IAI America DCON-CGB First Step Guide

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IAI America DCON-CGB First Step Guide | Manualzz

ACON-C/CG, PCON-C/CG

First Step Guide Third Edition

Thank you for purchasing our product.

Make sure to read the Safety Guide and detailed Instruction Manual (DVD) included with the product in addition to this First Step Guide to ensure correct use.

This Instruction Manual is original.

Warning : Operation of this equipment requires detailed installation and operation instructions which are provided on the DVD Manual included in the box this device was packaged in. It should be retained with this device at all times.

A hardcopy of the Manual can be requested by contacting your nearest IAI Sales Office listed at the back cover of the Instruction Manual or on the First Step Guide.

• Using or copying all or part of this Instruction Manual without permission is prohibited.

• The company names, names of products and trademarks of each company referred to are registered trademarks.

• EtherCAT® is a registered mark of Beckoff Automation GmbH.

• EtherNet/IP is a trademark used under the license of ODVA.

Product Check

A standard configuration of this product is comprised of the following parts.

If you find any fault in the contained model or any missing parts, contact us or our distributor.

1. Parts

1 Controller

Model

Refer to “How to read the model plate” and “How to read the model of the controller”.

Accessories

2 First Step Guide

3 Instruction Manual (DVD)

Remarks

2. Teaching Tool (Option)

The PC software or teaching tool is necessary to perform setup operations such as position and parameter settings through teaching or other means. Prepare any teaching tool.

Model

1

2

PC Software

(RS232C converter adapter + External equipment communication cable are included)

RCM-101-MW

PC Software

(USB converter adapter + USB cable + External equipment communication cable are included) RCM-101-USB

3 Touch panel teaching CON-PT

4 Touch panel teaching (Dead-man Switch is included)

5 Touch panel teaching (Dead-man Switch + TP Adapter (RCB-LB-TG) are included)

CON-PD

CON-PG

CON-T

7 Teaching pendant (Dead-man Switch + TP Adapter (RCB-LB-TG) are included)

8 Simplified teaching pendant setter *1

*1 For the data setter, the actuator can not be moved.

2 EtherNet/IP Instruction Manual

CON-TG

RCM-E

RCM-P

3. Instruction Manuals related to this product, which are contained in the Instruction Manual (DVD).

No. Name

ME0273

ME0278

3 ACON-C/CG Controller Instruction Manual

4 PCON-C/CG/CF Controller Instruction Manual

5 PC Software

6 Touch panel teaching

RCM-101-MW/ RCM-101-USB Instruction Manual

CON-PT/PD/PG Instruction Manual

7 Teaching pendant CON-T/TG Instruction Manual

8 Simplified Teaching Pendant RCM-E Instruction Manual

9 Data setter RCM-P Instruction Manual

4. How to read the model plate

ME0176

ME0170

ME0155

ME0227

ME0178

ME0174

ME0175

Model

Serial number

5. How to read the model of the controller

A C O N - C - 2 0 I H A - N P - 2 - 0 - A B U

<Series>

<Type>

C : Positioner Drive Interruption Relay: Built-in Type

CG : Positioner Drive Interruption Relay: External Type

For Simplified Absolute Unit Connection

<Power-supply Voltage>

0 : 24V DC

<I/O Cable Length>

0 : Equipped with no cable 3 : 3m

2 : 2m (standard) 5 : 5m

<Actuator Characteristics>

[Motor Type]

2 : 2W

5W

10 : 10W

20S : RA3, RA4, TA5

Dedicated 20W

20W

30W

[Encoder type]

I : Incremental

[Option]

No Indication : Standard Type

HA

LA

: High Acceleration/Deceleration Type

: Less Power consumption Type

<I/O Type>

NP : NPN Specification (Sink Type) (Standard)

PN : PNP Specification (Source Type)

