2 in the position table.
If you have changed the value of Parameter No. 21 (Servo-on input disable selection) to “1,” the servo-on
input signal is not required.
Caution:
In the “Emergency stop actuated → Turn on the power → Servo-on input → Cancel the
emergency stop” sequence, the servo will turn on up to 2 seconds after the emergency stop is
cancelled.
Servo-on input
Emergency stop cancelled
Servo on
Max. 2 sec max
49
z Normal Operating Procedure
The operating procedure in a normal condition is explained below.
[1] Cancel the emergency stop or connect the motor drive power.
[2] Supply the 24-VDC I/O power.
[3] Supply the 24-VDC controller power.
[4] Input a servo-on signal from the PLC.
[5] First, input a rear end move command signal from the PLC (to cause the actuator to stand by at the rear
end).
[6] Start automatic operation.
Emergency stop cancelled
Safety circuit status
Supply of 24-VDC
I/O power
Supply of 24-VDC
controller power
Servo-on input
(SON)
SV lamp
(front panel)
Green
When the SON signal has been input for the first time after turning on
the power, provide a delay of at least 2 seconds before inputting a
move command.
With each subsequent SON input, provide a delay of at least 30 msec.
(If the delay time is too short, the move command will be ignored.)
Max. 2 sec max
Rear end move
command input (ST0)
Homing complete
output (HEND)
Rear end positioning
complete output (PE0)
50
Rear end
Home position
Mechanical end
Power-on position
Max. 6 msec
Start of continuous
operation
Warning: The magnetic-pole phase is detected when the servo is turned on for the first time after
turning on the power. The actuator may move by up to 2 to 3 mm due to this detection
operation, although the specific distance will vary depending on the ball screw lead. If the
power is turned on when the actuator is positioned near a mechanical end, the detection
operation may cause the actuator to contact the mechanical end and reverse.
51
5.3.3
Position Table and Parameter Settings Required for Operation
„ Test Operation
Immediately after the system has been started, the movement speed can be reduced as follows to ensure
safety of the operator and prevent damage to the jigs, etc.
Change the applicable parameters as necessary.
→ For details on the change operation, refer to the operation manual for the PC/teaching pendant you are
using.
Safety speed during manual feed
The feed speed that applies when the actuator is moved with a PC/teaching pendant is defined by Parameter
No. 35.
The factory setting of this parameter is 100 mm/s. Change the setting if necessary.
Note that the maximum speed is limited to 250 mm/s.
Speed override for move commands from the PLC
You can reduce the feed speed that applies when the actuator is moved by outputting a move command from
the PLC.
You can override the “Speed” field of the position table based on the value of Parameter No. 46, in order to
reduce the actual speed to below the speed set in the “Speed” field.
Actual movement speed = [Speed set in the position table] x [Value of Parameter No. 46] ÷ 100
Example) Value in the “Speed” field of the position table 500 (mm/s)
Value of Parameter No. 46
20 (%)
Under the above settings, the actual movement speed becomes 100 mm/s.
The minimum setting unit is 1 (%), and the input range is 1 to 100 (%). The factory setting is 100 (%).
52
„ Full-scale Operation
In situations where the actuator remains standstill for a long time at a standby position, this controller provides a
mode to reduce power consumption in such standstill state as part of the controller’s energy-saving function.
You can also select the positioning complete signal state to be applied when the servo turns off or “position
deviation” occurs while the actuator is standing still after completion of positioning.
Use these modes after confirming that they will not cause problems in any part of the system.
Power-saving when the standby time at the target position is long
In this case, you can select the desired mode based on the value set in the “Standstill mode” field of the
position table.
(The setting of Parameter No. 53 is ignored.)
→ For details, refer to 5.4, “Power-saving Mode at Standby Positions” and 6.2.2, “Parameters Relating to
Actuator Operating Characteristics.”
Complete signal output mode
You can select the positioning complete signal state to be applied when the servo turns off or “position
deviation” occurs while the actuator is standing still after completion of positioning.
This setting uses Parameter No. 39. Select an appropriate mode by considering the characteristics of the
specific control.
→ For details, refer to 6.2.3, “Parameters Relating to External Interface.”
53
5.3.4
Homing
This controller adopts an incremental position detector (encoder), so once the power is cut off, the mechanical
coordinates will be lost.
Accordingly, homing must be performed to establish the initial mechanical coordinate every time the power is
turned on.
To perform homing, input a rear end move command (ST0).
Operation timings
PLC processing 1: The rear end move command signal (ST0) turns ON when the start button is pressed.
Operation:
[1] The actuator starts moving toward the mechanical end on the home side.
[2] After contacting the mechanical end, the actuator reverses its direction and
temporarily stops at the home position.
→ The homing complete signal (HEND) turns ON.
[3] The actuator moves toward the rear end, and stops at the rear end.
→ The rear end positioning complete output (PE0) turns ON.
PLC processing 2: The rear end move command signal (ST0) turns OFF.
PLC processing 3: The actuator starts continuous operation.
Rear end move
command input (ST0)
Homing complete
output (HEND)
Rear end positioning
complete output (PE0)
Max. 6 msec
Caution:
54
Home position
Rear end
[3]
[2]
Mechanical end
Power-on position
[1]
Take note of the following points regarding homing:
[1] Confirm that no obstacle exists between the actuator and the rear end.
[2] If an obstacle exists between the actuator and the rear end, move the actuator toward the
front end and remove the obstacle. The controller accepts a front end move command prior
to homing to accommodate the aforementioned condition.
In this case, the actuator moves forward at the homing speed and once the mechanical end
is reached, the front end positioning complete output (PE1) will turn ON.
This PE1 signal should be recognized as a tentative signal.
[3] Do not input an intermediate move command. (Even if an intermediate move command is
input, it will be ignored.)
5.3.5
Positioning Operation
This section explains how to move the actuator from the rear end to the intermediate point and then to the front
end, by using an actuator with a 400-mm stroke as an example.
Example of position table
Position
[mm]
Acceleration Deceleration
[G]
[G]
Speed
[mm/s]
Push
[%]
Positioning
band [mm]
Comment
Rear end
Front end
Intermediate point
Operation timings
PLC processing 1: The rear end move command signal (ST0) and front end move command signal (ST1)
turn OFF, and the intermediate point move command signal (ST2) turns ON.
Operation:
[1] The actuator starts moving toward the intermediate point, and the rear end
positioning complete output (PE0) turns OFF.
[2] When the actuator reaches the position corresponding to 199.9 mm, the
intermediate point positioning complete output (PE2) turns ON.
[3] After reaching the position corresponding to 200 mm, the actuator stops.
PLC processing 2: When the intermediate point positioning complete output (PE2) turns ON, the sequence
processing is performed at the intermediate point.
Once the sequence processing is completed, the intermediate point move command
signal (ST2) turns OFF, and the front end move command signal (ST1) turns ON.
[4] The actuator starts moving toward the front end, and the intermediate point
positioning complete output (PE2) turns OFF.
[5] When the actuator reaches the position corresponding to 379.9 mm, the front end
positioning complete output (PE1) turns ON.
[6] After reaching the position corresponding to 380 mm, the actuator stops.
PLC processing 3: When the front end positioning complete output (PE1) turns ON, the sequence processing
is performed at the front end.
Once the sequence processing is completed, the front end move command signal (ST1)
turns OFF.
Intermediate point move
command input (ST2)
Front end move command
input (ST1)
Rear end positioning
complete output (PE0)
Intermediate point positioning
complete output (PE2)
Front end positioning
complete output (PE1)
Speed
Sequence is
performed at the
intermediate point
Sequence is
performed at
the front end
Time
Rear end
5 mm
Caution:
Intermediate point
200 mm
Front end
380 mm
Design a ladder sequence circuit where only one move command signal turns ON at a given time.
If two or more signals are input simultaneously, the signals will be processed according to the set
priorities.
Priorities: [1] Rear end, [2] front end, [3] intermediate point
55
z Meaning of Positioning Complete Output Signals (PE0, PE1, PE2)
These signals indicate that the target position has been reached. They turn ON when the following conditions
are met:
[1] The homing complete output signal (HEND) is ON.
[2] The actuator has entered the positioning band before the target position.
Each signal can be used as trigger signal for peripheral equipment when the target position is reached.
Increasing the positioning band quickens the timing of the next command issued to peripheral equipment,
and consequently the tact time becomes shorter.
(Note) If the servo turns off or an emergency stop is actuated while the actuator is standing still at the
target position, the output will turn OFF. When the servo subsequently turns on, the output will turn
ON again if the actuator is still inside the positioning band.
Caution:
All position detection outputs will turn OFF once a phase A/B open detection alarm generates.
z Notes on Setting the Positioning Band
The positioning band setting defines the range of coordinates at which the positioning complete output signal
will turn ON.
Condition for a positioning complete output signal to turn ON = The actuator enters the positioning band before
the target position
With a normal move command, once the positioning complete output signal turns ON, the sequence
processing will be performed and the move command input signal will turn OFF.
