LECP6 Series - SMC Pneumatics

Doc. no. LEC-OM00603
PRODUCT NAME
Step Motor Controller
(Servo / 24VDC)
MODEL/ Series
LECP6 Series
Contents
1. Safety Instructions..........................................................................................4
2. Product Outline ...............................................................................................6
2.1 Product features ........................................................................................6
2.2 How to Order..............................................................................................7
2.3 Product configuration ...............................................................................8
2.4 Start up Procedures ..................................................................................9
(1) Confirmation of the package content ...................................................9
(2) Installation...............................................................................................9
(3) Wiring and connection ...........................................................................9
(4) Power ON alarm (error) ........................................................................10
(5) Operation pattern setting .....................................................................10
(6) Trial run (actuator adjustment)............................................................10
3. Product Specifications .................................................................................11
3.1 Basic specifications ................................................................................11
3.2 Parts description .....................................................................................12
3.3 Outside dimension diagram ...................................................................13
(1) Screw mount type (LECP6**-*) ............................................................13
(2) DIN rail mount type (LECP6**D-*) ........................................................13
3.4 How to install ...........................................................................................14
(1) How to install ........................................................................................14
(2) Ground wire connection ......................................................................14
(3) Installation location ..............................................................................15
4. External Wiring Diagram ..............................................................................16
4.1 CN1: Power connector ............................................................................16
4.2 CN2: Motor power connector and CN3: Encoder connector ...............16
4.3 CN4: Serial I/O connector .......................................................................16
(1) Connection with the teaching box ......................................................16
(2) Connection with a PC...........................................................................17
4.4 CN5: Parallel I/O connector ....................................................................17
5. CN1: Power supply plug...............................................................................18
5.1 Power supply plug specifications..........................................................18
5.2 Electric wire specifications.....................................................................18
5.3 Wiring of power supply plug ..................................................................19
(1) Wiring of the power supply..................................................................19
-1-
(2) Wiring of the stop switch .....................................................................19
(3) Wiring of the lock release ....................................................................19
5.4 Stop circuits .............................................................................................20
(1) Example circuit 1- Single controller with teaching Box ....................20
(2) Example circuit 2 - multiple controllers (Stop relay contact (1)) ......21
(3) Example circuit 3 - Motor power shutdown (relay contact (2)) .........22
6. CN5: Parallel l/O Connector .........................................................................23
6.1 Parallel I/O specifications .......................................................................23
6.2 Parallel I/O type (NPN/PNP type) ............................................................23
(1) Parallel I/O input circuit (same for both NPN and PNP type) ............23
(2) Parallel I/O output circuit .....................................................................23
6.3 The parallel I/O signal is detailed. ..........................................................24
6.4 Parallel I/O Wiring Example ....................................................................27
7. Setting Data Entry .........................................................................................28
7.1 Step data...................................................................................................28
7.2 Basic parameter.......................................................................................31
7.3 Return to origin parameter .....................................................................33
8. Return to origin .............................................................................................34
8.1 Return to origin........................................................................................34
8.2 Positioning operation..............................................................................34
8.3 Pushing operation ...................................................................................35
(1) Pushing operation is successfully performed. ..................................35
(2) Pushing operation is failed (pushing the air).....................................35
(3) Movement of the workpiece after the completion of the pushing process ...35
8.4 Controller input signal response time ...................................................36
8.5 Methods of interrupting operation .........................................................36
9. Operation (example) .....................................................................................37
9.1 Positioning operation..............................................................................37
9.2 Pushing operation ...................................................................................38
10. Operation instruction..................................................................................39
10.1 Outline of the operation instruction.....................................................39
10.2 Procedures with the Parallel I/O...........................................................39
[1] Power on → Return to origin .............................................................39
[2] Positioning operation...........................................................................40
[3] Pushing operation ................................................................................41
[4] HOLD .....................................................................................................42
[5] Reset......................................................................................................42
-2-
[6] Stop........................................................................................................42
[7] Area output............................................................................................43
11. Option...........................................................................................................44
11.1 Actuator cable (5m or less) ...................................................................44
11.2 Actuator cable (8-20m) ..........................................................................44
11.3 Actuator cable for with lock (5m or less) .............................................45
11.4 Actuator cable for with lock (8-20m) ....................................................45
11.5 I/O Cable .................................................................................................46
11.6 Controller setting kit..............................................................................46
11.7 Teaching box..........................................................................................47
12. Alarm Detection...........................................................................................48
12.1 Parallel output for the alarm group ......................................................48
12.2 Alarm details ..........................................................................................49
13. Wiring of cables/Common precautions.....................................................53
14. Electric actuators/Common precautions ..................................................54
14.1 Design and selection.............................................................................54
14.2 Mounting ................................................................................................55
14.3 Handling .................................................................................................56
14.4 Operating environment .........................................................................57
14.5 Maintenance...........................................................................................58
14.6 Precautions for actuator with lock .......................................................58
15. Controller and its peripheral devices /Specific product precautions ................59
15.1 Design and selection.............................................................................59
15.2 Handling .................................................................................................59
15.3 Installation..............................................................................................60
15.4 Wiring of cables/Common precautions ...............................................61
15.5 Power supply .........................................................................................61
15.6 Grounding ..............................................................................................61
15.7 Maintenace .............................................................................................62
16. Troubleshooting..........................................................................................63
16.1 Operation trouble ..................................................................................63
16.2 Position/Speed trouble..........................................................................65
-3-
LECP6 Series / Controller
1. Safety Instructions
These safety instructions are intended to prevent hazardous situations and/or equipment damage.
These instructions indicate the level of potential hazard with the labels of “Caution,” “Warning” or “Danger.”
They are all important notes for safety and must be followed in addition to International Standards
(ISO/IEC), Japan Industrial Standards (JIS)*1) and other safety regulations*2).
*1) ISO 4414: Pneumatic fluid power -- General rules relating to systems
ISO 4413: Hydraulic fluid power -- General rules relating to systems
IEC 60204-1: Safety of machinery -- Electrical equipment of machines (Part 1: General requirements)
ISO 10218-1992: Manipulating industrial robots -- Safety
JIS B 8370: General rules for pneumatic equipment.
JIS B 8361: General rules for hydraulic equipment.
JIS B 9960-1: Safety of machinery – Electrical equipment for machines. (Part 1: General requirements)
JIS B 8433-1993: Manipulating industrial robots - Safety. etc.
*2) Labor Safety and Sanitation Law, etc.
Caution
Caution indicates a hazard with a low level of risk which, if not avoided, could result in minor or
moderate injury.
Warning
Warning indicates a hazard with a medium level of risk which, if not avoided, could result in
Danger
Danger indicates a hazard with a high level of risk which, if not avoided, will result in death or
death or serious injury.
serious injury.
Warning
1. The compatibility of the product is the responsibility of the person who designs the equipment or
decides its specifications.
Since the product specified here is used under various operating conditions, its compatibility with specific
equipment must be decided by the person who designs the equipment or decides its specifications based on
necessary analysis and test results.
The expected performance and safety assurance of the equipment will be the responsibility of the person who
has determined its compatibility with the product.
This person should also continuously review all specifications of the product referring to its latest catalog
information, with a view to giving due consideration to any possibility of equipment failure when configuring the
equipment.
2. Only personnel with appropriate training should operate machinery and equipment.
The product specified here may become unsafe if handled incorrectly.
The assembly, operation and maintenance of machines or equipment including our products must be
performed by an operator who is appropriately trained and experienced.
3. Do not service or attempt to remove product and machinery/equipment until safety is confirmed.
The inspection and maintenance of machinery/equipment should only be performed after measures to prevent
falling or runaway of the driven objects have been confirmed.
When the product is to be removed, confirm that the safety measures as mentioned above are implemented
and the power from any appropriate source is cut, and read and understand the specific product precautions
of all relevant products carefully.
Before machinery/equipment is restarted, take measures to prevent unexpected operation and malfunction.
4. Contact SMC beforehand and take special consideration of safety measures if the product is to
be used in any of the following conditions.
1) Conditions and environments outside of the given specifications, or use outdoors or in a place exposed to
direct sunlight.
2) Installation on equipment in conjunction with atomic energy, railways, air navigation, space, shipping,
vehicles, military, medical treatment, combustion and recreation, or equipment in contact with food and
beverages, emergency stop circuits, clutch and brake circuits in press applications, safety equipment or other
applications unsuitable for the standard specifications described in the product catalog.
3) An application which could have negative effects on people, property, or animals requiring special safety
analysis.
4) Use in an interlock circuit, which requires the provision of double interlock for possible failure by using a
mechanical protective function, and periodical checks to confirm proper operation.
-4-
LECP6 Series / Controller
1. Safety Instructions
Caution
The product is provided for use in manufacturing industries.
The product herein described is basically provided for peaceful use in manufacturing industries.
If considering using the product in other industries, consult SMC beforehand and exchange specifications
or a contract if necessary.
If anything is unclear, contact your nearest sales branch.
Limited warranty and Disclaimer/Compliance Requirements
The product used is subject to the following “Limited warranty and Disclaimer” and “Compliance
Requirements”.
Read and accept them before using the product.
Limited warranty and Disclaimer
The warranty period of the product is 1 year in service or 1.5 years after the product is delivered.*3)
Also, the product may have specified durability, running distance or replacement parts. Please
consult your nearest sales branch.
For any failure or damage reported within the warranty period which is clearly our responsibility, a
replacement product or necessary parts will be provided.
This limited warranty applies only to our product independently, and not to any other damage
incurred due to the failure of the product.
Prior to using SMC products, please read and understand the warranty terms and disclaimers noted
in the specified catalog for the particular products.
*3) Vacuum pads are excluded from this 1 year warranty.
A vacuum pad is a consumable part, so it is warranted for a year after it is delivered.
Also, even within the warranty period, the wear of a product due to the use of the vacuum pad or
failure due to the deterioration of rubber material are not covered by the limited warranty.
Compliance Requirements
When the product is exported, strictly follow the laws required by the Ministry of Economy, Trade and
Industry (Foreign Exchange and Foreign Trade Control Law).
-5-
2. Product Outline
2.1 Product features
The followings are the main functions of this controller:
„
Actuator control
A positioning operation and operation at a specific speed and force for the actuator are possible by
controlling the servo motor.
„
Specified force operation
Control the gripping force or the pressing force of the actuator.
„
Separated power supply
The power supply is separated into the drive power and the control power.
Therefore, even when
the drive power is off, if the control power is on, the position information from the encoder will be
maintained and the serial communication and parallel I/O control are still available.
„
Return to origin
Return the actuator to the home position by sending a single signal to a dedicated terminal.
„
Alarm detection function
Automatically detect the abnormal conditions and output the appropriate alarm signal via the serial
interface and parallel I/O. The alarm information (up to the last 8 alarms) will be recorded into the
memory in the controller.
„
64 step data
Control the actuator according to the step data specified by the input of parallel I/O.
It is possible to setup various parameters for each operation pattern.
„
Area output
The area output terminal will be activated if the actuator position is within the range specified by
“Area 1” and “Area 2” in the step data.
„
Data input method
It is possible to perform a parameter setup, status monitoring, trial run and alarm reset via the serial
communication with a PC installed with the controller setting software or the teaching box.
„
Easy mode and Normal mode
There are two available modes for the controller setting software and the teaching box. In the Easy
mode, you can start the operation by only setting the speed, position, etc. On the other hand, in the
Normal mode, you can make a further detailed setup.
Caution
Please Keep this manual safe for future use. It will be necessary to refer to this manual along with the
teaching box and the setting software manuals at installation and faultfinding.