DV : DeviceNet Connection Type

CC : CC-Link Connection Type

EC : EtherCAT® Connection Type

PR : PROFIBUS Connection Type

CN : CompoNet Connection Type

ML : MECHATROLINK Connection Type

[PCON-C/CG/CF]

<Series>

<Type>

[Motor Flange Size]

EP : EtherNet/IP Connection Type

P C O N - C - 2 0 I - P R - 2 - 0 - A B U - H

High Acceleration Transport Type

C : Positioner Drive Interruption Relay: Built-in Type

CG : Positioner Drive Interruption Relay: External Type

<Actuator Characteristics>

<Power-supply Voltage>

0 : 24V DC

<I/O Type>

For Simplified Absolute Unit Connection

0 : Equipped with no cable 3 : 3m

2 : 2m (standard) 5 : 5m

:

28P : 28 □Size 42P

(Dedicated to RA3C)

[Encoder type]

86P : 86 □Size

I : Incremental

<I/O Type>

NP : NPN Specification (Sink Type) (Standard)

PN : PNP Specification (Source Type)

DV : DeviceNet Connection Type

CC : CC-Link Connection Type

EC : EtherCAT® Connection Type

PR : PROFIBUS Connection Type

CN : CompoNet Connection Type

ML : MECHATROLINK Connection Type

EP : EtherNet/IP Connection Type

Basic Specifications

ACON Specifications (Controller for RCA2/RCA/RCL Series)

Specification Item

ACON-C (Driving Source Interruption Relay: Built-in Type)/

ACON-CG (Driving Source Interruption Relay: External Type)

Number of Controlled Axes

Power-supply Voltage

Control Power Capacity

Motor Power

Capacity Note 1

1 Axis/unit

24V DC ±10%

0.5A

Standard Type /High Accel/Decel Type Low or Less (LA) Power consumption Type

Rated Max Note 2 Rated Max Note 2

1.3A 4.4A 1.3A 2.5A

RCA/

RCA2

20W (Model No. : 20)

20W (Model No. : 20S)

Dedicated to RA3, RA4 and TA5 Types

1.7A 5.1A 1.7A 3.4A

RCL

Heat Generation

Axis Control System

Data Input Method

Field Bus Port

Communication Cable Length

8.4W

Sinusoidal wave PWM vector current control

Connecting a teaching tool such as PC software [Refer to teaching tool (option)]

For input 1 channel, For output 1 channel

Refer to each Fieldbus specification

Protective Functions

Backup Memory

Overvoltage, motor over current, motor overload, driver temperature abnormality, and Encoder abnormality etc.

Save the position data and parameters onto the non-volatile memory.

About 100,000 times of serial EEPROM reload

Encoder

Resolution

RCA2

RCL

Serial Communication RS485 1 channel (Modbus Complying to the Protocol)

Electromagnetic Brake Forced Releasing Function Releasing can be performed with NOM/BK RLS switch (on front panel)

Cable Length

Insulation Strength

Actuator cable : 20m or less

500V DC 10M Ω

Environment

Except for RCA2□□□N 800 Pulse/rev

RA1L·SA1L·SA4L·SM4

L

715 Pulse/rev

855 Pulse/rev RA2L·SA2L·SA5L·SM5

L

RA3L·SA3L·SA6L·SM6

L

1145 Pulse/rev

Surrounding air temperature

Surrounding humidity

Surrounding environment

0 to 40 °C

85%RH or less (non-condensing)

Refer to Installation Environment

Surrounding storage temperature −10 to 65°C

Surrounding storage humidity

Vibration resistance

90% RH or less (non-condensing)

XYZ Each direction 10 to 57Hz Pulsating amplitude 0.035mm (continuous) 0.075mm (intermittent)

57 to 150Hz 4.9m/s 2 (continuous) 9.8m/s 2 (intermittent)

Protection Class

Use Enviroment

Cooling Method

Weight

External Dimensions

IP20

Pollution degree 2

Natural air-cooling

300g or less

35W × 178.5H × 69.1D [mm]

Note 1 For inrush current, current 5 times to 12 times more of the rated current passes about 1 to 2msec. after the power is input. The inrush current value varies depending on the impedance of the power line.