Take note that if the positioning band is wide and the move command input signal turns OFF too quickly, the
target position may not be achieved.
(Example) If the feed speed is 300 mm/s and deceleration is 0.3 G, the deceleration distance is approx. 15
mm. If the positioning band is set to 30 mm, the positioning complete output signal will turn ON
before the actuator starts decelerating.
If the PLC turns OFF the move command input signal immediately thereafter, the controller will
start the deceleration stop processing.
As a result, the actuator will stop before the target position.
Front end move
command input (ST1)
Front end positioning
complete output (PE1)
Correct starting point
of deceleration
The actuator stops before
the front end.
Front end
Positioning band
The positioning band is greater
than the deceleration distance.
56
z Speed Change during Movement
If the work is made of soft material or is a bottle or has other shape that tips over easily, one of the following
two methods can be used to prevent the work from receiving vibration or impact upon stopping:
[1] Decrease the deceleration to make the deceleration curve more gradual.
[2] Initially move the actuator at the rated speed, and decrease the feed speed shortly before the target
position.
An example of [2], or decreasing the feed speed, is explained.
(Example) When moving the actuator from the rear end to the front end, use the intermediate point as a
dummy point. Set the feed speed to 300 mm/s to the intermediate point, and decrease it to 20
mm/s after the intermediate point.
Example of position table
Position
[mm]
Speed
[mm/s]
Acceleration Deceleration
[G]
[G]
Push
[%]
Positioning
band [mm]
Comment
Rear end
Front end
Intermediate point
Operation timings
PLC processing 1: The rear end move command signal (ST0) and front end move command signal (ST1)
turn OFF, and the intermediate point move command signal (ST2) turns ON.
Operation:
[1] The actuator starts moving toward the intermediate point.
[2] When the actuator reaches the position corresponding to 270 mm, the
intermediate point positioning complete output (PE2) turns ON.
PLC processing 2: The intermediate point move command signal (ST2) turns OFF, and the front end move
command signal (ST1) turns ON.
[3] The actuator decelerates from 300 mm/s to 20 mm/s, and stops at the front end.
Intermediate point move
command input (ST2)
Front end move command
input (ST1)
Intermediate point positioning
complete output (PE2)
Front end positioning
complete output (PE1)
Speed
Time
Rear end
5 mm
Caution:
Intermediate point
300 mm
Front end
380 mm
By setting a wide positioning band for the intermediate point, smooth speed change can be
achieved without the actuator stopping at the intermediate point.
57
z Pausing during Movement
Move commands are implemented based on signal levels. Accordingly, the actuator moves while the signal is
ON, and once the signal turns OFF, the actuator will decelerate to a stop and the operation will end.
If you want to pause the actuator as a secondary safety measure, turn the move command signals OFF.
(Example) Pausing the actuator while moving toward the front end
Front end move
command input (ST1)
Front end positioning
complete output (PE1)
Speed
Moving
Stopped
Moving
Time
Front end
z Forced Return in Case of Emergency
The following example explains how to return the actuator to the standby position (rear end) after an
emergency situation occurred while the actuator was moving.
(Example) Return the actuator to the standby position (rear end) after an emergency situation occurred while
the actuator was moving toward the front end
Operation timings
PLC processing 1: Upon occurrence of an emergency situation, the rear end move command signal (ST0)
turns ON, and then the front end move command signal (ST1) turns OFF.
Operation:
[1] After the front end move command signal (ST1) turns OFF, the actuator
decelerates to a stop.
[2] The actuator reverses its direction and starts moving toward the rear end.
[3] When the actuator reaches the rear end, the rear end positioning complete output
(PE0) turns ON.
PLC processing 2: The rear end move command signal (ST0) turns OFF.
Occurrence of
emergency situation
Front end move
command input (ST1)
Rear end move
command input (ST0)
Rear end positioning
complete output (PE0)
Speed
Moving to + direction
Moving to - direction
Time
Rear end
58
z Constant Pitch Feed
Since a target position can also be set as a relative distance, an application where the actuator performs
positioning to a series of works placed at equal intervals is also possible.
(Example)
How to move the actuator from the intermediate point to the front end at a 50-mm pitch is
explained.
Under No. 1 in the position table, enter “50” (mm) in the “Position” field and “1” in the
“Incremental” field. (1 defines that 50 mm is a relative distance.)
The PLC manages the number of movements to determine the end of positioning. To be doubly
sure, the zone output signal can also be used concurrently.
To front end
Rear
end
50-mm
pitch
Intermediate
point
Last work
Zone output signal
Set the coordinate immediately before the last work as the
+ side limit.
Example of position table
Position
[mm]
Zone +
[mm]
Zone –
[mm]
Incremental
Comment
Rear end (Standby position)
Front end (Pitch)
Intermediate point (Starting point)
(Note) When issuing a rear end move command and different zone limits must be set, change the
zone limits.
*
On the teaching pendant, an equal sign indicates that the applicable position is set in the incremental
mode.
59
Operation timings
PLC processing 1: The rear end move command signal (ST0) and front end move command signal (ST1)
turn OFF, and the intermediate point move command signal (ST2) turns ON.
Operation:
[1] The actuator starts moving, and when it reaches the intermediate point, the
intermediate point positioning complete output (PE2) turns ON. The zone output
signal also turns ON.
PLC processing 2: The intermediate point move command signal (ST2) turns OFF and the sequence
processing is performed.
Once the sequence processing is completed, the front end move command signal
(ST1) turns ON.
[2] When the actuator starts moving toward the front end, the intermediate point
positioning complete output (PE2) turns OFF.
When the actuator moves 50 mm thereafter, the front end positioning complete
output (PE1) turns ON.
PLC processing 3: The front end move command signal (ST1) turns OFF, and the sequence processing is
performed.
Once the sequence processing is completed, the front end move command signal
(ST1) turns ON.
[3] When the actuator starts moving toward the front end, the front end positioning
complete output (PE1) turns OFF.
When the actuator moves 50 mm thereafter, the front end positioning complete
output (PE1) turns ON again.
*
The same steps are repeated for the number of works.
The PLC should be programmed so that if the zone output signal is OFF when the signal ON/OFF state is
checked upon completion of positioning, the PLC will recognize that the applicable work is the last work.
If the PLC count and the zone output signal state do not match, the signal timings may not be
synchronized.
Intermediate point move
command input (ST2)
Front end move command
input (ST1)
Intermediate point positioning
complete output (PE2)
Front end positioning
complete output (PE1)
Zone output (ZONE)
Speed
[1]
[2]
PLC
processing
Intermediate
point
Caution:
60
[3]
PLC
processing
PLC
processing
Time
Note on checking positioning complete signals
When a move command signal turns ON, the relevant positioning complete output signal turns
OFF temporarily. To determine if positioning has completed, therefore, check the leading edge of
the positioning complete output signal after it has turned OFF.
5.3.6
Zone Output Signal
This signal remains ON while the actuator is inside the zone set in the position table.
The zone output signal can be set only at a single point, but a different zone can be set for the move command
corresponding to each target position (rear end, front end, or intermediate point).
Use the zone output signal in the following situations.
[1] Set an interlock signal to prevent contact with peripheral equipment.
[2] Set a trigger signal for peripheral equipment to reduce the tact time.
[3] Detect missed work during push-motion operation.
[4] Determine the end point when positioning to a series of aligned works via constant pitch feed.
(Note) In constant pitch feed, the “Position” field indicates a relative distance. However, the zone is still set
as an absolute coordinate from the home.
[Setting example]
Position
[mm]
Zone +
[mm]
Zone –
[mm]
Comment
Rear end
Front end
Home
Move command to the rear end
Rear end
Intermediate point
Front end
Zone output signal
Move command to the front end
+ side limit
Move command to the intermediate point
Intermediate
point
Zone output signal
Zone output signal
61
5.3.7
Push-motion Operation
Just like you can with an air cylinder, you can maintain the actuator in a condition where the tip of the rod is
pushing a work.
Accordingly, the actuator can be used with systems that clamp, press-fit or otherwise push works.
This function is enabled by entering a current-limiting value in the “Push” field of the position table.
* If the “Push” field contains “0,” positioning operation is applied. If the value in this field is other than “0,”
push-motion operation is applied.
The push torque [N] is determined by the current-limiting value [%] in the “Push” field.
For the relationship of push torque and current-limiting value, contact IAI.
[Basics of push-motion operation]
[1] Enter a current-limiting value in the “Push” field for the front end (Position No. 1) to define that a front end
command will be implemented as push-motion operation.
[2] In the “Positioning band” field, enter the maximum travel (relative distance) from the front end permitted
during push-motion operation.
(Consider a position error that may generate when the work is installed, as well as a possible depression if
the work is made of elastic material.)
[3] If it is possible for the system to miss the work, use the zone output signal to detect missed work. To do this,
enter appropriate values in the “Zone +” and “Zone –” fields to specify a range within which the work is
deemed to have been contacted successfully.
[4] Change the value of Parameter No. 6 (Push-motion completion judgment time), if necessary.