-6-
2.2 How to Order
The part number construction for this product is as follows:
LECP6N
Controller
Actuator part number
Compatible motor
(“LE” to “Stroke” of the actuator part number)
Step motor (Servo / 24VDC)
P
Example: If “LEHZ10LK2-4AF-R16N1D” is the
Number of step data
6
complete actuator part number, “LEHZ10LK2-4”
64 data
will come here.
Parallel I/O type
N
NPN type
P
PNP type
I/O cable length
Nil
None
1
1.5m
3
3m
DIN rail
5
5m
Nil
Not mountable.
D
Mountable
Caution
The controller and actuator are factory set Confirm the combination of the controller
and the actuator is correct.
<Check the following before use.>
(1) Check the actuator lable for model number.
This matches the controller.
(2) Check Parallel I/O configuration matches (NPN or PNP) .
(1)
LEHZ10K2-4
NPN
(2)
-7-
2.3 Product configuration
The product configuration of this controller is as follows.
(*1)
●I/O cable
●Electric Actuator
Part No:LEC-CN5-∗
PLC
(*1)
●Controller
Power supply
24VDC
To CN5
Option
●Communication
cable
To CN4
To CN4
●Actuator cable
(robotic type cable)
To CN3
Part No:LE-CP-∗
or
To CN2
●Conversion
unit
モニ タ
現 在位 置
現 在速 度
設定
120.3 mm
200 mm/s
位置
動作 中
ア ラーム
速度
1
テスト
100
500
2
テスト
テスト
200
50
1000
3
200
To CN1
Controller power
supply 24VDC
PC
●Power supply plug
<Applicable cable size>
AWG20 (0.5mm2)
(*1) These items are included when
it is Selected by ordering code.
●Teaching box
(with 3m cable)
Part No:LEC-T1-3EG∗
●USB cable
(A-miniB type)
●Controller setting kit
(Controller setting software,
Communication cable,
Conversion unit and
USB cable are included.)
Part No:LEC-W1
Warning
Check all the connections as shown in section 4 and diagrams shown on page 16. Pay special
attention to details in section 13 on page 53.
Please Connect to the personal computer communication cable with the USB port cable via the
conversion unit.
Do not connect the teaching box directly to the personal computer.
Do not use LAN cable to connect to the controller, it will cause damage to the personal computer .
-8-
2.4 Start up Procedures
Before using this controller, please connect cables and startup using the following procedures.
(1) Confirmation of the package content
When you open the product package for the first time; please check the package contents to confirm the
controller, label indication, quantity of accessories, etc. are correct.
Item
Quantity
Controller (LECP6***-*)
1 unit
Power supply plug
1 piece
I/O cable(*) (LEC-CN5-*)
1 piece
Actuator
(*)
I/O cable
Power supply plug
Actuator cable
1 unit
(*)
Actuator cable
(LE-CP-*-*)
(*)
Controller
1 piece
These items are included if you ordered by the part number for a set of controller and actuator.
Option
Teaching box
Controller setting kit
Teaching box (part number: LEC-T1-3*G*)
Controller setting kit (part number: LEC-W1)
[Controller setting software, communication
cable, USB cable and conversion unit are
included.]
* In case of any shortages or damaged parts, please contact the selling office.
(2) Installation
Please refer to the “3.4 How to install (page 14)”
(3) Wiring and connection
Connect cables, etc. to the connector (CN1 to CN5) of the controller.
Please refer to the “4 External Wiring Diagram (page 16)” for the wiring of the connectors.
Connector
-9-
(4) Power ON alarm (error)
Ensure the stop is not activated and then supply 24VDC power.
LED color
Status
Function
Green
Normal
POWER
Red
Error
ALARM
Controller
If the LED [PWR] lights in green, the controller is in the normal condition.
However, if the LED [ALM] lights in red, the controller is in the alarm (error) condition.
Caution
In case of alarm (error) condition:
Connect a PC or the teaching box to the CN4 serial I/O connector and check the details of the alarm.
Then, remove the cause of the error referring to the “12. Alarm Detection (page 48).”
* Please refer to the manuals of the controller setting software or the teaching box for details of the
alarms.
(5) Operation pattern setting
Setup the operation pattern (step data, basic parameter and return to origin parameters) to specify
the target position, speed, etc. by using a PC (with the controller setting software) or the teaching
box.
„ PC (Normal mode)
„ Teaching box
Please refer to the manuals of the controller setting software or the teaching box for how to setup the
operation pattern.
(6) Trial run (actuator adjustment)
Please refer to the manuals of the controller setting software or the teaching box manual for how to
perform a trial run.
- 10 -
3. Product Specifications
3.1 Basic specifications
The basic specifications of this controller are as follows:
Item
Specifications
Compatible motor
Unipolar connection type 2-phase HB step motor
Power voltage:24VDC +/-10%
Power supply
(*1)
Max.current consumption: 3A(Peak 5A) (*2)
(for both of motor drive power,control power,
stop,lock brake release)
Parallel input
Parallel output
Compatible encoder
Serial communication
Memory
LED indicator
Lock control
Cable length
Cooling system
Operating temperature
range
11 inputs (photo-coupler isolation)
13 outputs (photo-coupler isolation)
A/B phase, Line receiver input
Pulse number: 800 pulse/rev
Conforming to RS485.
EEPROM
2 off LED’s (green and red)
Forced-lock release terminal
I/O cable: 5m or less
Actuator cable: 20m or less
Natural air cooling
0 – 40oC (without freezing and condensation)
Operating humidity range
35 – 85% (without freezing and condensation)
Storage temperature range
-10 – 60oC (without freezing and condensation)
Storage humidity range
35 – 85% (without freezing and condensation)
Insulation resistance
Mass
Between the housing (radiation fin) and FG terminal
50MΩ (500VDC)
150g(screw mount type)
170g(DIN rail mount type)
(*1) The controller power supply do not use the power supply of “rush-current restraining type”.
(*2) The power consumption changes depending on the actuator model. Please
refer to the specifications of actuator for more details.
- 11 -
3.2 Parts description
The detailed descriptions of each part are as follows:
Side (controller version)
(1)
(2)
(3)
(8)
(9)
(4)
SV1.00
ARX8300073
(5)
Label of controller version
(Example) controller version “SV1.00”
(6)
(7)
(10)
Side
No.
Label
Name
Description
Power ON/No alarm: Green light
Data (step data, parameter) writing /green light flashing
1
PWR
caution
Power LED (green)
Do not turn off the controller input power or remove the
cable while data is being written (green light flashing).
*Data (step data ,parameter) may not be written correctly.
2
ALM
3
CN5
4
CN4
5
CN3
6
CN2
Power LED (red)
Parallel I/O
Connector (26 pins)
Serial I/O
Connector (9 pins)
Encoder connector
(16 pins)
Motor power
connector (6 pins)
7
CN1
Power connector
(5 pins)
8
-
Compatible actuator
label
9
10
-
Controller label
FG
Power ON/Alarm: Red light
Used to connect PLC, etc. with the I/O cable.
(11 inputs and COM, 13 outputs and COM)
Used to connect the teaching box, PC, etc.
Used to connect the actuator cable.
Used to connect the controller power supply (24VDC) with the
power supply plug.
Common power(-),Motor power (+),Control power(+),Stop
signal(+),Lock release(+)
The label indicating the applicable actuator model.
It also indicates the type of the parallel I/O (PNP/NPN).
The label indicating the part number of the controller.
Functional ground
- 12 -
3.3 Outside dimension diagram
The outside view of this product is as shown in the diagram below:
(1) Screw mount type (LECP6**-*)
(2) DIN rail mount type (LECP6**D-*)
- 13 -
3.4 How to install
(1) How to install
There are two types of controllers; screw mount type and DIN rail mount type.
The followings are the descriptions on how to install each type:
[1] Screw mount type (LECP6**-*)
(Installation with two M4 screws)
[2] DIN rail mount type (LECP6**D-*)
(Installation with the DIN rail)
Ground wire
Ground wire
DIN rail is locked.
Ground wire
Screw direction
DIN rail
Screw direction
A
Hook the controller on the DIN rail and
press the lever of section A in the arrow
direction to lock it.
(2) Ground wire connection
As shown in the diagram below, tighten the ground wire with a screw.
M4 screw
Cable with crimping terminal
Toothed washer
Controller
Caution
The M4 screw, cable with crimping terminal, and toothed washer should be obtained separately.
Ground the controller to shield it from electric noise.
- 14 -
Caution
(1) The earthling should be the dedicated grounding point. It should be a functional ground with less
than 100 Ω resistance.
(2) The cross section of the grounding wire should be greater than 2mm2.
The ground point should be near this controller to make the wire length shorter.
Controller
Controller
Other device
Recommended Functional grounding
Other device
Not Recommended grounding
(3) Installation location
Please install this controller at an appropriate place where the surrounding temperature will not
exceed 40oC.
As shown in the diagrams below, the controller should be installed on a vertical wall with 30 / 50mm or
larger spaces above and below it.
In addition, there should be 60mm or larger space between the
controller and the facing cover (the housing) so that it is possible to connect/disconnect the controller.
The controllers should be positioned appropriately with enough spaces to keep it within the above
mentioned operating temperature range.
Place supplys of vibration like a large-size electromagnetic contactor, no-fuse current chopper, etc. to be
mounted on a different panel or away from the controller.
Usually : 0mm or more
Specified model(LE□□) : 10mm or more
Cover(the housing)
*Except for LEH Series
Body size 25 or more
30mm or more
Controller
Controller
30mm or more (screw mount type)
50mm or more (DIN rail mount type)
60mm or more
Caution
Install the controller on a flat surface. Excessive pressure applied to the housing will damage the
controller.
- 15 -
4. External Wiring Diagram
The typical connections for each connector of this controller (CN1 to CN5) are as shown below.
4.1 CN1: Power connector
Controller
CN1
Controller power
supply 24VDC
Power cable
(The 24VDC power supply and the power cable should be obtained separately.)
* Please refer to “5. CN1: Power supply plug (page 18)” for how to wire the CN1 connector.
Caution
The controller power supply (24VDC) do not use the power supply of “rush-current restraining type”.
4.2 CN2: Motor power connector and CN3: Encoder connector
Connect the controller and the actuator with the actuator cable (LE-CP-*-*).
Controller
CN3
Actuator
Actuator cable
Motor
CN2
4.3 CN4: Serial I/O connector
(1) Connection with the teaching box
Controller
Teaching box
(The 3m cable is provided.)
CN4
- 16 -
(2) Connection with a PC
*Controller setting kit
(Controller setting software, communication
cable, USB cable and the conversion unit are
provided.)
Controller
CN4
Conversion
unit
Communication
USB cable
(A-miniB type connector)
モニタ
現在位置
現在速度
設定
120.3 mm
200 mm/s
位置
動作中
アラーム
速度
1
テスト
100
500
2
テスト
200
1000
3
テスト
50
200
cable
PC
(The PC should be obtained separately.)
4.4 CN5: Parallel I/O connector
Controller
PLC, etc.
CN5
I/O cable
(The PLC, etc. should be obtained separately.)
* Please refer to “6.4 Parallel I/O Wiring Example (page 27)” for how to wire the CN5 connector.
* Please refer to "6.3 The parallel I/O signal is detailed. (page 24)" for details of each signal of parallel
I/O.
- 17 -
5. CN1: Power supply plug
5.1 Power supply plug specifications
The specifications of the provided power supply plug are as follows.
Power supply plug
Terminal
Function
BK RLS
0V
M24V
C24VM
EMG
0V
Descriptions
Common power (-)
The negative common power for M24V,
C24V, EMG and BK RLS.