Note 2 The current reaches its maximum level when the servo-motor exciting phase is detected which is to be performed in the first servo-motor turning

ON processing after the power injection. (Normal: Approx. 1 to 2sec, Max.:

10sec)

Select a +24V DC power supply preferably offering “peak load support”, or one with sufficient inrush capacity.

In particular, in the case of the unit with the remote sensing function, the greatest care is required.

PCON Specifications (Controller for RCP3/RCP2 Series)

Specification Item

Number of Controlled Axes

Power-supply Voltage

Control Power Capacity

Motor Power

Capacity Note 1

20P, 28P, 28SP Motor

35P, 42P, 56P Motor

Waste Heat Value

Control Method

Data Input Method

PCON-C

(Interruption Relay: Built-in Type)

PCON-CG

(Interruption Relay: External Type)

1 Axis/unit

24V DC ±10%

0.5A

0.4A

1.2A

2.0A

Rated

0.4A

1.2A

Max Note 2

2.0A

9.6W

Weak field-magnet vector control

Connecting a teaching tool such as PC software [Refer to teaching tool (option)]

Field Bus Port

Communication Cable Length

Protective Functions

Backup Memory

For input 1 channel, For output 1 channel

Refer to each Fieldbus specification

Overvoltage, motor over current, motor overload, driver temperature abnormality, and Encoder abnormality etc.

Save the position data and parameters onto the non-volatile memory.

About 100,000 times of serial EEPROM reload

Encoder Resolution

Serial Communication

Electromagnetic Brake Forced Releasing Function

Cable Length

Incremental Type 800 Pulse/rev

RS485 1 channel (Modbus Complying to the Protocol)

Releasing can be performed with NOM/BK RLS switch (on front panel)

Actuator cable : 20m or less

Insulation Strength

Environment Surrounding air temperature

Surrounding humidity

Surrounding environment

500V DC 10M Ω

0 to 40 °C

85%RH or less (non-condensing)

Refer to Installation Environment

Surrounding storage temperature −10 to 65°C

Surrounding storage humidity 90% RH or less (non-condensing)

Vibration resistance XYZ Each direction 10 to 57Hz Pulsating amplitude 0.035mm (continuous) 0.075mm (intermittent)

57 to 150Hz 4.9m/s 2 (continuous) 9.8m/s 2 (intermittent)

Protection Class

Use Enviroment

Cooling Method

IP20

Pollution degree 2

Natural air-cooling

Weight

External Dimensions

300g or less

35W × 178.5H × 69.1D [mm]

Note 1 For inrush current, current 5 times to 12 times more of the rated current passes about 1 to 2msec. after the power is input. The inrush current value varies depending on the impedance of the power line.

Note 2 The excitation detection operation is performed after the power is input.

In such a case, the current becomes maximum (normally 100msec)

However, a current of approx. 6.0A flows if the motor driving power is turned on again after it is shutdown. (for approx. 1 to 2msec)

Select a +24V DC power supply preferably offering “peak load support”, or one with sufficient inrush capacity.

In particular, in the case of the unit with the remote sensing function, the greatest care is required.

External Dimensions

Shown below are the dimensions for EtherCAT® type. The dimensions for EtherNet/IP should also be the same.

35

69.1

φ5

35

5

Connection Diagram

● In the case of EtherCAT®

Host System (PLC)

Touch Panel Teaching

(Option)

PC Software

(Option)

Brake Release

Switch

Power Supply Terminal section for the power supply and emergency stop circuit.)

Ethernet Straight Cable

(Note 1)

(general-purpose cable, Category 5e or more)

Status Display LED

Status LED

Mode Change

Switch

(Connect the cables referring the

Actuator

I/O Slave, etc.

Actuator

(Note 1) STP (single twisted pair) (with shield) is recommended for Ethernet cable.