(The factory setting is 255 msec, which is the maximum value that can be set for this parameter.)
[5] Change the value of Parameter No. 34 (Push speed), if necessary.
(The factory setting is different in accordance with the actuator model.)
* For details on these parameters, refer to Chapter 6, “Parameter Settings.”
(Example) An example with a rod actuator with a 200-mm stroke, where the current-limiting value is set to
40%, maximum travel in push-motion operation to 20 mm, and successful contact range to
between 180 and 185 mm, is explained.
Under No. 1 in the position table, enter “160” (mm) in the “Position” field, “40” (%) in the “Push”
field, “30” mm in the “Positioning band” field, “185” (mm) in the “Zone +” field, and “180” (mm) in
the “Zone –” field.
Example of position table
Position
[mm]
Push
[%]
Positioning
band [mm]
Zone +
[mm]
Zone –
[mm]
Comment
Rear end (Standby position)
Front end
Intermediate point
62
Operation timings
PLC processing 1: The rear end move command signal (ST0) and intermediate point move command
signal (ST2) turn OFF, and the front end move command signal (ST1) turns ON.
Operation:
[1] The actuator starts moving and upon reaching the front end (160 mm), the actuator
decelerates to the push speed and continues moving at the new speed.
When the actuator contacts the work and the “push-motion completion” condition is
satisfied, the front end positioning complete output (PE1) turns ON.
If the stopped position is between 180 and 185 mm, the zone output signal turns
ON.
PLC processing 2: When the zone output signal turns ON to indicate that the work has been successfully
contacted, the sequence processing is performed in a “condition where the work is
being pushed.”
Once the sequence processing is completed, the front end move command signal
(ST1) turns OFF and the rear rend move command signal (ST0) turns ON.
[2] When the actuator starts moving toward the rear end, the front end positioning
complete output (PE1) turns OFF and the zone output signal also turns OFF
temporarily. Once the actuator returns to the position corresponding to 100 mm,
the zone output signal turns ON again. When the actuator reaches the rear end
thereafter, the rear end positioning complete output (PE0) turns ON.
PLC processing 3: To issue a command to peripheral equipment while the actuator is returning to the rear
end, in order to reduce the tact time, you can use the zone output signal as a trigger
signal (the signal turns ON once the actuator has returned to the position corresponding
to 100 mm).
If the zone output signal dose not turn ON when the front end positioning complete output (PE1) is ON, the
condition should be interpreted as “missed work” or “abnormal work installation position.”
Front end move
command input (ST1)
Rear end move
command input (ST0)
Front end positioning
complete output (PE1)
Rear end positioning
complete output (PE0)
Zone output
Sequence
processing
Speed
Work
+ direction
Rear end
Stop position upon
contact
– direction
Front end
command position
Rear end
*
Time
Positioning band
63
5.3.8
Examples of Tact Time Reduction Combining Zone Outputs and 3 Stop Points
This section explains how the tact time is reduced differently between an application with two stop points only,
and an application with three stop points where zone output signals are also used.
z 2 Stop Points
[Carry-out actuator]
Rear end
Front end
[Carry-in actuator]
Front end
Rear end
Machine M
Assume that Machine M has completed processing. If there are two stop points, the vertical axis rises from the
condition shown above, and thereafter the carry-in side cannot move toward the front end unless it is
confirmed that the carry-out side is at the rear end.
Machine M stands by during the sequence of “Carry-out side drops → Carry-out side rises → Carry-out side
moves backward → Carry-out side is confirmed to be at the rear end → Carry-in side moves forward →
Carry-in side is confirmed to be at the front end → Carry-in side drops → Carry-in side rises.”
Because there are only two stop points, the up/down heights must also be aligned between the actuators.
z 3 Stop Points Combined with Zone Output Signals
[Carry-out actuator]
Rear end
Intermediate
Front end
point
[Carry-in actuator]
Front end
Intermediate
point
Rear end
Zone II
Zone I
Machine M
If there are three stop points, the carry-in side can move to the intermediate point regardless of the condition of
the carry-out side. Also, a desired passing point can be set using a zone output signal. In the above example,
when the Zone I signal turns ON while the carry-out side is rising, Machine M becomes operable and the
carry-out side can move backward. When the Zone II signal turns ON, the carry-in side can move forward. As
both actuators can move independently, the tact time can be reduced.
Because there are three stop points, there is no need to align the up/down heights between the actuators and
a desired layout can be implemented.
Control is also simple. When the carry-out side is inside the contact range (the Zone II signal is OFF), the
carry-in side is moved to the intermediate point if currently at the top end with the chucks closed. If the Zone II
signal turns ON during the aforementioned movement, the command is switched to one that moves the
carry-in side toward the front end. Since the carry-in side moves all the way to the front end, the tact time can
be further reduced.
64
(Reference) Timing Charts and Example of Ladder Sequence Circuit
Rear end move command
for carry-out side
Zone II
Intermediate point move
command for carry-in side
Front end move command
for carry-in side
Horizontal movement of
carry-in side
Stopped/standing by
Intermediate
point
Front end
Machine M is processing.
Chuck
closed
Top end
Processing
R2
Flat speed
Intermediate Front end
point
The Zone II signal turns ON while
moving to the intermediate point.
Automatic
operation
Intermediate point
move command for
carry-in side
Intermediate point
Rear end move
command for Automatic move command for
operation
Zone II carry-in side
carry-in side
65
5.4
Power-saving Mode at Standby Positions
In situations where the actuator remains standstill for a long time at a standby position, this controller provides a
mode to reduce power consumption in such standstill state as part of the controller’s energy-saving function.
Use this mode after confirming that it will not cause problems in any part of the system.
The actuator is standing by upon completion of positioning to the target position set in the “Position” field under
each position number
In this case, you can select the desired mode based on the value set in the “Standstill mode” field of the
position table.
(The setting of Parameter No. 53 is ignored.)
Meaning of the setting in the “Standstill mode” field of the position table
Power-saving mode is disabled. (The actuator is completely stopped.)
Automatic servo-off mode. The delay time is defined by Parameter No. 36.
Automatic servo-off mode. The delay time is defined by Parameter No. 37.
Automatic servo-off mode. The delay time is defined by Parameter No. 38.
66
Setting
0
1
2
3
„ Automatic Servo-off Mode
The servo automatically turns off after elapse of a specified time following the completion of positioning. (Since
no holding current is required, power consumption decreases.)
When the PLC issues the next move command, the servo will turn on again and the actuator will start moving.
* Since the servo turns off temporarily, slight position deviation may occur.
Do not use this mode at a standby position where such position deviation may be detrimental.
Move command
Automatic servo-off mode
(The green LED blinks.)
Servo status
Servo on
Actuator movement
Target position
Delay time after completion of positioning until
the servo turns off (sec)
This delay time is set by a parameter.
In the standard type, the positioning complete signals (PE0, PE1, PE2) turn OFF.
However, you can set the applicable parameter to keep these signals ON in conditions where allowing the
positioning complete signals to turn OFF will cause problems due to the sequence circuit of the PLC.
Setting of Parameter No. 39
(Positioning complete signal output
mode)
0 [PEND]
Positioning complete signal (PE0, PE1, PE2) state
When the servo is off, the positioning complete signal turns OFF
unconditionally.
Even when the next move command is issued and the servo turns
on again, the signal will remain OFF because the actuator has
already started moving to the next target position.
1 [INP]
Even when the servo is off, the positioning complete signal turns
ON if the current position is close enough to the target position, or
specifically inside the range corresponding to the value set in the
“Positioning band” field of the position table. The signal turns OFF if
the current position is outside this range.
(Note) The factory setting is “0” [PEND].
Warning: If the next move command is an incremental move command (via constant pitch feed), never
use automatic servo-off.
The current position may deviate slightly as the servo turns on.
Caution:
In push-motion operation, both the full servo control mode and automatic servo-off mode are not
effective if the work has been contacted successfully.
They are effective when the actuator has missed the work.
As a basic rule of thumb, do not use either the full servo control mode or automatic servo-off
mode in push-motion operation.
67
6.
6.1
Parameter Settings
Parameter List
The parameters are classified into the following four types depending on their function:
Types:
a: Parameter relating to actuator stroke range
b: Parameter relating to actuator operating characteristics
c: Parameter relating to external interface
d: Servo gain adjustment
No.