The positive power for the actuator motor to
M24V
Motor power (+)
C24V
Control power (+)
The positive control power.
EMG
Stop signal(+)
The positive power for Stop signal.
Lock release (+)
The positive power for lock release.
BK RLS
be supplied via the controller.
5.2 Electric wire specifications
Prepare electric wire according to the following specification:
Item
Specifications
2
Applicable
wire size
AWG20 (0.5mm ): Single line, No insulation sleeve, Twisted wire with
bar terminal
* The rated temperature for the insulation coating: 60oC or more.
Stripped
section length
8mm
Caution
Multiple electric wires should not be connected to one terminal.
After the wiring of the power supply plug is completed, connect it to the CN1 connector of the controller.
Please refer to “5.3 Wiring of power supply plug (page19)” for how to wire the power supply plug.
Controller
Power supply plug connected to CN1
Power supply plug
Insert into CN1
- 18 -
5.3 Wiring of power supply plug
Connect the power supply plug to the 24VDC controller power supply according to instructions (1) (2) and
(3) and then, insert it into the CN1 connector of the controller.
(1) Wiring of the power supply
Connect the positive of the 24VDC controller power supply to the C24V and M24V.
And connect the
negative of that power supply to the 0V terminal.
①Open/Close lever
Press these levers with the special driver,
etc. and insert electric wires into the
entries.
* Phoenix special driver (recommended)
(Part no: SZS0.4 x 2.0)
Wire entry
Power supply plug
BK RLS
EMG
C 24V
24V
0V
M 24V
0V
Controller
power supply
Caution
For controller input power supply (24VDC) use a power supply with a capadty not less than the
“momentary maximum power” of the actuator spedfications. Do not use “inrush-current restraining
type”power supply.
(2) Wiring of the stop switch
Stop switch must be installed by the user to stop the actuator in abnormal situations.
Please refer to “5.4 Stop circuits (page20)” for examples of how to wire stop switches.
(3) Wiring of the lock release
Actuators with lock will need a lock release switch fitted.
* The switch (24VDC, Contact capacity: 0.5A or more) should be obtained separately.
One terminal of the lock release switch should be connected to the 24VDC power supply and the other
should be connected to the BK RLS terminal.
Power supply plug
When this is switched on, the lock will be released forcibly.
Lock release switch
BK RLS
EMG
C 24V
24V
0V
M 24V
0V
Controller
power supply
Caution
If the actuator is a non lock type, it is not necessary to wire the BK RLS terminal.
- 19 -
5.4 Stop circuits
• The controller can provide a ‘controlled stop’when the +24 VDC is removed from the ‘EMG’ pin. In a
controlled stop condition the controller decelerates the actuator with maximum deceleration value for
the actuator
• The stop switch on the teaching box causes a controlled stop if activated.
• For an Emergency stop the 24 VDC power supply should be disconnected from the motor (M24V).
(1) Example circuit 1- Single controller with teaching Box
When the teaching box is connected to the controller, the teaching box’s stop switch will become effective.
Teaching box
(with 3m cable)
Controller
Teaching box is
connected.
Stop switch
CN4
Stop signal
Teaching box is not
connected.
CN1
External stop circuit
EMG
C24V
M24V
Power
supply plug
24V
0V
0V
Controller
power supply
Warning
The teaching box’s stop switch is effective only to the controller that is connected with it.
The actuator slows down at the maximum. deceleration and stops Then, it turns the servomotor off.
- 20 -
(2) Example circuit 2 - multiple controllers (Stop relay contact (1))
If the system where this controller is installed has a stop circuit for whole system, or if the system has
multiple controllers with individual power supply, relay contacts should be made between the 24VDC
controller power supply and the EMG terminal of the power supply plug.
(Circuit example)
24VDC
0V
Start
Ry
stop switch
Ry
Surge suppressor
Power supply plug
(the 1st controller)
BK RLS
EMG
C 24V
Ry
M 24V
0V
24V
0V
Controller
power supply
24V
0V
Controller
power supply
Power supply plug
(the 2nd controller)
BK RLS
EMG
C 24V
Ry
M 24V
0V
Power supply plug
(the 3rd controller)
BK RLS
EMG
C 24V
Ry
24V
0V
M 24V
0V
Controller
power supply
The relay must be a safety relay or monitored by a safety relay.
Caution
When the stop is activated, the actuator slows down and stops according to its momentum. Then the
controller turns the servomotor off.
- 21 -
(3) Example circuit 3 - Motor power shutdown (relay contact (2))
If there is a necessity to have circuit to shutdown the motor power externally, relay contacts should be
made between the 24VDC controller power supply and the M24V and EMG terminal of the power supply
plug.
Circuit example
24VDC
0V
Start
Ry
stop switch
Surge suppressor
Ry
Power supply plug
(the 1st controller)
BK RLS
EMG
C 24V
M 24V
0V
Controller
power supply
Ry
24V
0V
Ry
24V
0V
Controller
power supply
Ry
24V
0V
Controller
power supply
Power supply plug
(the 2nd controller)
BK RLS
EMG
C 24V
M 24V
0V
Power supply plug
(the 3rd controller)
BK RLS
EMG
C 24V
M 24V
0V
The relay must be a safety relay or monitored by a safety relay.
Warning
1.Relay contacts should be made between the 24VDC controller power supply and the M24V and
EMG terminal of the power supply plug. The actuator may make unexpected movement.
2.Do not perform return to origin (SETUP input ON) when motor drive power (M24V) is disconnected.
The controller cannot recognize the correct origin point if a return to origin instruction is made with
the motor drive power (M24V) disconnected.
- 22 -
6. CN5: Parallel l/O Connector
6.1 Parallel I/O specifications
* Input specifications
No.
* Output specifications
Item
No.
Specification
Item
Specification
1
Input circuit
Internal circuit and photo
coupler isolation
1
Output circuit
Internal circuit and photo
coupler Isolation
2
Number of
inputs
11 inputs
2
Number of outputs
13 outputs
3
Voltage
24VDC +/- 10%
3
Max. voltage between
terminal
30VDC
4
Max. output current
10mA supply/sink
5
Saturation voltage
2.0V (Max.)
4
5
Input current
3.5mA±20% (at 24VDC)
when ON
Input Low Voltage
Threshold
11V @ 1.5 mA
6.2 Parallel I/O type (NPN/PNP type)
There are two types of parallel I/O for this controller: NPN type (LECP6N**-*) and PNP type (LECP6P**-*).
(1) Parallel I/O input circuit (same for both NPN and PNP type)
NPN type
(a)
「COM+」〈A1〉
(b)
IN0〈A3〉-SVON〈A13〉
Outside
PNP type
(a)
「COM-」〈A2〉
(b)
IN0〈A3〉-SVON〈A13〉
Inside of the controller
(a)
(b)
(2) Parallel I/O output circuit
NPN type
Inside of the controller
Outside
OUT0〈B1〉
-ALARM〈B13〉
「COM-」
〈A2〉
PNP type
Inside of the controller
Outside
「COM+」
〈A1〉
OUT0〈B1〉
-ALARM〈B13〉
- 23 -
6.3 The parallel I/O signal is detailed.
I/O cable
The end to be connected to a PLC, etc.
Connector for CN5 of the controller
- Input terminalNo.
Function
Description
A1
COM+
The terminal for the 24V of the 24VDC I/O signal power.
A2
COM-
The terminal for the 0V of the 24VDC I/O signal power.
A3
IN0
Bit no. to specify the step data
A4
IN1
(Specify the number by combining On/Off of the terminals.)
A5
IN2
A6
IN3
A7
IN4
A8
IN5
A9
SETUP
Example: (Bit no. to specify the step data no.3.)
IN5
IN4
IN3
IN2
IN1
IN0
OFF
OFF
OFF
OFF
ON
ON
0
0
0
0
1
1
Binary code
When SVRE (B11) is ON, the SETUP operation (return to origin operation) will be
performed.
During the SETUP operation, BUSY (B7) will be turned ON and after
completion of the SETUP operation, SETON (B9) and INP (B10) will be turned ON.
A10
HOLD
If HOLD (A10) is turned ON during an operation, the actuator slows down at the max.
deceleration to stop. The remaining stroke will be on hold as long as HOLD is ON and
when HOLD is turned OFF, the actuator restart to travel the remaining stroke.
* When DRIVE or SETUP is ON:
DRIVE
or
SETUP
H
L
HOLD
H
L
On hold
Restart
Speed
Caution
1. As long as HOLD is ON, the DRIVE input will be disabled.
2. The output signals are rendered invalid whilst hold is in operation.
A11
DRIVE
When DRIVE is turned ON, the system scans the input IN0 to IN5 and starts the
operation of the actuator.
Then, when this terminal is turned OFF, the number of the
active step data will be output via the terminals OUT0 to OUT5.
A12
RESET
The terminal to reset the alarm and the operation.
After this RESET operation is
completed, INP and OUT0 to OUT5 will be turned OFF (however, if the actuator is
stopped within the in-position range, the INP will be turned ON).
A13
SVON
When SVON is ON, the servo motor will be turned ON.
motor will be turned OFF.
- 24 -
When this is OFF, the servo
Effective condition of the Parallel I/O signal
Signal name
Condition
SETON
SVRE
BUSY
-
ON
OFF(*1)
ON
ON
-
SETUP
(Return to origin)
DRIVE
(Operation start
instruction)
(“-“ = It doesn't depend In the ON/OFF state of the each output signal)
*1 During the positioning operation the SETUP input will be disabled whilst hold is in operation.
Caution
SETUP and DRIVE can only be accepted during the above conditions. An Alarm condition will
happen during all other times
-Output terminalNo.
Function
Description
B1
OUT0
When the operation is started and DRIVE is turned OFF, a Bit no. corresponding to the number
B2
OUT1
of the active step data will be output from these terminals.
B3
OUT2
This output signal will be updated when DRIVE (A11) terminal is be turned ON.
B4
OUT3
B5
OUT4
1 When RESET is turned ON, these terminals are turned OFF.
B6
OUT5
2 During the alarm, these terminals output the alarm group.
Caution
3 During the pushing operation, if the actuator runs over the defined pushing
width, these terminals will be turned OFF.
B7
BUSY
This terminal is ON during the movement of the actuator (during the positioning operation, etc.).
Caution
During the pushing operation without movement (no movement but the actuator
generating the pushing force), BUSY is OFF.
B8
AREA
When the actuator is within the range between Area 2 and Area1 in the step data, this terminal
will be turned ON. The range changes depending on the active step data.
B9
SETON
When the actuator is in the SETON status (the position information is established), this terminal
is turned ON.
When the position status is not established, this terminal is OFF.
B10
INP
Because of acutuator action, if output INP have to ON, the actuator condition is different. During
SETUP operation
At the origin when within the ±“default Inposition” in the Basic parameter.
During positioning operation
The output signal INP turns ON when the actuator is within the range defined in the step data
±“In pos” about the target position. “Position”.
During pushing operation
When the pushing force exceeds the value set in the step data “Trigger LV”.
- 25 -
B10
INP
Caution
continue
(1)Pushing operation is finished ,it is automated change to energy saving mode INP
output singal is setted to ON.
And pushing operation stopped seat is change to running state general power
INP(ON)
running is repeatedly
force
(Example) Step data“force”is 100%
100
Step data“Trigger LV”is 80%,
80
The energy saving setting of
40
the actuator is 40%(*1)
time
(2) If controller version is below SV1.00 .
During pushing operation in energy saving mode, if the energy saving setting is less
than the Trigger LV value, the INP output signal will turn OFF.
When movement starts again from the pushing stopped state, it will do pushing
force
operation with energy saving pushing force.