(Note 2) It is necessary to prepare a power supply cable and the cables for the emergency stop circuit wiring as well as this cable. [Refer to Power Supply and Emergency Stop Circuit.]

● In the case of EtherNet/IP

Host System (PLC)

(Option)

Ethernet

Straight Cable

Touch Panel Teaching

(Note 1)

Status Display LED

Status LED

Hub

Ethernet

Straight Cable (Note 1)

(general-purpose cable,

Category 5e or more)

Mode Change

Switch

I/O Slave, etc.

Brake Release

Switch

PC Software

(Option)

Power Supply Terminal

(Connect the cables referring the section for the power supply and emergency stop circuit.)

Actuator Actuator

(Note 1) STP (single twisted pair) (with shield) is recommended for Ethernet cable.

(Note 2) It is necessary to prepare a power supply cable and the cables for the emergency stop circuit wiring as well as this cable. [Refer to Power Supply and Emergency Stop Circuit.]

Installation Environment

This product is capable for use in the environment of pollution degree 2 *1 or equivalent.

*1 Pollution Degree 2 : Environment that may cause non-conductive pollution or transient conductive pollution by frost. (IEC60664-1)

1. Installation Environment

Do not use this product in the following environment.

• Location where the surrounding air temperature exceeds the range of 0 to 40 °C

• Location where condensation occurs due to abrupt temperature changes

• Location where relative humidity exceeds 85%RH

• Location exposed to corrosive gases or combustible gases

• Location exposed to significant amount of dust, salt or iron powder

• Location subject to direct vibration or impact

• Location exposed to direct sunlight

• Location where the product may come in contact with water, oil or chemical droplets

• Environment that blocks the air vent [Refer to Installation and Noise Elimination Section]

When using the product in any of the locations specified below, provide a sufficient shield.

• Location subject to electrostatic noise

• Location where high electrical or magnetic field is present

• Location with the mains or power lines passing nearby

2. Storage and Preservation Environment

• The storage and preservation environment should comply with the same standards as those for the installation environment. In particular, when the machine is to be stored for a long time, pay close attention to environmental conditions so that no condensation forms. Unless specially specified, moisture absorbency protection is not included in the package when the machine is delivered. In the case that the machine is to be stored and preserved in an environment where

!

condensation is anticipated, take the condensation preventive measures from outside of the entire package, or directly after opening the package.

Installation and Noise Elimination

1. Noise Elimination Grounding (Frame Ground)

Controller

Connect the grounding cable to the set machine screw on the main machine.

Controller

Other equipment

Earth Terminal

Copper wire:

Connect to a ground cable with a diameter of 1.6mm or more.

Class D grounding

(Formerly Class-III grounding:

Grounding resistance at 100 Ω or less)

2. Precautions regarding wiring method

(1) Twist the wires for the 24V DC power unit.

(2) Separate the communication line from the power line.

3. Noise Sources and Elimination

Controller

Other equipment

Other equipment

Do not share the ground wire with or connect to other equipment. Ground each controller.

Surge Absorber Relay Coil

Carry out noise elimination measures for power devices on the same power path and in the same equipment.

The following are examples of measures to eliminate noise sources.

(1) AC solenoid valves, magnet switches and relays

[Measure] Install a Surge absorber parallel with the coil.

(2) DC solenoid valves, magnet switches and relays

[Measure] Install a diode parallel with the coil. Use a

DC relay with a built-in diode.

4. Heat Radiation and Installation

+

+24V 0V

-

+24V

Relay Coil

R

C

0V

Conduct design and manufacture in consideration of the control box size, controller layout and cooling in such a way that the temperature around the controller will be 40 °C or less.

Fan

50mm or more

5mm or more

(Note)

50mm or more

(Note) Make sure to keep a space between each

95mm or more

Airflow controller so the work procedures to attach and detach the controllers can be performed easily.

(5mm or more is recommended.)