1
2
3
4
5
6
Type
a
a
a
a
a
b
Name
Zone limit 1 + side
Zone limit 1 – side
Soft limit + side
Soft limit – side
Home direction [0: Reverse / 1: Forward]
Push-motion completion judgment time
7
d
Servo gain number
8
b
Default speed
Unit
mm
mm
mm
mm
msec
mm/sec
9
b
Default acceleration/deceleration
10
b
Default positioning band (in-position)
mm
13
b
Current-limiting value during homing
%
16
17
18
21
c
c
b
c
SIO communication speed
Minimum delay time for slave transmitter activation
Home sensor input polarity
Servo-on input disable selection [0: Enable / 1: Disable]
22
a
Home offset
mm
23
24
25
a
a
c
mm
mm
-
28
b
29
b
30
b
Zone limit 2 + side
Zone limit 2 – side
PIO pattern selection
Default direction of excited phase signal detection
[0: Reverse / 1: Forward]
Excited phase signal detection time
Pole sensing type [0: Current suppression / 1: Distance
suppression]
31
d
Speed loop proportional gain
-
32
d
Speed loop integral gain
-
33
d
Torque filter time constant
-
34
b
Push speed
mm/sec
35
36
37
38
39
42
43
45
46
b
b
b
b
c
b
b
c
b
Safety speed
Automatic servo-off delay time 1
Automatic servo-off delay time 2
Automatic servo-off delay time 3
Positioning complete signal output mode [0: PEND / 1: INP]
Enable function [0: Enable / 1: Disable]
Home check sensor input polarity
Silent interval multiplication factor
Speed override
mm/sec
sec
sec
sec
times
%
68
G
bps
msec
-
msec
-
Factory default
Effective length of the actuator
Effective length of the actuator
Effective length of the actuator
Effective length of the actuator
(As specified at the time of order)
25.5
Set individually in accordance with the
actuator characteristics.
Set individually in accordance with the
actuator characteristics.
Set individually in accordance with the
actuator characteristics.
0.10
Set individually in accordance with the
actuator characteristics.
38400
5
(As specified at the time of order)
1
Set individually in accordance with the
actuator characteristics.
Effective length of the actuator
Effective length of the actuator
0 [Proximity switch type]
Set individually in accordance with the
actuator characteristics.
128
[Distance suppression]
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]
1 [Disable]
(As specified at the time of order)
0 [Multiplication factor disabled]
100
No.
52
Type
Name
b
Default acceleration/deceleration mode
Unit
-
Factory default
0 [Trapezoid]
0 [Complete stop]
53
b
Default standstill mode
-
54
d
Current control band number
-
55
56
71
b
b
d
Primary filter time constant for position command
S-motion ratio setting
Feed-forward gain
(Note)
msec
%
-
Set individually in accordance with the
actuator characteristics.
0
0
0
The parameter numbers are shown in the PC software, but not on the teaching pendant.
Missing numbers are not used and therefore skipped.
The classification symbols are provided for the sake of convenience and are not shown either in the PC software or on
the teaching pendant.
69
6.2
Detail Explanation of Parameters
If you have changed any parameter, be sure to restart the controller via a software reset or reconnect the
controller power.
6.2.1
Parameters Relating to Actuator Stroke Range
z Soft Limits
Set the + soft limit in parameter No. 3 and – soft limit in parameter No. 4.
Both parameters have been set to the effective actuator length at the factory. Change the parameter settings if
necessary, such as when an obstacle is present and collision between the actuator and obstacle must be
prevented or when the actuator must be operated beyond the effective length.
Exercise due caution when setting these parameters, as wrong settings will cause collision with the mechanical
end.
The minimum setting unit is 0.01 mm.
(Note) To change these parameters, set values corresponding to positions that are 0.3 mm wider than the
desired effective range.
Example) Set the effective range to between 0 and 80 mm
Parameter No. 3 (+ side): 80.3
Parameter No. 4 (– side): -0.3
Soft limits set in the controller
Approx. 0.3 mm
Approx. 0.3 mm
Effective range
Approx. 0.1 mm
Approx. 0.1 mm
Jogging/inching range permitted after homing
z Home Direction
If not specified by the user, the home direction is set to the motor side before shipment.
If you must change the home direction after the actuator has been assembled to your equipment, change the
setting of parameter No. 5.
Also change the parameters for home offset, soft limits and default direction of excited phase signal detection, if
necessary.
Caution:
70
Rod-type actuators do not permit reversing of the home direction.
z Home Offset
Parameter No. 22 has been set to an optimal value at the factory so that the distance from the mechanical end to
home will remain constant.
The minimum setting unit is 0.01 mm.
This parameter can be adjusted in the following conditions:
[1] Align the actuator’s home with the mechanical home on the equipment after the actuator has been assembled
to the equipment.
[2] Set the home position again after reversing the factory-set home direction.
[3] Correct the minor position deviation that has generated after the actuator was replaced.
Caution:
If you have changed the home offset, the soft limit parameters must also be reviewed.
z Zone Limits
This parameter is not used with this controller. It applies to controllers of general-purpose and serial
communication types.
If this parameter is to be used, set the range within which the zone output signal (ZONE1 or ZONE2) will turn ON.
The zone output signal turns ON when the current coordinate is between the (-) setting and (+) setting.
For the ZONE1 signal, set the positive-side coordinate in Parameter No. 1 and negative-side coordinate in
Parameter No. 2.
For the ZONE2 signal, set the positive-side coordinate in Parameter No. 23 and negative-side coordinate in
Parameter No. 24.
The minimum setting unit is 0.01 mm.
Example) On an actuator with a 300-mm stroke, ZONE1 is used as an intermediate point LS in a range of
100 to 200 mm, while ZONE2 is used as a simple yardstick in a range of 270 to 275 mm.
Parameter No. 1 (+ side): 200
Parameter No. 2 (– side): 100
Parameter No. 23 (+ side): 275
Parameter No. 24 (– side): 270
(Home)
ZONE1 turns ON.
ZONE2 turns ON.
71
6.2.2
Parameters Relating to Actuator Operating Characteristics
z Default Speed
The factory setting is the rated speed of the actuator.
This value is recognized as speed data corresponding to each position number when a target position is entered
for that position in the position table where speed is not yet entered.
To decrease the default speed from the rated speed, change the value set in Parameter No. 8.
z Default Acceleration/Deceleration
The factory setting is the rated acceleration/deceleration of the actuator.
This value is recognized as acceleration/deceleration data corresponding to each position number when a target
position is entered for that position in the position table where acceleration/deceleration is not yet entered.
To decrease the default acceleration/deceleration from the rated acceleration/deceleration, change the value set
in Parameter No. 9.
z Default Positioning Band (In-position)
The factory setting is “0.10” mm.
This value is recognized as positioning band data corresponding to each position number when a target position
is entered for that position in the position table where positioning band is not yet entered.
Increasing this parameter value causes the positioning complete signal to output more quickly. If necessary,
change the value set in Parameter No. 10.
z Default acceleration/deceleration mode
This value is recognized as data in the “Acceleration/deceleration mode” field corresponding to each position
number when a target position is entered for that position in the position table where acceleration/deceleration
mode is not yet entered.
The factory setting is “0” [Trapezoid pattern].
To change the default acceleration/deceleration pattern, change the value set in Parameter No. 52 as follows.
Trapezoid pattern
Primary delay filter
S-motion
Setting
0
1
2
z Current-limiting Value during Homing
Before shipment, this parameter is set to a current level appropriate for the standard specification of the actuator.
Increasing this parameter value increases the homing torque.
This parameter need not be changed in normal conditions of use. However, if the actuator is used in vertical
orientation and the slide resistance increases due to the affixing method, load condition, etc., homing may
complete before the correct position. In this case, the value set in Parameter No. 13 must be increased. Contact
IAI.
72
z Speed Override
Use this parameter if you want to move the actuator at a slow speed to prevent danger during test operation.
When issuing move commands from the PLC, the movement speed set in the “Speed” field of the position table
can be overridden based on the value set in Parameter No. 46.
Actual movement speed = [Speed set in the position table] x [Value of Parameter No. 46] ÷ 100
Example) Value in the “Speed” field of the position table
500 (mm/s)
Value of Parameter No. 46
20 (%)
Under the above settings, the actual movement speed becomes 100 mm/s.
The minimum setting unit is 1 (%), and the input range is 1 to 100 (%). The factory setting is “100” (%).
(Note) This function is not effective on move commands issued from the PC or teaching pendant.
z Default Direction of Excited Phase Signal Detection
The magnetic-pole phase is detected when the servo is turned on for the first time after turning on the power. This
parameter defines the direction of this detection.
This parameter need not be changed in normal conditions of use. If an error generates because the controller is
unable to determine the magnetic pole, you can try changing the direction set in Parameter No. 28 as a possible
countermeasure.
Before changing this parameter, contact IAI.
z Excited Phase Signal Detection Time
The magnetic-pole phase is detected when the servo is turned on for the first time after turning on the power. This
parameter defines the time corresponding to one step of this detection operation.
The factory setting is “128” [msec].
This parameter need not be changed in normal conditions of use. If an error generates because the controller is
unable to determine the magnetic pole, you can try changing the detection time set in Parameter No. 29 as a
possible countermeasure.
Before changing this parameter, contact IAI.
z Pole sensing type
The magnetic-pole phase is detected when the servo is turned on for the first time after turning on the power. The
mode of this detection operation is defined in Parameter No. 30.
This parameter need not be changed in normal conditions of use. The customer is advised not to change the
setting.
Definition of settings: 0 (Current suppression mode)
1 (Distance suppression mode)
The factory setting is “1” [Distance suppression mode].
z Safety Speed
This parameter defines the feed speed during manual operation.