100
(Example) Step data “force” is 100%
80
Step data “Trigger LV” is 80%
INP
(ON)
The energy saving setting of
40
the actuator is 40%.(* 1)
(*1)The actuator model determines the energy settings.
Please refer to the specifications of actuator for more details.
INP
(OFF)
time
If the stop is input from the EMG or RESET terminal or the stop-switch on the connected
Teaching Box during pushing operation,the actuator stop.
(“Busy”signal turns OFF) And if the actuator stop within the range of ”Position”± ”In pos”
defined in step data,output signal “INP” turns ON.
B11
SVRE
B12
*ESTOP
When the servo motor is OFF,SVRE is OFF. When the servo motor is ON,SVRE is ON.
During activation of Teaching Box stop switch, this terminal is OFF. During the normal operation,
this is ON. This is synchronized to the input terminal for the EMG signal on the controller
connector CN1
B13
*ALARM
When there are no alarms, this terminal is ON.
When there are alarms, this is OFF.
The table below shows the changes in the output signal with respect to controllers state.
State
Output signal
Controller powered down [SVOFF] with no motion
Controller powered down [SVON] with no motion
During returning to origin, [SETUP].
The actuator is at the origin. On completion of
[SETUP]
During movement by positioning/pushing operation.
The actuator is paused by [HOLD]
On completion of the positioning operation.
Stopped due to pushing a work-load in pushing
operation.
Stopped due to no detection of work-load during a
pushing operation.
On completion of return to origin and then with
[SVON] turned off.
EMG signal stop from the CN1 connector after the
actuator is at the origin.
BUSY
INP
SVRE
Lock
SETON
OUT0-5
OFF
OFF
ON
OFF
OFF
OFF
OFF
ON
ON
Lock
Release
Release
OFF
OFF
OFF
OFF
OFF
OFF
OFF
ON(* 1)
ON
Release
ON
OFF
ON
OFF
OFF
OFF
ON
ON
Release
Release
ON
ON
ON(* 2)
ON(* 2)
OFF
ON(* 4)
ON
Release
ON
ON(* 2)
OFF
ON
ON
Release
ON
ON(* 2)
OFF
OFF
ON
Release
ON
OFF
OFF
OFF(* 4)
OFF
Lock
ON
ON(* 3)
OFF
OFF(* 4)
OFF
Lock
ON
OFF
* 1:The output turns on when the actuator is within the range defined in the basic parameter setup.
* 2:The output is updated on the transision of (ON→OFF) of the DRIVE input signal.
* 3:Retains the previous state.
* 4:The output turns on when the actuator is "In position" of the step data.
- 26 -
6.4 Parallel I/O Wiring Example
When you connect a PLC, etc. to the CN5 parallel I/O connector, please use the I/O cable (LEC-CN5-*).
The wiring should be changed depending on the type of the parallel I/O (NPN or PNP).
Please wire referring to the following diagram
* NPN type
* PNP type
I/O signal power
24VDC
CN5
I/O signal power
24VDC
CN5
COM+
A1
COM+
A1
COM-
A2
COM-
A2
IN0
A3
IN0
A3
IN1
A4
IN1
A4
IN2
A5
IN2
A5
IN3
A6
IN3
A6
IN4
A7
IN4
A7
IN5
A8
IN5
A8
SETUP
A9
SETUP
A9
HOLD
A10
HOLD
A10
DRIVE
A11
DRIVE
A11
RESET
A12
RESET
A12
SVON
A13
SVON
A13
OUT0
B1
Load
OUT0
B1
OUT1
B2
OUT1
B2
OUT2
B3
OUT2
B3
OUT3
B4
OUT3
B4
OUT4
B5
OUT4
B5
OUT5
B6
OUT5
B6
BUSY
B7
BUSY
B7
AREA
B8
AREA
B8
SETON
B9
SETON
B9
INP
B10
INP
B10
SVRE
B11
SVRE
B11
*ESTOP
B12
*ESTOP
B12
*ALARM
B13
*ALARM
B13
Load
Caution
The 24VDC controller power supply for CN1 and the 24VDC I/O power supply for CN5 should be
separated.
- 27 -
7. Setting Data Entry
In order to move the actuator to a specific position, it is necessary to setup the patterns of operations with
a PC (with the controller setting software) or the teaching box.
This setup data input by the software or
teaching box will be recorded in the memory of the controller.
For the controller setting software and the teaching box, there are two available modes (the Easy mode
and the Normal mode).
You can select the appropriate one depending on the operation.
* Easy mode
In Easy mode, you can start up the actuator by entering only a limited number of settings with
the controller setting software and the teaching box.
* The combination of settings you need to setup will change depending on the type of actuators
(combination of data can be selected.)
* Normal mode
In Normal mode, you can make a further detailed setup (conditions for actuator and
controller, etc.) than the Easy mode.
You can change three kinds of setting data, “Step data,” “Basic parameter” and “Return to
origin parameter” in this mode.
7.1 Step data
A “step data” is the setting data mainly describing the movement of the actuator. Total 64 step data (12
types) can be handled with this controller. Each step data will become effective as soon as it is recorded
into the controller.
(Example) Step data on the PC (controller setting software) screen [Normal mode]
Speed
Position
Accel
Decel
PushingF
TriggerLV
PushingSp
Moving F
Area1
Area2
In pos
mm/s
mm
mm/s2
mm/s2
%
%
mm/s
%
mm
mm
mm
Absolute
100
20.00
1000
1000
0
0
0
100
18.00
22.50
0.5
1
Absolute
50
10.00
1000
1000
70
60
5
100
6.0
12.0
1.5
63
Absolute
20
5.00
500
500
0
0
0
100
3.0
8.0
1.2
No.
Move
0
- 28 -
Details of step data
Setting name
No.
Range
0 to 63
Description
Number of the step data.
The setting to specify the coordinate system for the target position.
Software
TB
Blank
Disable
3 options
MovementMOD
(See the right
Description
The step data is ineffective.
The target position will be defined by
Absolute
Absolute
descriptions.)
the absolute coordination based on the
zero point.
The target position will be defined by
Relative
Relative
the relative coordination based on the
current position.
1 to “Max speed”
Speed
of the basic
The speed to move to the target position (Unit: mm/s)
parameter
“Stroke (-)” to
Position
“Stroke (+)” of the
The target position (Unit: mm)
basic parameter
1 to “Max
Acceleration
ACC/DEC” of the
The acceralation to reach to the Speed (Unit: mm/s2)
basic parameter
1 to “Max
Deceleration
ACC/DEC” of the
The deceleration to reach to the Speed (Unit: mm/s2)
basic parameter
The setting to define the pushing operation or the positioning operation.
For the positioning operation, the value specifies the force as the percentage
against the maximum force (Unit: %).
* The maximum force changes depending on the actuator. Please refer to
1 to “Max force” of
Pushing force
the basic
parameter
the manual and the rated force of the actuator.
Value
Operation
Description
0
Positioning
operation
The actuator moves to the position
Pushing
operation
The actuator moves to the position
1-100
specified in the “Position.
specified in the “Position” and then,
performs a pushing action with a force
not more than the set force.
* Effective only for the pushing operation (when the value for the “Pushing
force” is from 1 to 100).
1 to “Max force” of
Trigger LV
the basic
parameter”
This is the setting to define the conditions where the INP will be turned ON.
When the actuator generates a force over this value, INP will be turned ON.
(Unit: %)
For the positioning operation, this value is ignored.
- 29 -
* Effective only for the pushing operation (when the value for the “Pushing
force” is from 1to 100).
1 to “Max force” of
Pushing speed
the basic
parameter
This defines the movement speed during the pushing operation.
If this
Speed is too high, it may cause damage to the actuator or work piece due to
impacts.
Therefore, enter a value within the range appropriate for the
actuator. (Unit: mm/s)
* Please refer to the actuator manual for the appropriate range of the speed.
* For the positioning operation, this value is ignored.
The setting to define the maximum torque during the positioning operation.
Moving force
*1
(Unit: %)
Enter a value within the range appropriate for the actuator. (Unit: mm/s).
* Please refer to the actuator manual for the appropriate range of the speed.
Area1
“Stroke (-)” to
The setting to define the conditions where the AREA output will be turned ON
“Stroke (+)” of the
(Unit: mm).
basic parameter
Area2
If the current position is within the range between the Area1 and Area2, the
“Stroke (-)” to
AREA output will be turned ON.
“Stroke (+)” of the
* If Area1 >Area2, the alarm “Step Data ALM1” will be activated.
basic parameter
(However,no alarm is generated if “Area1”= “Area2”= 0, the AREA output
will be turned OFF)
The functions of this will be different between the pushing operation and the
positioning operation.
* Positioning operation: Positioning range (Unit: mm)
* Pushing operation: Pushing distance (Unit: mm)
Operation
Positioning
operation
Description
This is the setting to define the conditions where
the INP output will be turned ON.
When the actuator enters within this range from
the target position, the INP will be turned ON.
(It is unnecessary to change this from the initial
In position
value.)
*1
If it is required to get a signal before the actuator
completes the positioning operation, this value
should be larger.
* The INP output will be turned on. Target position
- in position ≦ actuator position ≦ target
position + in position
Pushing
operation
This is the setting to define the distance pushed by
the actuator during the pushing operation.
When the actuator pushed exceeding this
distance, the pushing operation will end.
In case of such stop exceeding the pushing
distance, the INP will not be turned ON.
* 1: The range varies depending on the actuator.
details.
Please refer to the manual of the actuator for more
- 30 -
7.2 Basic parameter
The “Basic parameter” is the data to define the operating conditions of the controller, conditions of the
actuator, etc.
Details of basic parameter
Activation: “XX” = Become effective just after recorded into the controller
“X” = Become effective after restarting the controller
“-“ = The parameter cannot be changed (fixed value)
Parameter name
Controller ID
IO pattern
ACC/DEC pattern
S-motion rate
Range
1 to 32
Description
Identification number (axis) parameters of serial communications are
set.
Fixed
This is the fixed value for this controller (* It should not be changed).
value
The value for this should be 64(Standard).
Fixed
This is the fixed value for this controller (* It should not be changed).
value
This defines the trapezoid acceleration/deceleration parameter.
Fixed
value
This is the fixed value for this controller (* It should not be changed).
Activation
X
-
-
-
This defines the positive (+) side limit of the position. (Unit: mm)
Stroke (+)
*1
Any value greater than the [stroke(+)] value cannot be entered in the
XX
“Position” field data of step parameter setup.
This defines the negative (-) side limit of the position. (Unit: mm)
Stroke (-)
*1
Any value less than the [stroke(-)] value cannot be entered in the
XX
“Position” field data of step parameter setup.
This defines the maximum limit of the speed (Unit: mm/s).
Max speed
*1
Any value greater than the [Max speed] value cannot be entered in
XX
the “Speed” field data of step parameter setup.
This defines the maximum limit of the ACC/DEC (Unit: mm/s2).
Max ACC/DEC
*1
Any value greater than the [Max ACC/DEC] value cannot be entered
XX
in the “Accel” field data of step parameter setup.
Def In position
*1
This defines the range to activate the INP output when the actuator
is within it after the return to origin operation. (Unit: mm)
- 31 -
XX
This defines the position of the actuator after the return to origin
operation. (Unit: mm)
* The ORIG offset is 0 (mm).
M
ORIG offset
*1
Actuator
Between the left examples, the
The position recognized by the
controller after the return to the origin
operation (0mm).
actuator positions are not
* The ORIG offset is 100 (mm).
will be changed after the return
to origin operation.