Power Supply and Emergency Stop Circuit

This shows the circuit example when the emergency stop switch in the teaching pendant is enabled on the emergency stop circuit to be built up by the client.

● Driving Source Interruption Relay : Built-in Type : ACON-C, PCON-C

• In the case of the use of a single controller:

Teaching Pendant (Note 2)

+24V

External

EMG Reset

Switch

CR

External

EMG

Switch

CR (Note 3)

(Note 1)

ACON-C,

PCON-C

S1

S2

EMG

MPI

MPO

24V

0V

EMG Switch

MAX 0.1A

(30V DC)

Motor Power Breaker Relay

(Coil current 10mA or less)

GND

Motor Power Unit

Control Power Supply

CR

0V

• In the case of the use of two or more controllers:

Teaching Pendant

(Note 2)

EMG Switch

+24V

External

EMG Reset

Switch

External

EMG

Switch

ACON-C,

PCON-C

S1

MAX 0.1A

(30V DC)

0V

CR

CR (Note 3)

(Note 1)

S2

EMG

MPI

MPO

24V

0V

S1

Motor Power Breaker Relay

(Coil current 10mA or less)

GND

Motor Power Unit

Control Power Supply

CR (Note 3) (Note 1)

S2

EMG

MPI

MPO

24V

Second Unit

0V

S1

CR (Note 3) (Note 1)

S2

EMG

MPI

MPO

24V nth Unit

0V

CR

Note 1 When a shutoff is required for the motor driving power supply equivalent to Safety Category 2, connect 24V to EMG terminal and connect a safety contactor to the wire between MPI and MPO terminals.

Note 2 When the teaching pendant is inserted into the controller, the controller confirms it automatically.

Note 3 The CR contact must be rated for 24V DC at 0.1A or more.

● Driving Source Interruption Relay : Built-in Type : ACON-CG, PCON-CG

• In the case of the use of a single controller:

+24V

External

EMG Reset

Switch

CR

External

EMG

Switch

CR (Note 2)

ACON-CG,

PCON-CG

S1

S2

EMG

MPI

MPO

24V

0V

• In the case of the use of two or more controllers:

+24V

External

EMG Reset

Switch

CR

External

EMG

Switch

ACON-CG,

PCON-CG

S1

S2

EMG −

CR (Note 2)

CR (Note 2)

CR (Note 2)

MPI

MPO

24V

0V

S1

S2

EMG −

MPI

MPO

24V

0V

S1

S2

EMG −

MPI

MPO

24V

0V

Teaching Pendant (Note 1)

EMG Switch

MAX 0.1A

(30V DC)

Motor Power Unit

Control Power Supply

Teaching Pendant (Note 1)

EMG Switch

MAX 0.1A

(30V DC)

Motor Power Unit

Control Power Supply

Second Unit nth Unit

CR

CR

0V

0V

Note 1 When the teaching pendant is inserted into the controller, the controller confirms it automatically.

Note 2 The CR contact must be rated according to the load it will encounter, which is dependent upon the motor current rating.

Operation Modes and Functions (Common to Each Fieldbus)

The machine can be operated selecting one of the following five operation modes.

(1) Remote I/O Mode : This is the method whereby operation replicates hard wire PIO operation through field bus bit manipulation.

(2) Position/

Simple Direct

Value Mode

: This is the method where the machine is operated by means of directly

specifying the target position using numerical values.

For the speed, acceleration, deceleration, or positioning width, the already registered position data values are used.

(3) Half Direct Value Mode : In this operation mode, in addition to the target position, the speed, acceleration, deceleration and push current value are directly specified using numerical values.

(4) Full Direct Value Mode : In this operation mode, all the values related to the position control, are directly specified using numerical values.

(5) Remote I/O Mode 2 : Here, current position and current speed feedback functions are added to the remote I/O mode.

Operation Modes and Main Functions

Main Functions

Remote I/O

Mode

Position/

Simple Direct

Value Mode

8

Half Direct

Value Mode

Full Direct

Value Mode

Remote I/O

Mode 2

No. of Occupied Bytes

Operation with the Position No.