The factory setting is “100” [mm/sec].
To change the speed, set an optimal value in Parameter No. 35.
Since the maximum speed is limited to 250 mm/sec, set the safety speed to below this level.
73
z Automatic Servo-off Delay Time
This parameter defines the delay time after positioning is completed until the servo turns off automatically when
the “Standstill mode” field in the position table is set to any value from “1” to “3” (the automatic servo-off mode is
enabled).
Meaning of set value: If this parameter is set to “1,” T takes the value of Parameter No. 36.
If this parameter is set to “2,” T takes the value of Parameter No. 37.
If this parameter is set to “3,” T takes the value of Parameter No. 38.
The factory setting is “0” [sec].
Move command
Automatic servo-off mode
(The green LED blinks.)
Servo status
Servo on
Actuator movement
Target position
Delay time after completion of positioning until
the servo turns off (sec)
z Default Standstill Mode
The factory setting is “0” [Disable].
This value is recognized as data in the “Standstill mode” field corresponding to each position number when a
target position is entered for that position in the position table where standstill mode is not yet entered.
To enable the automatic servo-off function when the actuator stands by for a long time after positioning is
completed, set a desired value between “1” and “3” in Parameter No. 53.
Power-saving mode is disabled.
Automatic servo-off mode. The delay time is defined by Parameter No. 36.
Automatic servo-off mode. The delay time is defined by Parameter No. 37.
Automatic servo-off mode. The delay time is defined by Parameter No. 38.
The factory setting is “0” [Disable].
Setting
0
1
2
3
Automatic servo-off mode
The servo automatically turns off after elapse of a specified time following the completion of positioning. (Since
no holding current is required, power consumption decreases.)
When the PLC issues the next move command, the servo will turn on again and the actuator will start moving.
Refer to the timing chart above.
74
z Push Speed
This parameter defines the push speed that applies after the target position has been reached in push-motion
operation.
Before shipment, a default speed appropriate for the actuator characteristics is set.
Depending on the material and shape of the work, etc., set an appropriate speed in Parameter No. 34.
Note that, while the maximum speed varies according to the actuator, it should not exceed 20 mm/sec even with
the high-speed type. Set a push speed below the maximum speed.
Push speed
Speed
Work
Positioning band
Caution:
It is recommended that the push speed be set to 5 mm/sec or above to reduce the effect of
varying push force.
z Push-motion Completion Judgment Time
This parameter is used as a condition for determining if the work is contacted and push-motion operation is
completed.
Specifically, push-motion operation is deemed complete if the current-limiting value set in the position table has
been maintained for the time set in Parameter No. 6.
Depending on the material and shape of the work, etc., set an optimal value in combination with the
current-limiting value.
The minimum setting unit is 1 msec, and the maximum value is 9,999 msec. The factory setting is “255” [msec].
(Note) The following shows a case in which the work has shifted and current has changed during push-motion
completion judgment. In this example, the judgment time is set to 255 msec.
Push current
Start position
Target position
Counting starts
Count to 200
Decrement to 180
Count to 255
Completion of push-motion operation is determined.
If the push current is maintained for 200 msec and then drops for 20 msec thereafter, the counter is decremented
by 20. Upon recovery of the push current, counting resumes from 180. If the push current is maintained for 75
msec, the counter will have counted up to 255 and thus completion of push-motion operation is determined.
In this case, the judgment requires a total of 295 msec.
75
z Enable Function
Whether to enable or disable the deadman switch function on the ANSI-type teaching pendant is set in Parameter
No. 42.
* The ANSI-type teaching pendant is currently under development.
Enable (Use)
Disable (Do not use)
Setting
0
1
The factory setting is “1” [Disable].
z Home Check Sensor Input Polarity
The home check sensor is not included in the standard specification, but it can be installed as an option.
This parameter need not be changed in normal conditions of use. To change the factory-set mode, change the
value of Parameter No. 43.
Definition of settings: 0 (Standard specification; no sensor)
1 (Use the home check sensor, and the sensor polarity conforms to “contact a” logic)
2 (Use the home check sensor, and the sensor polarity conforms to “contact b” logic)
[Explanation of operation]
[1] When a homing command is issued, the actuator moves until contacting the mechanical end, after which it
reverses the direction and stops at the home position.
[2] If the home check sensor signal has changed its signal state by the time the actuator is stopped, the controller
determines that the homing was completed successfully.
If the signal state has not changed, the controller recognizes “position deviation.” Accordingly, the controller
generates a “home sensor non-detection error” and outputs an alarm signal.
Mechanical end
Home check sensor
Home position
76
Power input position
z Home sensor input polarity
The input polarity of the home sensor is defined in Parameter No. 18.
Since the current RCA actuators do not adopt the home sensor mode, the factory setting is “0” [No sensor].
This parameter is provided to support future extension of actuator function. The customer is advised not to
change the setting.
Definition of settings: 0 (No sensor)
1 (Use the home sensor, and the sensor polarity conforms to “contact a” logic)
2 (Use the home sensor, and the sensor polarity conforms to “contact b” logic)
z Primary filter time constant for position command
The delay to be applied when “1” [Primary delay filter] is set in the “Acceleration/deceleration mode” field of the
position table is defined in Parameter No. 55.
The setting unit is “0.1” msec, and the setting range is “0” to “1,000.”
The factory setting is “0” [msec].
* If the parameter is set to “0,” the primary delay filter is disabled.
The greater the value set in this parameter, the longer the delay becomes.
Speed
Time
z S-motion ratio setting
The level of S-motion to be applied when “2” [S-motion] is set in the “Acceleration/deceleration mode” field of the
position table is defined in Parameter No. 56.
The setting unit is “%”, and the setting range is “0” to “100.”
The factory setting is “0” [%].
* If the parameter is set to “0,” the S-motion function is disabled.
The greater the value set in this parameter, the closer the acceleration/deceleration curve becomes to the
letter “S.” (The graph below is based on a setting of 100%.)
Speed
Time
77
6.2.3
Parameters Relating to External Interface
z PIO Pattern Selection
Parameter No. 25 is used to select a desired PIO operation pattern.
This is a basic operation parameter, so be sure to set it at the beginning.
Setting of
Parameter No. 25
0
1
Features of PIO pattern
Proximity switch type
Each movement complete signal is handled in the same manner as an auto switch of an
air cylinder.
A movement complete signal is output as the actuator passes the applicable position,
even when positioning is not performed.
A ready output signal is provided, but no zone output signal is available.
Standard type
A movement complete signal is output upon completion of positioning following a move
command.
A zone output signal is provided, but no ready output signal is available.
The factory setting is “0” [Proximity switch type].
z Positioning Complete Signal Output Mode
This parameter defines the positioning complete signal state to be applied when the servo turns off or “position
deviation” occurs while the actuator is standing still after completion of positioning in the standard type.
The following two scenarios can be considered:
[1] The actuator position has deviated beyond the value set in the “Positioning band” field of the position table,
due to external force applied while the servo was on.
[2] The actuator position has deviated beyond the value set in the “Positioning band” field of the position table,
due to external force applied while the servo was off.
This parameter provides flexibility as to how the “positioning complete signal state” is monitored in accordance
with the characteristics of the applicable system or sequence circuit of the PLC.
The table below shows how the ON/OFF state of a positioning complete signal changes in accordance with each
setting of Parameter No. 39.
Setting of
Parameter No. 39
0 [PEND]
1 [INP]
Definition of rear end complete (PE0), front end complete (PE1),
and intermediate point complete (PE2) signal state
[1] When the servo is on
The signal remains ON even when the current position has deviated from the range
corresponding to the value set for the target position in the “Positioning band” field of the
position table.
[2] When the servo is off
The signal turns OFF unconditionally regardless of the current position.
Regardless of the servo on/off status, the signal turns ON if the current position is inside
the corresponding to the value set for the target position in the “Positioning band” field of
the position table, and turns OFF if it the current position is outside the range.
* The signal effectively functions in the same manner as an auto switch of an air cylinder.
The factory setting is “0” [PEND].
78
z Servo-on Input Disable Selection
Parameter No. 21 is used to set whether enable or disable the servo-on input signal.
Enable (Use)
Disable (Do not use)
Setting
0
1
The factory setting is “0” [Enable].
z SIO Communication Speed
This parameter is not used with this controller. It applies to controllers of serial communication type.
If this parameter is set, it sets the communication speed to be used when the controller implements serial
communication control via the PLC’s communication module.
Set Parameter No. 16 to a value appropriate for the specification of the communication module.
9600, 19200, 38400 or 115200 bps can be selected as the communication speed.
The factory setting is “38400” bps.
z Minimum Delay Time for Slave Transmitter Activation
This parameter is not used with this controller. It applies to controllers of serial communication type.
If this parameter is set, it defines the minimum delay before the controller’s transmitter is activated following the
completion of command reception, when the controller implements serial communication control via the PLC’s
communication module.