M
different but the reference point
that the controller recognizes
XX
Actuator
The position is identified by the controller after
the return to the origin operation (100mm).
Caution
If the value for the “ORIG offset” is changed, the “Stroke (+)”
and “Stroke (-)” of the basic parameter should be checked.
Max force
*1
The maximum force for the pushing operation (Unit: %).
XX
Sets the range in which parameter and step data can be changed.
Para protect
1 to 2
1. Basic parameter + Step data (Basic parameter + Return to
origin parameter + Step data)
XX
2. Basic parameter(Basic parameter + Return to origin parameter)
Enable SW
Unit name
W-AREA1
W-AREA2
ORG Correct [Link Offset]
Sensor type
Option 1
Undefine No.11
Undefine No.12
Enable,
Disable
This defines the status of the Enable switch of the teaching box.
Fixed
Indication of actuator type compatible to the controller.
value
(* It should not be changed).
Fixed
value
Fixed
value
Fixed
value
Fixed
value
Fixed
value
Fixed
value
Fixed
value
XX
-
This is the fixed value for this controller (* It should not be changed).
-
This is the fixed value for this controller (* It should not be changed).
-
This is the fixed value for this controller (* It should not be changed).
-
This is the fixed value for this controller (* it should not be changed)
-
This is the fixed value for this controller (* it should not be changed)
-
This is the fixed value for this controller (* it should not be changed)
-
This is the fixed value for this controller (* it should not be changed)
-
* 1: The range varies depending on the actuator.
Please refer to the manual of the actuator for more
details.
- 32 -
7.3 Return to origin parameter
The “Return to origin parameter” is the setting data for the return to origin operation.
Details of Return to origin parameter
Activation: “XX” = Become effective just after recorded into the controller,
“X” = Become effective after restarting the controller,
“-“ = The parameter cannot be changed (fixed value).
Name
Range
Description
Activation
Sets the direction of return to origin operation.
ORIG direction
1 to 2
1. CW
2. CCW
X
*1
The setting for the return to origin operation
ORIG mode
1 to 2
1. pushing origin operation [Stop]
XX
2. limit switch origin [Sensor]
ORIG limit
ORIG time
*1
Fixed
value
A pushing force level at which to set the origin.
This is the fixed value for this controller (* It should not be changed).
XX
-
ORIG speed
*1
The allowable speed to move to origin.
XX
ORIG ACC/DEC
*1
The acceleration and deceleration during find origin.
XX
Creep speed
Fixed
value
This is the fixed value for this controller (* It should not be changed).
-
The setting for ORIG sensor
ORIG sensor
0 to 2
0. The origin sensor is not effective. [Disable]
1. The origin sensor is N.O type. [N.O].
XX
2. The origin sensor is N.C type. [N.C.]
ORIG SW DIR
Undefine No.21
Fixed
value
Fixed
value
This is the fixed value for this controller (* it should not be changed)
-
This is the fixed value for this controller (* it should not be changed)
-
* 1: These vary depending on the actuator.
Please refer to the manual of the actuator for more details.
- 33 -
8. Return to origin
8.1 Return to origin
After entering the setting data, it is necessary to perform a return to origin operation (to establish the origin
point) before starting the positioning or pushing operation.
* The return to origin direction is dependent on the actuator.
„ Return to origin operation
The actuator moves in the return to origin direction (* this direction is dependent on the actuator) from
the initial position at the moment of power-on: See (1) in the diagram below.
When the actuator reaches the end of travel limit it pauses for a short time. The controller recognizes
the position as the end of travel limit of the actuator.
Then, the actuator moves at a low speed in the
direction opposite to the return to origin direction: See (2) in the diagram below.
Return to origin signal Move in the return to origin direction
movement Move in the opposite direction Origin position
Stop the
(Example) Return to origin operation
Load
Basic parameter
“Def in position”
Actuator
M
Motor
(2)
Origin position
Actuator end
(1)
Initial position
Caution
This direction is dependent on the actuator.
8.2 Positioning operation
* Step data “Pushing force” is 0.
The actuator moves to the target position specified by the step data “Position.”
* Positioning operation
* Positioning operation
(Example)
[Speed/Position] (Example)
Step data “In
Load
Actuator
position”
Step data
“Speed”
Speed
Positioning range
(In position)
M
Motor
Position
Origin position
Target position
→Step data “Position”
Target position
- 34 -
8.3 Pushing operation
The pushing operation is active when a Value greater than “1” is set in the Step data"pushing force".
Similar to the positioning operation, the actuator moves according to the settings of “Position” and
“Speed” in the step data and then, when it reaches to the target position, it starts the pushing process.
The actuator pushes the load with the force no more than the maximum force set in the “Pushing force”
of the step data.
(1) Pushing operation is successfully performed.
During the pushing operation, if the pushing force is kept higher than the value specified by “Trigger LV”
of the step data for a certain time, the INP output will be turned ON.
Even after this completion of pushing
operation, the actuator keeps generating the force setup in the step data.
Step data “In
position”
* Pushing operation
(Example)
Load
Actuator
* Pushing operation
(Speed/Position)
Step data “Pushing
speed”
Pushing force
Pushing
process
Speed
Step data
“Speed”
M
Pushing process
Motor
Origin position
Position
Target
position
Target position
→Step data “Position”
Positioning range
(In position)
(2) Pushing operation is failed (pushing the air).
If the pushing process is not completed even after the actuator runs over the range specified in the
step data from the target position (the starting point of the pushing process), the operation will be
completed.
In such case, the INP output will be turned OFF.
Pushing process
Speed
Target position
Position
Positioning range
(In position)
(3) Movement of the workpiece after the completion of the pushing process
(1) Movement of the workpiece in the pushing direction
After completion of the pushing operation, if the reaction force from the workpiece becomes smaller,
the actuator may move with a force smaller than that specified in the “TriggerLV” of the step data.
In such case, the INP output will be turned OFF and the actuator moves within the positioning range
according to the balance of the force.
If the pushing force is kept higher than the value specified by “Trigger LV” of the step data for a certain
time again, the INP output will be reactivated.
- 35 -
Pushing process
Speed
Position
Target position
Positioning range
(In position)
(2) Movement of the workpiece in the direction opposite to the pushing direction
(The actuator is pushed back since the reaction force from the workpiece is too large.)
After completion of the pushing operation, if the reaction force from the workpiece becomes larger, the
actuator may be pushed back.
In such case, while the INP output is kept be ON, the actuator will be
pushed back to the point where the reaction force and the actuator pushing force are balanced (pushed
back toward the target position).
If the actuator is pushed back over the target position, the alarm
(ORIG ALM) will be activated.
Speed
Counterforce
Position
Target position
Positioning range
(In position)
8.4 Controller input signal response time
The factors that may cause the controller to delay’s in responding to the input signal are as follows:
(1) The controller delayed in scanning the input signal.
(2) The analysis and computing of the input signal is delayed.
(3) The analysis and processing of the command is delayed.
Leave an interval of 30ms or more between input signals and maintain the state of the signal for 30ms or
more, as PLC processing delays and controller scaning delays can occur.
It is recommended that the signal sending status of the PLC is reset when it receives the reply signal to
the input.
8.5 Methods of interrupting operation
There are two methods of interrupting operation and stopping the actuator during positioning operation
and pushing operation, as shown below. The state after stopping is different, so use the method
appropriate to the application.
[Stopping by EMG signal]
If the EMG signal is turned OFF during operation, after the actuator decelerates and stops, the servo will
turn OFF so the stopped position is not held. (For an actuator with lock, it is held by the lock function.)
[Stopping by RESET signal]
If the RESET signal is turned ON during operation, after the actuator decelerates and stops, the stopped
position is held. (The servo does not turn OFF.)
Caution
If instructed to stop by EMG signal and RESET signal, all OUT signals will turn OFF.
- 36 -
9. Operation (example)
9.1 Positioning operation
Example) Move an actuator from the origin to 50mm point with 100mm/s. (Using Step No.1)
Next, it shows setting example to move the actuator from the 50mm point to 100mm point by moving it 5
times continuously, 10mm at a time, with a speed of 50 mm/s.(Step No. 2)
1. [Normal mode] Step data example
Move
No
ment
.
MOD
Speed
Position
mm/s
mm
Accele
Decele
Pushing
Trigger
Pushing
Moving
ration
ration
force
LV
speed
force
2
2
%
%
mm/s
%
mm/s
mm/s
Area1
Area2
In position
mm
mm
mm
0
-
-
-
-
-
-
-
-
-
-
-
-
1
Absolute
100
50.00
1000
1000
0
0
0
100
0
0
0.1
2
Relative
50
10.00
1000
1000
0
0
0
100
0
0
0.1
Controller
Parallel I/O signal
Signal
(2)(5)(10)(13)
(1)
DRIVE
Input
IN0
(9)
PLC
Category
IN1
(7)
OUT0
(15)
OUT1
(14)(11)(6)(3)
(16)(12)(8)(4)
Output
INP
BUSY
Operation (Example)
Actuator
Load
Motor
・・・
M
・・・
0mm
Origin
50mm 60mm
100mm
End position
(1) Select/input Step No.1 (Turn on “IN0”)
↓
(2) Turn on “DRIVE” input
↓
Start moving to the position of Step No. 1
↓
Step No. output (OUT0 to 5) turns off
↓
(3) “INP” output turns off
↓
(4) “BUSY” output turns on
↓
(5) Turn off “DRIVE” input
↓
(6) “INP” output turns on
↓
(7) Step No.1 output turns on
(“OUT0” output turns on)
↓
(8) “BUSY” output turns off
↓
Completed to move to the position of Step No.1
↓
(9) Select/input Step No.2. (Turn off “IN0” input, and
turn on “IN1”)
↓
(10) Turn on “DRIVE” input
↓
Start moving to 10mm away from the current position.
↓
Step No. output (OUT0 to 5) turns off
↓
(11) “INP” output turns off
↓
(12) “BUSY” output turns on
5 times
↓
(13) Turn off “DRIVE” input
↓
(14) “INP” output turns on
↓
(15) Step No.2 output turns on
(“OUT1” output turns on)
↓
(16) “BUSY” output turns off
↓
Completed to move to 10mm away
- 37 -
9.2 Pushing operation
Example) Move an actuator from the origin to 100mm point with 100mm/s. (Using Step No.1)
From the 100mm point, the actuator starts the pushing operation of 10mm/s speed and 50% or less force
(the pushing distance is up to 5mm). Then, the actuator moves from the position where the pushing
operation was completed (where INP was turned on) to the 50mm point with 50mm/s. (Using Step No.2)
[Normal mode] Step data example
No
Moveme
Speed
Position
.
nt MOD
mm/s
mm
Accele
Decele
Pushing
Trigger
Pushing
Moving
ration
ration
force
LV
speed
force
2
2
%
%
mm/s
%
mm/s
mm/s
Area1
Area2
In position
mm
mm
mm
0
-
-
-
-
-
-
-
-
-
-
-
-
1
Absolute
100
100.00
1000
1000
50
40
10
100
0
0
5
2
Absolute
50
50.00
1000
1000
0
0
0
100
0
0
0.1
(1) Select/input Step No.1 (Turn on “IN0”)
↓
(2) Turn on “DRIVE” input
↓
Start moving to the position of Step No. 1
↓
Step No. output (OUT0 to 5) turns off
↓
(3) “INP” output turns off
↓
(4) “BUSY” output turns on
↓
(5) Turn off “DRIVE” input
↓
Move at low speed after passing
the “Position” of the Step No.1
↓
Push the workpiece with the specified
pushing force
↓
(6) “INP” output turns on
↓
(7) Step No.1 output turns on
(“OUT0” output turns on)
↓
(8) “BUSY” output turns off
↓
Completed to move to the position of Step No.1
↓
(9) Select/input Step No.2. (Turn off “IN0” input, and
turn on “IN1”)
↓
(10) Turn on “DRIVE” input
↓
Start moving to 50mm away from the current position.