Specified

Operation with the Position Data

Specified

Speed and Acceleration Direct Setup

Pressing Operation

Current Position Read

Current Speed Read

Completion Position No. Read

Max. Number of position table

2

×

×

×

×

512

○ (Note)

×

×

16 32 12

○ × × ○

○ ×

○ ×

○ × × ○

768 Not Applicable Not Applicable 512

(Note) The actuator is operated by specifying all position data, other than the position, using a position number.

EtherCAT®

Specification

Item Specification

Communication Protocol

Physical Layer

Communication Cable

IEC61158Type12

100BASE-TX (IEEE802.3)

Communication Frequency Automatically follows the Master

Communication Cable Length Depends on EtherCAT® Specification (Distance between each node: 100m max.)

Slave Type

Applicable Node Address

I/O slave

0 to 127

(17 to 80 : When connected to the master (CJ1W-NC*82) manufactured by OMRON)

Category 5e or more

(Double shielded cable braided with aluminum foil recommended)

Connection Daisy chain only

Interface Section

Status Display LED

Status LED (RUN/ERR)

EtherCAT® Output Port

Link/Activity LED (Output)

EtherCAT® Input Port

Link/Activity LED (Input)

(Note) Refer to the troubleshooting or the Instruction Manual for the details of LED displays.

EtherCAT® Connector

8

Pin No.

1

2

3

Signal Name Abbreviated Code

Data sending + TD+

Data sending − TD−

Data receiving + RD+

EtherNet/IP

Specification

Item Specification

Communication Protocol

Physical Layer

IEC61158Type12

100BASE-TX (IEEE802.3)

Communication Cable Length Depends on EtherCAT® Specification (Distance between each node: 100m max.)

Number of Connection

Applicable Node Address

Communication Cable

Depends on the master unit

0.0.0.0 to 255.255.255.255

Category 5e or more

(Double shielded cable braided with aluminum foil recommended)

Interface Section

Status LED

NS LED

MS LED

EtherNet/IP Port

Status Diplay LED

(Note) Refer to the troubleshooting or the Instruction Manual for the details of LED displays.

EtherNet/IP Connector

8

Pin No.

1

2

3

Signal Name Abbreviated Code

Data sending + TD+

Data sending − TD−

Data receiving + RD+

1

6 Data receiving − RD−

RJ45 8-pin

Modular Connector

(Controller side)

Connector Hood Security grounding FG

● Operation Mode Setting and Address Allocation

The operation mode is set using the parameters.

Set the mode change switch on the controller front panel to “MANU” side and set the parameter No. 84

“FMOD: Field Bus Operation Mode” using the teaching tool such as PC software for RC.

[Refer to the Instruction Manual for the details]

● Communication Speed Setting

The Communication speed can be set with the parameter. A special setting is not necessary since it is set to automatic negotiation when the product is delivered. However, when a fixed speed is required, change the setting to the desired speed in Parameter No. 86 “FBRS: Fieldbus Communication Speed” of the teaching tool in the PC software for RC.

[Refer to the Instruction Manual for the details]

● IP Address Setting

IP Address can be set with the parameter.

Set Parameter No. 140 “IPAD: IP Address” with a teaching tool such as PC software for RC.

Settable Range : 0.0.0.0 to 255.255.255.255 (It is set to “192.168.0.1” when the machine is delivered from the factory.)

● Settings for Subnet Mask

Subnet Mask can be set with the parameter.

Set Parameter No. 141 “SNMK: Subnet Mask” with a teaching tool such as PC software for RC.

Settable Range : 0.0.0.0 to 255.255.255.255 (It is set to “255.255.255.0” when the machine is delivered from the factory.)

● Settings for Default Gateway

Default Gateway can be set with the parameter.

Set Parameter No. 142 “DFGW: Default Gateway” with a teaching tool such as PC software for RC.