The factory setting is “5” msec. If the communication module specification exceeds 5 msec, set the required time
in Parameter No. 17.
z Silent Interval Multiplication Factor
This parameter is not used with this controller. It applies to RS485 serial communication commands.
If this parameter is set, it defines the multiplication factor of silent interval time to be used for delimiter judgment in
the RTU mode.
The factory setting is the communication time corresponding to 3.5 characters in accordance with the Modbus
specification.
This parameter need not be changed in normal conditions of use where the actuator is operated using a PC or
teaching pendant.
If the character sending interval exceeds the silent interval because the scan time of the PLC is not ideal,
however, you can extend the silent interval time through Parameter No. 45.
The minimum setting unit is 1 (times), and the input range is 0 to 10. If “0” is set, it means that the silent interval
multiplication factor is disabled.
79
6.2.4
Servo Gain Adjustment
Since the servo has been adjusted at the factory in accordance with the standard specification of the actuator, the
servo gain need not be changed in normal conditions of use.
However, vibration or noise may occur depending on how the actuator is affixed, specific load condition, and so
on, and therefore the parameters relating to servo adjustment are disclosed to allow the customer to take quick
actions should adjustment become necessary.
Particularly with custom models (whose ball screw lead or stroke is longer than the that of the standard model),
vibration/noise may occur due to external conditions.
In this case, the parameters shown below must be changed. Contact IAI for details.
z Servo Gain Number
Parameter number
Unit
Input range
Default
7
5 rad/sec
0 ~ 31
6
This parameter determines the level of response with respect to a position control loop.
Increasing the setting improves compliance with the position command.
However, increasing the setting too much increases the tendency of the actuator to overshoot.
If the setting is low, compliance with the position command drops and the positioning time increases as a
result.
Speed
Setting is high (overshoot)
Setting is low
Time
z Speed Loop Proportional Gain
Parameter number
Unit
Input range
Default
31
---
1 ~ 27661
Set individually in accordance with the actuator
characteristics.
This parameter determines the level of response with respect to a speed control loop.
Increasing the setting improves compliance with the speed command (i.e., servo rigidity increases).
The greater the load inertia, the higher the setting should be.
However, increasing the setting too much increases the tendency of the actuator to overshoot or oscillate,
resulting in increased mechanical vibration.
Speed
Setting is high (overshoot)
Setting is low
Time
80
z Speed Loop Integral Gain
Parameter number
Unit
Input range
Default
32
---
1 ~ 217270
Set individually in accordance with the actuator
characteristics.
This parameter determines the level of response with respect to a speed control loop.
Increasing the setting results in lower response with the speed command and decreases the reactive force
upon load change.
Decreasing the setting too much increases the tendency of the actuator to overshoot or oscillate, resulting in
increased mechanical vibration.
If the setting is low, compliance with the position command drops and the positioning time increases as a
result.
Speed
Setting is low (overshoot)
Setting is high
Time
z Torque Filter Time Constant
Parameter number
Unit
Input range
Default
33
---
1 ~ 2500
Set individually in accordance with the actuator
characteristics.
This parameter determines the filter time constant applicable to the torque command.
If the mechanical resonance frequency is equal to or lower than the servo loop response frequency, the motor
will vibrate.
This mechanical resonance can be suppressed by increasing the setting of this parameter.
It should be noted, however, that increasing the setting too much may affect the stability of the control system.
z Current control band number
Parameter number
Unit
Input range
Default
54
---
0~7
Set individually in accordance with the actuator
characteristics.
Set the control band of the PI current control system.
This parameter need not be changed in normal conditions of use. The customer is advised not to change the
setting.
If the parameter is changed carelessly, stability of the control system may be affected and a very dangerous
situation may occur.
This parameter may be useful in certain situations such as when resonance noise generates, in which case
changing the parameter can suppress the noise.
If you wish to change the parameter, always contact IAI first and follow the instruction.
81
z Feed-forward gain
Parameter number
Unit
Input range
Default
71
---
0 ~ 100
Set individually in accordance with the actuator
characteristics.
Set the amount of feed-forward gain of the position control system.
Setting this parameter increases the servo gain and improves the response of operation that uses a position
control loop.
Use this parameter to improve the response of a mechanical system whose rigidity is low or load inertia ratio is
high.
As a rough guide, set a value between “10” and “50.” Increasing the value set in this parameter reduces the
deviation and improves the response.
Take note, however, that setting an excessively large value may generate vibration or noise.
82
7.
7.1
Troubleshooting
What to Do When A Problem Occurs
If you encountered a problem, follow the steps below to conduct the specified checks to gather information
needed to implement quick recovery and prevent recurrence of the problem.
a. Check the status indicator lamps
SV (green) --- The servo is on.
ALM (red) --- An alarm is present or emergency stop has been actuated, or the motor drive power is cut off.
b. Check the host controller for abnormality.
c. Check the voltage of the 24-VDC main power supply.
d. Check the voltage of the 24-VDC power supply for I/O signals.
e. Check for alarms.
Check the details of each alarm on the PC or teaching pendant.
f. Check the cables for miswiring, disconnection and pinching.
Before checking the continuity of cables, turn off the power (to prevent a runaway actuator) and disconnect all
wirings (to prevent the power from being supplied unexpectedly due to a sneak path).
g. Check the I/O signals.
h. Check the noise elimination measure (ground connection, surge killer installation, etc.).
i. Identify how the problem occurred and the operating condition when the problem occurred.
j. Check the serial numbers of the controller and actuator.
k. Analyze the cause.
l. Take an action.
Before contacting IAI, please check the items in a through j above. Provide the information to our technical
staff.
(Reference) Changes in indicators and *ALM output signal in each status
SV (lamp)
ALM (lamp)
*ALM (signal)
Servo off
Servo on
Unlit
Unlit
OFF
Lit
Unlit
OFF
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 input, these signals remain ON while the controller is normal. They turn OFF when the
power is cut off.
These signals cannot be used for providing a contact-b interlock when the power is not supplied to the
controller.
83
7.2
Alarm Level Classification
The alarms are classified into three levels based on the corresponding symptoms.
Alarm level
ALM
lamp
*ALM signal
Operation
cancellation
Lit
Output
Cold start
Lit
Output
Note:
84
Condition at occurrence of alarm
How to reset
The actuator decelerates to a
Execute reset using the
stop, and then the servo turns off. PC/teaching pendant.
The actuator decelerates to a
Reconnect the power.
stop, and then the servo turns off.
Whatever the alarm, always investigate the cause of the alarm and remove the cause before resetting the
alarm. If the cause of the alarm cannot be removed, or when the alarm cannot be reset even after the
cause has been removed, please contact IAI.
If the same error occurs again after a reset, the cause of the alarm still exists.
7.3
Alarms, Causes and Actions
(1) Operation Cancellation Alarms
Code
Error
Cause/action
Parameter data error
Cause: The parameter data does not meet the specified input range.
(Example) This alarm generates when a pair of values clearly has
an inappropriate magnitude relationship, such as when
the soft limit + setting is 200.3 mm, while the soft limit –
setting is 300 mm.
Action: Change the settings to appropriate values.
0A2
Position data error
Cause: [1] A move command was input when a target position was not yet
set in the “Position” field.
[2] The target position in the “Position” field is outside the soft limit
range.
[3] A target position was specified as a relative coordinate in the
“Position” field when the proximity switch type was selected.
Action: [1] Set a target position first.
[2] Change the target position to a value inside the soft limit range.
[3] Specify the target position as an absolute coordinate.
0BA
Home sensor not yet
detected
This alarm indicates that the actuator equipped with a home check sensor did
not complete homing successfully.
Cause: [1] The work contacted peripheral equipment during the homing.
[2] The slide resistance of the actuator is large in some areas.
[3] The home check sensor is not installed properly, or the sensor
is faulty or its circuit is open.
Action: If the work is not contacting any peripheral equipment, [2] and [3] are
suspected. Contact IAI.
0BE
Homing timeout
Cause: After the start of homing, homing does not complete after elapse of
the time set by the manufacturer’s parameter. (This alarm does not
generate during normal operation.)
Action: As one possible cause, the controller and actuator combination may
be incorrect. Contact IAI.
0C0
Excessive actual speed Cause: The motor speed exceeds the maximum speed set by the
manufacturer’s parameter.
This alarm does not generate during normal operation, but it may
occur if the load decreased before a servo error was detected and
the motor speed has increased as a result. This condition occurs
due to the following reasons:
[1] The slide resistance of the actuator is large in some areas.
[2] The load increased due to momentary application of external
force.
Action: Check the assembly condition of mechanical parts for any
abnormality. If the actuator itself is suspected as the cause, contact
IAI.
0A1
85
Code
Error
Cause/action
0C9
Excessive motor
power-supply voltage
This alarm indicates that the voltage of the motor power supply is excessive
(24 V + 20%: 28.8 V or above).
Cause: [1] The voltage of the 24-V input power supply is high.
[2] Faulty part in the controller
Action: Check the input power-supply voltage.
If the voltage is normal, contact IAI.