↓
Step No. output (OUT0 to 5) turns off
↓
(11) “INP” output turns off
↓
(12) “BUSY” output turns on
↓
(13) Turn off “DRIVE” input
↓
(14) “INP” output turns on
↓
(15) Step No.2 output turns on
(“OUT1” output turns on)
↓
(16) “BUSY” output turns off
↓
Completed to move to the “Position” of the Step No.2
Controller
Parallel I/O signal
Signal
(2)(5)(10)(13)
(1)
PLC
(9)
(7)
(15)
(14)(11)(6)(3)
(16)(12)(8)(4
Category
DRIVE
Input
IN0
IN1
OUT0
OUT1
Output
INP
BUSY
Step No.1 Pushing
operation (Example)
Actuator
Load
Motor
M
Pushing motion
0mm
Origin
100mm
Step No.2 Positioning
operation (Example)
Actuator
Load
Motor
M
50mm
End position
Pushing completed
position
- 38 -
10. Operation instruction
10.1 Outline of the operation instruction
The operation of the actuator can be achieved by specifying the number of step data recorded in the
controller via the I/O signal.
An effective state of the parallel I/O signal is shown in the following.
10.2 Procedures with the Parallel I/O
Please refer to the following “Procedures” and “Timing chart” for each operation.
[1] Power on → Return to origin
- Procedures(1) Apply the power.
- Timing chart-
↓
(2) ALARM is turned ON.
↓
↓
SETUP
・
・
BUSY
ON
OFF
SVRE
・
・
・
・
・
・
・
・
・
・
・
Input
ESTOP is turned ON.
(3) SVON is turned ON.
SVON
24V
0V
ON
OFF
Power
SETON
Output
INP
(4) SVRE is turned ON.
*ALARM
(lock release)
* The time [SVRE] output turns ON is
dependant on the type of actuator and
the customer usage.
↓
(5) SETUP is turned ON.
*ESTOP
↓
OFF
ON
External Lock
0mm/s
Speed
Return to origin
After the reset, the controller
will be turned ON.
(6) BUSY is turned ON.
If the actuator is within the “In
position” range, INP will be turned
ON but if not, it will remain OFF.
(The actuator moves.)
↓
* The “ALARM” and “ESTOP” are expressed as negative-logic circuit.
(7) SETON and INP are turned ON.
When the BUSY output is turned
OFF, the return to origin operation
has been completed.
- 39 -
[2] Positioning operation
- Procedures-
-Timing chart-
(1) DRIVE is turned ON.
→Scan the step data number (from IN0 to IN5).
IN0~5
Input
OUT5).
SVON
DRIVE
↓
OUT0~5
(2) BUSY is turned ON.
(The positioning operation starts.)
↓
24V
0V
Power
* Then, if DRIVE is turned OFF, the step data
number will be output (from the output OUT0 to
Scan the step
data no.
BUSY
Output
(3) When INP turns ON and BUSY turns OFF,
SVRE
SETON
the positioning operation will be completed.
INP
External Lock
Speed
Output the
step data no.
ON
OFF
・
・
・
・
ON
OFF
・
・
・
・
・
・
・
・
・
OFF
ON
0mm/s
If the actuator is within the “In
position” range, INP will be turned
ON but if not, it will remain OFF.
- 40 -
[3] Pushing operation
- Procedures-
- Timing chart -
Scan the step
data no.
(1) DRIVE is turned ON. (OUT0-5 is turned
off.)
→Scan the step data number (from IN0 to
IN5).
IN0~5
Input
* After this, if DRIVE is turned OFF, the step
SVON
DRIVE
data number will be output (from the outputs
OUT0~5
OUT0 to OUT5).
BUSY
↓
(2) BUSY is turned ON.
24V
0V
Power
Output
↓
SVRE
SETON
(3) When INP output is turned ON and BUSY
is turned OFF, the pushing operation will be
INP
Output the
step data no.
ON
OFF
・
・
・
・
ON
OFF
・
・
・
・
・
・
・
・
・
OFF
ON
External Lock
completed (the actuator generates the force
larger than that specified in “TriggerLV” of the
step data).
Speed
0mm/s
If the actuator is within the “In
position” range, INP will be turned
ON but if not, it will remain OFF.
- 41 -
[4] HOLD
-Procedures-
-Timing chart-
(1) HOLD is turned ON during the operation
(when HOLD is ON).
↓
(2) BUSY is turned OFF (the actuator stops).
↓
(3) HOLD is turned OFF.
↓
Slow-down starting point
(4) BUSY is turned ON (the actuator restarts).
[5] Reset
-Procedures-
-Timing chart-
(1) An alarm is activated
Alarm reset
(ALARM is turned OFF and the output OUT0
to OUT3 is turned ON.)
↓
(2) RESET is turned ON.
↓
Alarm out
(3) ALARM is turned ON and the output OUT0
to OUT3 is turned OFF (the alarm is
* The “ALARM” is expressed as negative-logic circuit.
deactivated).
[6] Stop
-Procedures-
-Timing chart24V
0V
Power
(1) The stop [EMG] input is turned OFF during
Stop[EMG]
the operation (when BUSY is ON). [stop
Input
command]
ON
OFF
SVON
BUSY
↓
SVRE
(2) ESTOP is turned OFF.
SETON
↓
Output
(3) BUSY is turned OFF (the actuator stops).
INP
SVRE is turned OFF (if the actuator has a
*ALARM
lock).
*ESTOP
↓
ON
OFF
・
・
・
・
・
・
・
・
・
・
・
OFF
ON
External Lock
(4) The stop [EMG] input is turned ON.
[The stop release command]
ON
OFF
Speed
↓
0mm/s
(5) STOP is turned ON.
If the actuator is within the “In position” range, INP will be
turned ON but if not, it will remain OFF.
* SVRE is turned ON. (lock release)
(* If the actuator has a lock.)
* The “ALARM” and “ESTOP” are expressed as negative-logic circuit.
* When "Stop" is OFF, the stop is activated.
- 42 -
[7] Area output
-Procedures-
-Timing chartExample:
* Operation of Step Data No.1
The initial position: 50mm
(1) DRIVE is turned ON.
Operation of step data No.1: Position: 200mm, Area1-Area2: 150-250mm
→ Receive the step data no.1 (from the
Operation of step data No.2: Position: 100mm, Area1-Area2: 130-170mm
input IN0 to IN5).
* Then, if the DRIVE is turned OFF, the step
Input
ON
OFF
・
・
IN0~5
DRIVE
data will be output (from the output OUT0 to
ON
OFF
・
・
・
・
・
・
・
OUT0~5
OUT5).
↓
Output
BUSY
INP
(2) BUSY is turned ON.
AREA
(The actuator starts the operation).
INP is turned OFF.
Speed
↓
50mm
0mm/s
100mm
150mm 200mm
170mm 130mm
(3) AREA output is turned ON for the step data
no.1 (at 150mm from the origin point).
↓
(4) BUSY is turned OFF.
(The actuator stops.)
If the now position is inside of step
data positioning. The INP signal is
ON. Otherwise, the signal is OFF.
If the now position is inside of
1,qnd 2 area scope for step data.
The AREA signal is ON.
Otherwise, the signal is OFF
INP is turned ON.
↓
* Operation of Step Data No.2
(5) DRIVE is turned ON.
→ Receive the step data no.2 (from the input IN0 to IN5).
* Then, if the DRIVE is turned OFF, the step data will be output (from the output OUT0 to OUT5).
↓
(6) AREA is turned OFF.
BUSY is turned ON. (The actuator starts the operation.)
↓
(7) AREA output is turned ON for the step data no.2 (at 170mm from the origin point).
↓
(8) AREA output is turned OFF for the step data no.2 (at 130mm from the origin point).
↓
(9) BUSY is turned OFF.
(The actuator stops.)
INP is turned ON.
- 43 -
11. Option
11.1 Actuator cable (5m or less)
LE - CP - □
Cable length (L)
1
1.5m
3
3m
5
5m
①
signal
A
A
B
B
COM-A/COM
COM-B/ -
②
Tarminal no.
B-1
A-1
B-2
A-2
B-3
A-3
Shield
Vcc
GND
A
A
B
B
③
B-4
A-4
B-5
A-5
B-6
A-6
Cable color
Brown
Red
Orange
Yellow
Green
Blue
Tarminal no.
2
1
6
5
3
4
Cable color
Brown
Black
Red
Black
Orange
Black
-
Tarminal no.
12
13
7
6
9
8
3
Controller side
Actuator side
(14.2)
B1
(17.7)
①
(14)
A1
φ8
②
5
1
③
2
6
2
(18)
B6
A6
1
L
(30.7)
15
(11)
16
11.2 Actuator cable (8-20m)
①
LE - CP - □
Cable length (L)
8
8m*
A
10m*
B
15m*
C
②
signal
A
A
B
B
COM-A/COM
COM-B/ -
Tarminal no.
B-1
A-1
B-2
A-2
B-3
A-3
Shield
20m*
*produced upon receipt of order
Vcc
GND
A
A
B
B
③
B-4
A-4
B-5
A-5
B-6
A-6
Actuator side
Cable color
Brown
Red
Orange
Yellow
Green
Blue
Tarminal no.
2
1
6
5
3
4
Cable color
Brown
Black
Red
Black
Orange
Black
-
Tarminal no.
12
13
7
6
9
8
3
Controller side
(14.2)
①
B1
②
1
B6
φ6.3
(30.7)
2
6
③
2
(18)
A6
1
5
(17.7)
A1
(14)
φ5.5
L
- 44 -
(11)
15
16
11.3 Actuator cable for with lock (5m or less)
①
LE - CP - □ - B
Cable length (L)
1
1.5m
3
3m
5
5m
②
signal
A
A
B
B
COM-A/COM
COM-B/ -
Tarminal no.
B-1
A-1
B-2
A-2
B-3
A-3
Shield
④
Vcc
GND
A
A
B
B
signal
Lock(+)
Lock(-)
Sensor(+)
Sensor(-)
B-4
A-4
B-5
A-5
B-6
A-6
Tarminal no.
B-1
A-1
B-3
A-3
Actuator side
①
B3
Tarminal no.
12
13
7
6
9
8
3
Red
Black
Brown
Blue
4
5
1
2
(14.2)
(18)
④
Cable color
Brown
Black
Red
Black
Orange
Black
-
(14)
A3
B1
B6
B1
A6
A1
Tarminal no.
2
1
6
5
3
4
Controller side
φ8
(10.2) (17.7)
A1
③
Cable color
Brown
Red
Orange
Yellow
Green
Blue
φ5.7
L
(30.7)
1
②
2
5
1
③
6
2
15
(11)
16
11.4 Actuator cable for with lock (8-20m)
①
LE - CP - □ - B
A
A
B
B
COM-A/COM
COM-B/ -
Cable length (L)
8
8m*
A
10m*
B
15m*
C
20m*
signal
*produced upon receipt of order
④
Vcc
GND
A
A
B
B
signal
Lock(+)
Lock(-)
Sensor(+)
Sensor(-)
②
Tarminal
no.
B-1
A-1
B-2
A-2
B-3
A-3
Shield
B-4
A-4
B-5
A-5
B-6
A-6
Tarminal no.
B-1
A-1
B-3
A-3
Actuator side
φ5.5
B1
B6
B1
A6
A1
④
B3
Tarminal no.