Settable Range : 0.0.0.0 to 255.255.255.255 (It is set to “0.0.0.0” when the machine is delivered from the factory.)

(Note) After parameter setting, reset the controller mode change witch to “AUTO” side, and then cycle the controller power.

Starting Procedure

When using this product for the first time, make sure to avoid mistakes and incorrect wiring by referring to the procedure below.

This section explains how to start up an EtherCAT® or EtherNet/IP complaint ACON or PCON (described as the “controller” in the following diagram). For the settings and wiring of each of the individual devices, controllers, and actuators connected to the network, refer to the individual device’s Instruction Manual.

Check of Packed Items

Has everything been received?

No→

Contact us or our distributor.

↓Yes

Installation and Wiring

Follow Instruction Manual and this manual to install the controller and connect to the network.

Also, perform the wirings of the motor and encoder cables for the power supply unit and the actuators following the Instruction Manual of each controller.

Point Check Item

• Is frame ground (FG) connected?

• Has the noise countermeasure been taken?

←Yes

To turn ON the controller

1) Set the mode switch on the front panel to MANU side.

2) Set the brake release switch on the front panel to NOM side.

3) Connect a teaching tool such as the PC software.

4) Turn the power ON and start up the teaching tool with

“Teaching Mode Safety Speed Valid” setting.

→ Important Check Item

Is the status display LED on the front panel turned off?

Yes↓

No↓

Check the detail of the alarm on the teaching tool and remedy any errors.

Controller Initial Settings

Refer to each fieldbus section to perform the necessary parameter settings of the modes, addresses, etc.

• Set Parameter No. 35 Safety Speed if necessary. (Initial Value: 100mm/s)

Servo ON

Turn the servo ON by operating the controller.

Note (In the case that the actuator is in vertical mount)

When the machine is turned ON/OFF repeatedly at the same position, the actuator position may lower slightly due to its own

→ Important Check Item

Is the status display LED turned on in green?

Yes↓

No↓

Check of Safety Circuit

Check that the emergency stop circuit (or motor drive-power cutoff circuit) operates normally to turn OFF the servo.

Settings on Host System

Refer to PLC Instruction Manual to perform the communication settings and so on.

If an alarm is generated (status display

LED is on in red), check the detail of the alarm on the teaching tool and remedy any errors.

Confirming Communication Establishment

• Confirm the communication is established on the status LED on the front

panel. [Refer to the troubleshooting]

• Is the LED status in normal condition? Is PLC (master unit) side also

in normal condition?

(Note) Refer to PLC and master unit Instruction Manuals for how to check

the master unit side.

No→ Refer to the Instruction Manual for each unit, controller and PLC to check each setting.

↓Yes

Communication is now established. Perform an operation check and adjustment for the system.

1 6 Data receiving − RD−

RJ45 8-pin

Modular Connector

(Controller side)

Connector Hood Security grounding FG

● Operation Mode Setting and Address Allocation

The operation mode is set using the parameters.

Set the mode change switch on the controller front panel to “MANU” side and set the parameter No. 84

“FMOD: Field Bus Operation Mode” using the teaching tool such as PC software for RC.

[Refer to the Instruction Manual for the details]

● Node address setting

Node address can be set with the parameter.

Set Parameter No. 85 “NADR: Fieldbus Node Address” with a teaching tool such as PC software for RC.

Settable Range : 0 to 127 (It is set to 17 which is the I/O slave top address of EtherCAT® at the delivery.)

● Communication Speed Setting

The setting for the communication speed is not required because it automatically follows the master’s communication speed.

(Note) After parameter setting, reset the controller mode change witch to “AUTO” side, and then cycle the controller power.

Trouble Shooting

If an error has occurred, it is possible to check the operation condition on the status LEDs on the front panel.