0CA
Overheat
This alarm indicates that the temperature around the power transistor in the
controller is excessive (95°C or above).
Cause: [1] High ambient temperature
[2] Defective part in the controller
Action: [1] Lower the temperature around the controller.
If the condition in [1] is not applicable, contact IAI.
0CC
Excessive control
power-supply voltage
This alarm indicates that the voltage of the 24-V input power supply is
excessive (24 V + 20%: 28.8 V or above).
Cause: [1] The voltage of the 24-V input power supply is high.
[2] Faulty part in the controller
Action: Check the input power-supply voltage.
If the voltage is normal, contact IAI.
0CE
Low control
power-supply voltage
This alarm indicates that the voltage of the 24-V input power supply is low (24
V – 20%: 19.2 V or below).
Cause: [1] The voltage of the 24-V input power supply is low.
[2] Faulty part in the controller
Action: Check the input power-supply voltage.
If the voltage is normal, contact IAI.
0E0
Overload
Cause: [1] The load increased due to application of external force.
[2] If the actuator is equipped with a brake, the brake cannot be
released.
[3] The slide resistance of the actuator is large in some areas.
Action: [1] Check the work and its surroundings. If the work is receiving
any abnormal external force, make the necessary corrections to
remove the force.
[2] Turn on the brake release switch to see if the brake is released.
If the brake is not released, the brake itself may be faulty, or an
open cable or faulty brake circuit component in the controller is
suspected, among others.
[3] If the work can be moved by hand, do so to check for any area
where the slide resistance increases.
If [2] or [3] is the case, contact IAI.
Note:
Be sure to remove the cause of the alarm before resuming the
operation. If the power has been cut off, wait for at least 30 minutes
before reconnecting the power to prevent the motor coil from being
burned.
86
(2) Cold Start Alarms
Code
Error
Cause/action
0B7
Indeterminable
magnetic pole
This controller detects the magnetic-pole phase when the servo is turned on
for the first time after turning on the power. This alarm indicates that the
magnetic-pole phase cannot be detected after a specified time.
Cause: [1] The connector of the motor relay cable is loose or its circuit is
open.
[2] If the actuator is equipped with a brake, the brake cannot be
released.
[3] The load increased due to application of external force.
[4] The slide resistance of the actuator itself is high.
Action: [1] Check the wiring condition of the motor relay cable.
[2] Check the wiring condition of the brake cable, and also turn
on/off the brake release switch to check if “click” sound is heard.
[3] Check the assembly condition of mechanical parts for any
abnormality.
[4] If the load is normal, cut off the power and move the actuator by
hand to check the slide resistance.
If the actuator itself is suspected as the cause, contact IAI.
0C8
Overcurrent
Cause: The output current of the power-supply circuit became abnormally
high.
This alarm should not generate in normal conditions of use. If it
generates, the insulation of motor coil may have deteriorated.
Action: Measure the inter-phase resistances among motor connection wires
U, V and W, as well as the insulation resistance between the motor
connection wires and ground, to check for deterioration of insulation.
If you wish to measure the above resistances, contact IAI.
0CB
Current-sensor offset
adjustment error
The status of the current detection sensor in the controller is checked during
the initialization process. This alarm indicates that the sensor was found
abnormal as a result of this check.
Cause: [1] Faulty current detection sensor or peripheral component
[2] Inappropriate offset adjustment
Action: The board must be replaced or offset must be adjusted. Contact IAI.
0D8
Deviation overflow
The position deviation counter has overflowed.
Cause: [1] The speed dropped while the actuator was moving due to
external force, etc.
[2] Unstable excitation detection operation after the power was
turned on
Action: [1] Check the load condition, such as whether the work is
contacting any peripheral equipment or the brake is released,
and remove the cause of the identified problem.
[2] Overload condition is suspected, so check the load.
Reconnect the power, and then perform homing.
0E8
Open phase A/B
detected
Encoder signals cannot be detected correctly.
Cause: [1] The connector of the encoder relay cable is loose or its circuit is
open.
[2] The connector of the supplied actuator cable is loose or its
circuit is open.
Action: Check the connection condition of the encoder relay cable and
perform continuity check. If no abnormality is found, contact IAI.
87
Code
Error
Cause/action
0F4
Inconsistent PCB
This controller uses a different motor drive circuit depending on the motor
capacity, and therefore the installed printed circuit board (PCB) is also
different with each controller.
During the initialization after starting, the controller checks if the motor type
set by the manufacturer’s parameter matches the actual PCB installed.
This alarm indicates that the two do not match.
Cause: The parameter may not be entered correctly or the PCB may not be
assembled correctly.
Action: If you have encountered this error, contact IAI.
0F5
Nonvolatile memory
verification error after
write
When data has been written to the nonvolatile memory, the written data is
read and compared (verified) against the written data for confirmation.
This alarm indicates that the read data does not match the written data.
Cause: [1] Faulty nonvolatile memory
[2] The memory has been rewritten more than 100,000 times. (The
nominal life of the nonvolatile memory is 100,000 rewrite
operations.)
Action: If the problem still persists after the power has been reconnected,
contact IAI.
0F6
Nonvolatile memory
timeout after write
This alarm indicates that no response was received within the specified time
after writing data to the nonvolatile memory.
Cause: [1] Faulty nonvolatile memory
[2] The memory has been rewritten more than 100,000 times. (The
nominal life of the nonvolatile memory is 100,000 rewrite
operations.)
Action: If the problem still persists after the power has been reconnected,
contact IAI.
0F8
Damaged nonvolatile
memory
Abnormal data was detected in the nonvolatile memory check after starting.
Cause: [1] Faulty nonvolatile memory
[2] The memory has been rewritten more than 100,000 times. (The
nominal life of the nonvolatile memory is 100,000 rewrite
operations.)
Action: If the problem still persists after the power has been reconnected,
contact IAI.
0FA
CPU error
The CPU is not operating correctly.
Cause: [1] Faulty CPU
[2] Malfunction due to noise
Action: If the problem still persists after the power has been reconnected,
contact IAI.
88
7.4
Messages Displayed during Teaching Pendant Operation
This section explains the warning messages that may be displayed while operating the teaching pendant.
Code
Message
Description
112
Input data error
An inappropriate value was input as a user parameter setting.
(Example) “9601” was input as the serial communication speed by
mistake.
Input an appropriate value again.
113
114
Input value too small
Input value too large
The input value is under the setting range.
The input value is over the setting range.
Input an appropriate value again by referring to the actuator specifications
and parameter list.
115
Homing not yet complete
The current position was written before homing was complete.
Perform homing first.
117
No movement data
No target position is set under the selected position number.
Input a target position first.
11E
Inconsistent data pair
The magnitude relationship of a pair of data is inappropriate.
(Example) The same value is set in both the + and – soft limit parameters.
Input appropriate values again.
11F
Absolute value too small
The minimum travel toward a target position is determined by the lead of
the drive system and encoder resolution.
This message indicates that the input target position is less than this
minimum travel.
(Example) If the lead is 20 mm, the encoder resolution is 800 pulses and
therefore the minimum travel is calculated as 0.025 mm/pulse
(20 ÷ 800).
If 0.02 mm is input as the target position, this message will be
displayed.
121
Push search end over
The final position in push-motion operation exceeds a soft limit.
No harm is done as long as the actuator contacts the work. If it misses the
work, however, the actuator will reach the soft limit and this message will
be displayed.
Change either the target position or positioning band.
122
Multiple axes connected at An axis number was assigned when multiple axes were connected.
assignment
Always assign an axis number when only one axis is connected.
180
181
182
183
Axis number change OK
Controller initialization OK
Home change all clear
I/O function changed
This is an operation check message.
(It does not indicate misoperation or error.)
202
Emergency stop
An emergency stop is currently actuated.
20A
Servo OFF during
movement
The servo ON signal (SON) was turned OFF by the PLC while the actuator
was moving. As a result, the servo turned OFF and the actuator stopped.
89
Code
Message
Description
20C
CSTR-ON during operation A move command signal from the PLC turned ON while the actuator was
moving, resulting in redundant move commands.
20E
Soft limit over
A soft limit was reached.
221
Write inhibited in monitor
mode
A position table field or parameter was written in the monitor mode.
223
Operation inhibited in
monitor mode
The actuator was moved in the monitor mode.
301
302
304
305
306
308
30A
30B
Overrun error (M)
Framing error (M)
SCIR-QUE OV (M)
SCIS-QUE OV (M)
R-BF OV
Response timeout (M)
Packet R-QUE OV
Packet S-QUE OV
An error occurred in serial communication with the controller.
Cause: [1] Garbage data due to noise
[2] Duplicate slave numbers when multiple actuators are
controlled via serial communication
Action: [1] Revise the wiring, equipment layout, etc., to eliminate noise.
[2] Change the slave numbers to eliminate duplication.
If the message persists, please contact IAI.
307
Memory command denied
A command was denied in serial communication with the controller.
309
Write address error
An indeterminable write address error occurred in serial communication
with the controller.