12
13
7
6
9
8
3
Red
Black
Brown
Blue
4
5
1
2
2
1
φ6.3
(14.2)
5
1
②
③
6
2
(18)
A3
Cable color
Brown
Black
Red
Black
Orange
Black
-
Controller side
(10.2) (17.7)
①
Tarminal no.
2
1
6
5
3
4
(14)
A1
③
Cable color
Brown
Red
Orange
Yellow
Green
Blue
φ5.7
(30.7)
- 45 -
L
(11)
15
16
11.5 I/O Cable
LEC – CN5 – □
Pin
No.
A1
A2
A3
A4
A5
A6
A7
A8
A9
A10
A11
A12
A13
Cable length(L)
1
1.5m
3
3m
5
5m
# of
wire
1
2
3
4
5
6
7
Color of
insulation
Light brown
Light brown
Yellow
Yellow
Light green
Light green
Grey
Grey
White
White
Light brown
Light brown
Yellow
Dot
mark
■
■
■
■
■
■
■
■
■
■
■■
■■
■■
Pin
No.
B1
B2
B3
B4
B5
B6
B7
B8
B9
B10
B11
B12
B13
-
Dot
color
Black
Red
Black
Red
Black
Red
Black
Red
Black
Red
Black
Red
Black
# of
wire
7
8
9
10
11
12
13
Color of
Dot
insulation
mark
Yellow
■■
Light green
■■
Light green
■■
Grey
■■
Grey
■■
White
■■
White
■■
Light brown
■■■
Light brown
■■■
Yellow
■■■
Yellow
■■■
Light green
■■■
Light green
■■■
Shield
Controller side
PLC side
φ8.9
A1
(22.4)
A1
・
・・
B1
A13
B1
・
・・
B13
Dot
color
Red
Black
Red
Black
Red
Black
Red
Black
Red
Black
Red
Black
Red
B13
A13
L
(14.4)
Number of Ways
AWG
11.6 Controller setting kit
LEC – W1
Controller setting kit
Contents
(1) Controller setting software (CD-ROM)
(2) Communication cable
(3) Conversion unit
(4) USB cable
Hardware requirements
PC/AT compatible machine installed with Windows XP and equipped with USB1.1
or USB2.0 ports.
*WindowsⓇ and Windows XPⓇ are registered trade marks of Microsoft Conporation.
- 46 -
26
AWG28
11.7 Teaching box
LEC
– T1
–
3
E
G □
Enable switch
Teaching box
Cable length
Nil
No enable
switch
S
Equipped with
enable
3m
3
Initial language
E
English
J
Japanese
Stop switch
Equipped with stop
switch
G
Dimensions
No
Name
Function
(1)
LCD
Liquid crystal display (with backlight)
(2)
Ring
The ring to hang the teaching box.
(3)
Stop switch
Pressing down to lock this, controlled stop
will be activated.
Turn clockwise to release the lock.
(4)
Stop guard
Protector for the stop switch
(5)
Enable switch
Switch to prevent unintentional operation of
(Option)
Jog test function.
* Does not apply to other functions e.g.
(6)
Key switch
Entry switches
(7)
Cable
3m length
(8)
Connector
The connector to be connected to the
CN4 of the controller
- 47 -
12. Alarm Detection
The details of the alarm can be checked using a PC (the controller setting software) or the teaching box.
* Please refer to the manuals of the controller setting software or the teaching box for how to check the
details of the alarms.
Please refer to section “12.2 Alarm details (page49)” of this manual on how to, deactivate the alarm.
There are two types of alarms: the ones that can be deactivated by the RESET input via the parallel
communication and the other that can be deactivated by cycling the controller power supply (C24V).
12.1 Parallel output for the alarm group
In case of an alarm, this controller outputs a signal that informs the type of alarm.
The type of alarm is classified into 5 groups and output from OUT0 to OUT3.
The status of output terminal for each alarm group is as follows:
Parallel output
Alarm group
*ALARM
OUT0
OUT1
OUT2
OUT3
Alarm group A
OFF
ON
OFF
OFF
OFF
Alarm group B
OFF
OFF
ON
OFF
OFF
Alarm group C
OFF
OFF
OFF
ON
OFF
Alarm group D
OFF
OFF
OFF
OFF
ON
Alarm group E
OFF
OFF
OFF
OFF
OFF
* The “ALARM” is expressed as negative-logic circuit.
When the alarm has activated, the status of output terminal will be as follows:
Parallel output
Alarm group
SVRE
SETON
Procedure of restart
Alarm group A
There is no change.
There is no change.
RESET input
Alarm group B
There is no change.
There is no change.
RESET input
Alarm group C
There is no change.
There is no change.
RESET input
Alarm group D
OFF
There is no change(*1)
RESET input(* 1)
Alarm group E
OFF
OFF
Power off ⇒Turn on the power again
(*1) But if controller version is below SV1.00, SETON turns OFF and it is necessary to input
SETUP (step 2).
<Procedure to restart>
1. Input RESET → SVRE: automatically turned on (if SVON is ON when RESET is input)
2. Input SETUP → Instruction to restart after return to origin is completed
- 48 -
12.2 Alarm details
Step data ALM1
(1-048)
Group
Alarm
(code)
B
How to
deactivate
RESET
input
Alarm contents/Countermeasure
<Contents>The step data is in-correct for the following
conditions:
(Assignable value range)
(1) Area1 < Area2
(If both Area1 and Area2 is 0, the alarm will not be activated.)
(2) TargetLV ≦ Pushing force
(3) Minimum speed of actuator ≦ Pushing speed≦Speed
(4) Pushing speed ≦ Maximum pushing speed of actuator
(5) Pushing force ≦ Minimum pushing force of actuator
<Countermeasure> Modify the step data setting.
Caution
Please confirm this pushing force and minimum speeds of
Data maximum speed and 0 or more of the actuator with
the actuator manual or the catalog.
<Contents> The basic parameter is not correct for the
following condition:
Parameter ALM
(1-049)
B
RESET
input
(Assignable value range)
(1) Stroke (-) < Stroke (+)
(2) W-Area 1 < W-Area2
(If both W-Area1 and W-Area2 is 0, the alarm will not be
activated.)
(3) Pushing speed ≦ Maximum pushing speed of actuator
Maximum pushing force < Maximum pushing force of actuator
<Countermeasure> Modify the basic parameter setting.
Caution
Please refer to the manual or the catalogue of the actuator for
the max/min pushing force/speed for the actuator.
Small Dec (1-050)
Step data ALM2
(1-051)
B
B
RESET
input
RESET
input
<Contents> For an operation for a specific step data no., the
actuator cannot stop within the stroke limit due to the value set
for the “Deceleration” of the step data.
<Countermeasure>Modify the Deceleration value to a value
with a sufficient margin so that the actuator can stop within the
stroke limit.
<Contents> For an operation for a specific step data no., the
requested number of the step data is not registered.
<Countermeasure> Make sure that the “Movement MOD” of
the step data is not "Blank (Disabled)".
- 49 -
Stroke limit
(1-052)
B
RESET
input
<Contents> The actuator goes out the stroke limit specified
by the basic parameters, “Stroke (+)” and “Stroke (-)” if it
performs the requested operation. (Including JOG operation
after return to origin)
<Countermeasure> Make sure that the basic parameter,
“Stroke (+)” and “Stroke (-)” are consistent with the distance of
actuator movement specified in the step data.
Caution
Pushing ALM
(1-096)
ORIG ALM
(1-097)
Servo off ALM
(1-098)
Drive ALM
(1-099)
C
C
C
C
RESET
input
RESET
input
RESET
input
RESET
input
If the “Movement MOD” of the step data is relative, pay
attention to the starting point and distance of the actuator
movement.
<Contents> In the pushing operation, if push back is bigger
than pushing operation, the push back is requested.
<Countermeasure> Increase the distance from the pushing
operation origin position to the object being pushed. Or,
increase the pushing force.
<Contents> Return to origin is not completed within the set
time.
<Countermeasure> Check whether the movement of the
actuator is obstructed.
<Contents> While the servo motor is off, the return to origin
operation, positioning operation, pushing operation or JOG
operation is requested.
<Countermeasure> Modify the setting so that those
operations will be requested while the servo motor is ON (the
SVON input is ON).
<Contents> A positioning operation or pushing operation is
requested.
Before the return to origin position is completed.
<Countermeasure> Modify the setting so that those
operations will be requested after the return to origin position
is completed.
<Contents> Rreturn to origin parameter has the conditions
shown below.
Parameter setting content
ORIG mode
ORIG Sens ALM
(1-103)
C
RESET
input
1
limit switch origin [Sensor]
2
pushing origin operation [Stop]
ORIG sensor
0. Disable
or
1. N.O
or
2. N.C.
1. N.O.
or
2. N.C.
<Countermeasure> Sensor installation and return to origin
parameter and motor and sensor type is setting to have
confirm.
- 50 -
Over speed
(1-144)
D
RESET
SVON
Input
(*1)
<Contents> The motor speed exceeds a specific level due to
an external force, etc.
<Countermeasure> Make improvements such that the motor
speed will not exceed the maximum speed of the actuator.
Caution
Please refer to the manual or the catalogue of the actuator
for the maximum speed of the actuator.
<Contents>The motor power supply voltage is out of
range.During [SVON] .
<Countermeasure> Make sure that the voltage supplied to the
motor power (M24V) of the controller is within specification.
Caution
Over motor Vol
(1-145)
D
RESET
SVON
Input
(*1)
If the power supply is “rush-current restraining type”, a
voltage drop may cause an alarm during the
acceleration/deceleration.
<Contents> Also, a regenerative electric power may cause an
alarm due to the method of operation of the actuator.
<Countermeasure> Make sure that the operating conditions
are within the specifications.
Caution
Please refer to the manual or the catalogue of the actuator
for the method of operation of the actuator.
Over Temp.
(1-146)
D
RESET
SVON
Input
(*1)
<Contents> The temperature around the power element of
the controller is too high.
<Countermeasure> Make improvements so that the
temperature around the controller is kept appropriate.
<Contents> The control power supply voltage within the
controller is out of a range.
<Countermeasure> Make sure that the voltage supplied to the
control power (C24V) of the controller is appropriate.
Caution
Over Crtl Vol
(1-147)
D
RESET
SVON
Input
(*1)
If one power supply is commonly used for the control power
and the motor power, or the power supply is ”rush-current
restraining type”, a power voltage drop may be caused due
to a voltage drop during the acceleration/deceleration.
<Contents> Also, a regenerative electric power may be
generated to cause an alarm due to the method of operation
of the actuator.
<Countermeasure> Make sure that the operating conditions
are within the specifications.
Caution
Please refer to the manual or the catalogue of the actuator
for the method of operation of the actuator.
Over load
(1-148)
D
RESET
SVON
Input
(*1)
<Contents> The output current accumulated value exceeds
the specified value.
<Countermeasure> Check whether the movement of the
actuator is obstructed.Also confirm whether the actuator load,
speed, acceleration and deceleration are within the
specification range of the actuator.
- 51 -
<Contents> Failed to reach to the set position within the set time
Posn failed
(1-149)
Ctrl Comm ALM
(1-150)
Encoder ALM
(1-192)
Phase Det ALM
(1-193)
Over current
(1-194)
I sens ALM
(1-195)
Err overflow
(1-196)
Memory ALM
(1-197)
CPU ALM
(1-198)
D
RESET
SVON
Input
(*1)
D
RESET
SVON
Input
(*1)
<Contents> The connection with the higher-level devices
(such as the PC and teaching box) is disconnected.