● Status LED Displays of EtherCAT® Type

OFF

Description

Initial condition (EtherCAT® communication in “INIT” condition) or the power is OFF

GN (Illuminating)

In normal operation (EtherCAT® communication in

“OPERATION” condition)

RUN

(EtherCAT® communication in “PRE-OPERATION” condition)

GN (Flashing)

(ON:200ms/OFF:200ms)

GN (Flashing)

(ON:200ms/OFF:1000ms)

OR (Illuminating)

(EtherCAT® communication in “SAFE-OPERATION” condition)

Communication component (module) error

ERR

Link/

Activity

OFF

OR (Flashing)

(ON:200ms/OFF:200ms)

OR (Flashing)

(ON:200ms × 2 times

/OFF:1000ms)

OR (Illuminating)

OFF

GN (Illuminating)

GN (Flashing)

(ON:50ms/OFF:50ms)

No abnormality or the power is OFF

Construction information (settings) error

(Information received from the master cannot be set)

Communication section circuit error

(Watchdog timer timeout)

Communication component (module) error

Link status not detected or the power is OFF

Linked (No network congestion)

Linked (Network in congestion)

● Status LED Displays of EtherNet/IP Type

NS

Description

OFF Power is OFF or IP addresses are not set

GN (Illuminating) Connection is established and the communication under normal condition.

GN (Flashing)

RD (Illuminating)

RD (Flashing)

Online but network connection is not yet established. Communication Stop

(Network is normal). Check the conditions of master unit.

Communication Error.

Communication cannot be established due to the error detection such as IP address duplication.

Communication Error.

(Communication Time-out Detection)

Check the conditions of IP address settings, communication line, the power of hub units, noise prevention, etc.

MS

GN (Illuminating)

GN (Flashing)

RD (Illuminating)

RD (Flashing)

The machine is in the normal operation.

The machine is under the control of the scanner (master)

The connection with the scanner (master) is not established.

Check the construction information settings.

Check if the scanner (master) is in the idle condition.

Hardware Error.

The replacement of the board is required. Please contact us.

There is an error occurred but is not critical such like a user setting error or configuration error.

It can be recovered with a rebuild of the settings.

When an error occurs, connect the teaching tool such as PC software or teaching pendant and check it using the status monitor.

All the alarms for the fieldbus related are described as follows. For other alarms, refer to the instruction manual for the controller body and remedy it.

Name

ID

(*1)

RES

(*2)

Cause/Treatment

0F2

Fieldbus

Module Error

Cause

05 ×

: An error is detected on Fieldbus module (circuit component)

Treatment : Check the parameter.

0F3

Undetected

Fieldbus Module

Error

Cause : Fieldbus module (circuit component) cannot be detected

Treatment : Turn ON the power again. If the error is not removed, contact our company.

(*1) ID → Simple Alarm Code

(*2) RES → Alarm Reset Available/Unavailable ○ : Alarm Reset Available/× : Alarm Reset Unavailable

Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan

TEL +81-54-364-5105 FAX +81-54-364-2589 website: www.iai-robot.co.jp/

Technical Support available in USA, Europe and China

Head Office: 2690 W. 237th Street, Torrance, CA 90505

TEL (310) 891-6015 FAX (310) 891-0815

Chicago Office: 110 East State Parkway, Schaumburg, IL 60173

TEL(847) 908-1400 FAX (847) 908-1399

Atlanta Office: 1220 Kennestone Circle, Suite 108, Marietta, GA 30066

TEL (678) 354-9470 FAX (678) 354-9471 website: www.intelligentactuator.com

Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany

TEL 06196-88950 FAX 06196-889524

SHANGHAI JIAHUA BUSINESS CENTER A8-303, 808, Hongqiao Rd. Shanghai 200030, China

TEL 021-6448-4753 FAX 021-6448-3992 website: www.iai-robot.com

825 PhairojKijja Tower 12th Floor, Bangna-Trad RD., Bangna, Bangna, Bangkok 10260, Thailand

TEL +66-2-361-4458 FAX +66-2-361-4456

Manual No.: ME0275-3D

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