These messages do not generate during normal operation. Should either
of them occur, record the entire error list before turning off the power. The
recorded error list will help us identify the cause of the problem.
Also contact IAI.
30C
No connected axis
The controller axis number cannot be recognized.
Cause: [1] The controller is not operating properly.
[2] Only the communication line of the supplied cable
(SGA/SGB) is open.
[3] If the SIO converter is used, the link cable is not connected
although the converter is receiving 24 V.
[4] When multiple controllers are linked, the ADRS switch is set
to the same number by mistake on two or more controllers.
Action: [1] Check if the RDY LED on the controller is lit. If this LED is
not lit, the controller is faulty.
[2] If you have a spare teaching pendant, change to the spare
teaching pendant. Or, switch to the PC software mode and
see if the message will disappear.
[3] Connect all pairs of converter and controller using link
cables, and then supply the power.
[4] Set each ADRS switch to a unique number.
If the message persists, please contact IAI.
90
7.5
Common Problems and Recommended Actions
z I/O Signals Cannot Be Sent or Received to/from the PLC.
Cause: [1] The 24-V I/O power supply is connected in reverse polarities.
(In this case, input circuits are not affected, but output circuits will be damaged.)
[2] If an output circuit presents this problem, electrical current exceeding the maximum current
flowed due to a large load and a circuit component was damaged.
[3] Poor contact at the connector or relay terminal block on the PLC side.
[4] The female pins on the flat cable connector are bent outward, thus causing contact failure with
the male pins on the controller connector.
Action: Check the connection condition of the power supply and connector, as well as the load on the output
side.
If [1] or [2] is suspected, the controller must be replaced. If [4] is likely, the flat cable must be
replaced. Either way, contact IAI.
Warning: When checking the continuity of the flat cable, exercise due caution not to bend the female pins
on the connector outward. It may cause contact failure, resulting in malfunction.
z The ALM Lamp Illuminates after the Power Is Turned On.
(An alarm is present, emergency stop is actuated, or the motor power is cut off.)
* If the ALM output signal is OFF, an alarm is present. Connect a PC or teaching pendant to check the nature
of the error and remove the cause.
* If the ALM output signal is ON, the emergency stop circuit is actuated.
Check the following items:
[1] Is the emergency stop switch on the operation panel pressed by mistake? Is the necessary interlock
canceled?
[2] Is the emergency stop switch on the teaching pendant pressed by mistake?
[3] Is Parameter No. 42 (Enable function) enabled by mistake when a teaching pendant is connected that does
not support the enable switch?
[4] If multiple controllers are linked together, are they wired correctly?
z After Turning On the Power, the SV Lamp Does Not Illuminate upon Servo-on Signal Input.
(The Servo Does Not Turn On.)
Cause: [1] Contact failure of the flat cable
[2] Faulty controller
Check the servo-on signal (SON) in the I/O monitor screen on the PC or teaching pendant.
If the signal is input, the controller may be faulty. Contact IAI.
91
z With an Actuator Installed in Vertical Orientation, Positioning Completes Prematurely.
Cause: [1] The load exceeds the rated load capacity.
[2] The ball screw is receiving torsional stress due to the actuator affixing method, uneven
tightening of bolts, etc.
[3] The slide resistance of the actuator itself is high.
Action: If [1] is suspected, increase the value of User Parameter No. 13 (Current-limiting value during
homing).
Increasing the setting of this parameter increases the homing torque. As a guide, keep the current
limiting value to 75% or below.
[2] To check if the condition in [2] is present, loosen the affixing bolts and check if the slider moves
smoothly. If the slider moves smoothly, adjust the affixing method and bolt tightening method.
[3] If the slide resistance of the actuator itself is high, contact IAI.
z The Actuator Overshoots while Decelerating to a Stop.
Cause: The load inertia is high due to an inappropriate balance of the load and deceleration.
Action: Decrease the set deceleration.
z Stopped Position Sometime Deviates from the Home Position or Target Position.
Cause: [1] Encoder waveforms are disturbed due to noise.
[2] If the actuator is of rod type, non-rotational error increased due to application of rotational
moment to the rod.
Action: [1] Check if the grounding is provided correctly, and also check for any equipment that may be
generating noise.
[2] Depending on the condition, the actuator may have to be replaced. Contact IAI.
z The Actuator Moves Only a Half, or as Much as Twice, the Specified Travel.
Cause: [1] The controller and actuator combination is incorrect.
The ball screw lead varies according to the actuator type. If the actuator is not combined with an
appropriate controller, the travel and speed will change.
[2] Pre-shipment setting error at IAI
Action: [1] If multiple actuators of different types are used, check the label on each actuator or use other
means to see if they are connected to correct controllers.
[2] Contact IAI.
z The SV Lamp Blinks.
The automatic servo-off mode is active. (This is not an error or failure.)
92
Appendix
* Appendix
Actuator Specification List
„ Slider Type
Stroke (mm), maximum speed (mm/sec) *1
Type
Maximum loading capacity
Rated acceleration
Horizontal
Horizontal
Vertical
Vertical
„ Rod Type
Type
Stroke (mm), maximum speed (mm/sec) *1
Rated
thrust
Maximum
push force
Maximum loading capacity
Horizontal
Vertical
Rated acceleration
Horizontal
Vertical
„ Arm Type
Maximum loading capacity
Type
Stroke (mm), maximum speed (mm/sec) *1
Thrust
Horizontal
Vertical
Rated acceleration
Horizontal
Vertical
„ Dustproof/Splash-proof Type
Type
Stroke (mm), maximum speed (mm/sec) *1
*1
Maximum Maximum loading capacity Rated acceleration
push
Horizontal
Horizontal Vertical
Vertical
force
The elongated circle represents applicable strokes, and the value in the elongated
circle indicates the maximum speed corresponding to each applicable stroke.
93
94
2
1
0
No.
Position
[mm]
Speed
[mm/s]
Acceleration
[G]
Position Table Record
Deceleration
[G]
Push
[%]
Threshold
[%]
Positioning
band
[mm]
Zone + Zone –
[mm]
[mm]
Acceleration/
deceleration
mode
Incremental
Command Standstill
mode
mode
Date Recorded:
Appendix
Appendix
Parameter Record
Recorded date:
No.
Type
Name
1
a
Zone limit 1 + side
2
a
Zone limit 1 – side
mm
3
a
Soft limit + side
mm
4
a
Soft limit – side
mm
5
a
Home direction [0: Reverse / 1: Forward]
6
b
Push-motion completion judgment time
7
d
Servo gain number
8
b
Default speed
Unit
Data
mm
msec
mm/sec
9
b
Default acceleration/deceleration
10
b
Default positioning band (in-position)
G
13
b
Current-limiting value during homing
16
c
17
c
SIO communication speed
Minimum delay time for slave transmitter activation
18
b
Home sensor input polarity
-
21
c
Servo-on input disable selection [0: Enable / 1: Disable]
-
mm
%
bps
msec
22
a
Home offset
mm
23
a
Zone limit 2 + side
mm
24
a
Zone limit 2 – side
mm
25
c
28
b
PIO pattern selection
Default direction of excited phase signal detection
[0: Reverse / 1: Forward]
29
b
Excited phase signal detection time
30
b
Pole sensing type [0: Current suppression / 1: Distance
suppression]
-
31
d
Speed loop proportional gain
-
32
d
Speed loop integral gain
-
33
d
Torque filter time constant
-
34
b
Push speed
mm/sec
35
b
Safety speed
mm/sec
36
b
Automatic servo-off delay time 1
sec
37
b
Automatic servo-off delay time 2
sec
38
b
sec
msec
39
c
Automatic servo-off delay time 3
Positioning complete signal output mode [0: PEND / 1: INP]
42
b
Enable function [0: Enable / 1: Disable]
43
b
Home check sensor input polarity
-
45
c
Silent interval multiplication factor
times
46
b
Speed override
52
b
Default acceleration/deceleration mode
-
53
b
Default standstill mode
-
54
d
Current control band number
55
b
Primary filter time constant for position command
56
b
S-motion ratio setting
%
71
d
Feed-forward gain
-
-
%
msec
95
96
Catalog No.: ACON-CY Controller MJ0167-1A-Feb0707-1
Head Office: 2690 W. 237th Street, Torrance, CA 90505
TEL (310) 891-6015 FAX (310) 891-0815
Chicago Office: 1261 Hamilton Parkway, Itasca, IL 60143
TEL (630) 467-9900 FAX (630) 467-9912
New Jersey Office: 7 South Main St., Suite-F, Marlboro, NJ 07746
TEL (732) 683-9101 FAX (732) 683-9103
Web page: www.intelligentactuator.com
Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany
TEL 06196-88950 FAX 06196-889524
The information contained in this document is subject to change without notice for the purpose of product improvement.
Copyright © 2007. Feb. IAI Corporation. All rights reserved.
Was this manual useful for you? yes no
Thank you for your participation!

* Your assessment is very important for improving the work of artificial intelligence, which forms the content of this project

Download PDF

advertising