<Countermeasure> Make sure that the higher-level devices
will not be disconnected during the actuator operation.
E
Power off
<Contents> Abnormality in communication with the encoder.
<Countermeasure> Check the connection of the actuator
cable.
E
Power off
E
Power off
E
Power off
E
Power off
E
E
limit.
<Countermeasure> Eliminate any obstructions that interfere
with the actuator movement.
Also, make sure that the load, speed, acceleration and
deceleration are within the range of the actuators.
<Contents> Unable to find the motor phase within the set time.
(When the servo motor is turned on (SVON is turned on) first
time after the power is applied, the actuator needs to move a
little to find the motor phase. However, if this actuator
movement is prevented, this alarm will be activated.)
<Countermeasure> Make sure there are no obstructions that
interfere with the actuator movement and then, turn on the
servo motor (SVON is turned on).
<Contents> The output current of the power circuit is
extraordinarily high.
<Countermeasure> Make sure that there are no short circuits
of actuator cables, connectors, etc. In addition, make sure that
the actuator conforms to the controller.
<Contents> An abnormality is detected by the current sensor
that is checked when the controller is reset.
<Countermeasure> Make sure that the actuator conforms to
the controller. Even after this measure, if the alarm
regenerates when the power is reapplied, please contact SMC.
<Contents> An overflow of the position error counter inside of
the controller is occurred.
<Countermeasure> Make sure there are no obstructions that
interfere with the actuator movement. Also, make sure that the
load, speed, acceleration and deceleration are within the range
of the actuators.
Power off
<Contents> An error of the EEPROM is occurred.
<Countermeasure> If the alarm cannot be deactivated even
after the power is reapplied, please contact SMC.
Power off
<Contents> The CPU is not operating normally.
(It is possible that the CPU or surrounding circuits is failed or a
malfunction of the CPU is occurred due to an electric noise).
<Countermeasure> If the alarm cannot be deactivated even
after the power is reapplied, please contact SMC.
(*1) Alarm clear method for controller version below SV1.00: input RESET→SVON →SETUP
- 52 -
13. Wiring of cables/Common precautions
Warning
1. Adjusting, mounting or wiring change should never be done before shutting off the power
supply to the product.
Electrical shock, malfunction and damaged can result.
2. Never disassemble the cable. Use only specified cables.
3.
Never connect or disconnect the cable or connector with power on.
Caution
1. Wire the connector securely. Do not apply any voltage to the terminals other than those
specified in the product Manual.
2.
Wire the connector securely.
Check for correct connector wiring and polarity.
3.
Take appropriate measures against noise.
Noise in a signal line may cause malfunction. As a countermeasure, separate high voltage and low
voltage cables, and shorten wiring lengths, etc.
4.
Do not route wires and cables together with power or high voltage cables.
The product can malfunction due to interference of noise and surge voltage from power and high
voltage cables to the signal line. Route the wires of the product separately from power or high voltage
cables.
5.
Take care that actuator movement does not catch cables.
6.
Operate with cables secured. Avoid bending cables at sharp angles where they enter the product.
7.
Avoid twisting, folding, rotating or applying an external force to the cable.
Risk of electric shock, wire break, contact failure and lost of control for the product can happen.
8.
Fix the motor cable protruding from the product in place before using.
The motor and lock cables are not robotic type cables and can be damaged when moved.Therefore
do not place it in a flexible moving tube.
9.
The cable connecting the actuator and controller is superior in bending resistance, but should
not be placed into a flexible moving tube with a radius smaller than the specified value.
( Min. 50 mm)
10. Confirm proper wiring of the product.
Poor insulation (interference with other circuits, poor insulation between terminals and etc.) can apply
excessive voltage or current to the product causing damage.
11. The Speed / pushing force may vary, depending on the cable length, load and mounting
conditions etc..
If the cable length exceeds 5m, the speed / pushing force will be reduced by a maximum of 10% per
5m. (If cable length is 15m: Maximum 20% reduction.)
[Transportation]
Caution
1. Do not carry or swing the product by the cable
- 53 -
14. Electric actuators/Common precautions
14.1 Design and selection
Warning
1. Be sure to read the Operation Manual.
Handling or usage/operation other than that specified in the Operation Manual may lead to breakage
and operation failure of the product.
Any damage attributed to the use beyond the specifications is not guaranteed.
2. There is a possibility of dangerous sudden action by the product if sliding parts of machinery
are twisted due to external forces, etc.
In such cases, human injury may occur, such as by catching hands or feet in the machinery, or damage to the
machinery itself may occur. Design the machinery should be designed to avoid such dangers.
3. A protective cover is recommended to minimize the risk of personal injury.
If a driven object and moving parts of the product are in close proximity, personal injury may occur.
Design the system to avoid contact with the human body.
4. Securely tighten all stationary parts and connected parts so that they will not become loose.
When the product operates with high frequency or is installed where there is a lot of vibration, ensure
that all parts remain secure.
5. Consider a possible loss of power source.
Take measures to prevent injury and equipment damage even in the case of a power source failure.
6. Consider behavior of emergency stop of whole system.
Design the system so that human injury and/or damage to machinery and equipment will not be
caused, when it is stopped by a safety device for abnormal conditions such as a power outage or a
manual emergency stop of whole system.
7. Consider the action when operation is restarted after an emergency stop or abnormal stop of
whole system.
Design the system so that human injury or equipment damage will not occur upon restart of operation
of whole system.
8. Disassembly and modification prohibited
Do not modify or reconstruct (including additional machining) the product. An injury or failure can result.
9. Do not use stop signal,"EMG" of the controller and stop switch on the teaching box as the
emergency stop of system.
The stop signal, "EMG" of controller and the stop switch on the teaching box are for decelerating and
stopping the actuator.
Design the system with an emergency stop circuit which is applied relevant safety standard separately.
10. When using it for vertical application, it is necessary to build in a safety device.
The rod may fall due to the weight of work. The safety device should not interfere with normal
operation of the machine.
Caution
1. Operate within the limits of the maximum usable stroke.
The product will be damaged if it is used with the stroke which is over the maximum stroke. Refer to
the specifications of the product.
2. When the product repeatedly cycles with partial strokes, operate it at a full stroke at least once
every 10 strokes.
Otherwise, lubrication can run out.
- 54 -
3.
Do not use the product in applications where excessive external force or impact force is
applied to it.
The product can be damaged.
4.
Refer to a common auto switch /matter (Best Pneumatics No 2) when an auto switch is built in
and used.
5.
Return to origin cannot return while operating.
It cannot be done during positioning operation, pushing operation and pushing.
14.2 Mounting
Warning
1.
Install and operate the product only after reading the Operation Manual carefully and
understanding its contents. Keep the manual in a safe place future reference.
2.
Observe the tightening torque for screws.
Tighten the screws to the recommended torque for mounting the product.
3.
Do not make any alterations to this product.
Alterations made to this product may lead to a loss of durability and damage to the product, which can
lead to human injury and damage to other equipment and machinery.
4.
When using external guide, the guide axis should be parallel to the actuator axis.
There will be damage/excessive wear on the lead screw if the external guide is not parallel.
5.
When an external guide is used, connect the moving parts of the product and the load in such
a way that there is no interference at any point within the stroke.
Do not scratch or dent the sliding parts of the product tube or piston rod etc., by striking or grasping
them with other objects. Components are manufactured to precise tolerances, so that even a slight
deformation may cause faulty operation.
6.
Prevent the seizure of rotating parts.
Prevent the seizure of rotating parts (pins, etc.) by applying grease.
7.
Do not use the product until you verify that the equipment can be operated properly.
After mounting or repair, connect the power supply to the product and perform appropriate functional
inspections to check it is mounted properly.
8.
At the overhang mounted impeller fixation
There is a possibility that the power at the bending moment damages the actuator when moving it at
high speed.
The support metal fittings that suppress the vibration of the main body of the actuator are installed.
Lower and use speed for the state that the actuator doesn't vibrate.
9.
When attaching work piece, do not apply strong impact or large moment.
If an external force over the allowable moment is applied, it may cause looseness in the guide unit, an
increase in sliding resistance or other problems.
10.
Maintenance space.
Allow sufficient space for maintenance and inspection.
- 55 -
14.3 Handling
1.
2.
3.
4.
5.
6.
1.
2.
3.
4.
5.
6.
7.
Warning
Do not touch the motor while in operation.
The surface temperature of the motor can increase to approx. 90oC to 100oC due to operating
conditions. Energizing alone may also cause this temperature increase. As it may cause burns, do not
touch the motor when in operation.
If abnormal heating, smoking or fire, etc., occurs in the product, immediately shut off the
power supply.
Immediately stop operation if abnormal operation noise or vibration occurs.
If abnormal operation noise or vibration occurs, the product may have been mounted incorrectly.
Unless operation of the product is stopped for inspection, the product can be seriously damaged.
Never touch the rotating part of the motor or moving part of the actuator while in operation.
When installing, adjusting, inspecting or performing maintenance on the product, controller and related
equipment, be sure to shut off the power supply to each of them. Then, lock it so that no one other than
the person working can turn the power on, or implement measures such as a safety plug.
In the case of the actuator that has a servo motor (24VDC), the “motor phase detection step" is
done by inputting the servo on signal just after the controller power is turned on. The “motor
phase detection step” operates the table/rod to the maximum distance of the lead screw. (The
motor rotates in the reverse direction if the table hits an obstacle such as the end stop
damper.) Take the “motor phase detection step” into consideration for the installation and
operation of this actuator.
Caution
Keep the controller and product combined as delivered for use.
The product is set in parameters for shipment. If it is combined with a different parameter, failure can result.
Check the product for the following points before operation.
a) Damage to electric driving line and signal lines
b) Looseness of the connector to each power line and signal line
c) Looseness of the actuator/cylinder and controller/driver mounting
d) Abnormal operation
e) Emergency stop of the total system
When more than one person is performing work, decide on the procedures, signals, measures
and resolution for abnormal conditions before beginning the work. Also, designate a person
to supervise work other than those performing work.
Actual speed of the product will be changed by the workload.
Before selecting a product, check the catalog for the instructions regarding selection and
specifications.
Do not apply a load, impact or resistance in addition to a transferred load during return to origin.
In the case of the return to origin by pushing force, additional force will cause displacement of the
origin position since it is based on detected motor torque.
Do not remove the name plate.
Operation test should be done by low speed. Start operation by predefined speed after
confirming there is no trouble.
[Earth]
Warning
Please give the earth of the actuator.
Please make it to the earth of the exclusive use. The earth construction is D seed.
(Below earth resistance 100Ω)
3. Please shorten the distance until the actuator and earth.
1.
2.
- 56 -
[Unpackaging]
Caution
1. Check the received product is as ordered.
If a different product is installed from the one ordered, injury or damage can result.
14.4 Operating environment
1.
2.
3.
4.
5.
Warning
Avoid use in the following environments.
a. Locations where a large amount of dusts and cutting chips are airborne.
b. Locations where the ambient temperature is outside the range of the temperature specification
(refer to specifications).
c. Locations where the ambient humidity is outside the range of the humidity specification (refer to
specifications).
d. Locations where corrosive gas, flammable gas, sea water, water and steam are present.
e. Locations where strong magnetic or electric fields are generated.
f. Locations where direct vibration or impact is applied to the product.
g. Areas that are dusty, or are exposed to splashes of water and oil drops.
h. Areas exposed to direct sunlight (ultraviolet ray).
Do not use in an environment where the product is directly exposed to liquid, such as cutting oils.
If cutting oils, coolant or oil mist contaminates the product, failure or increased sliding resistance can
result.
Install a protective cover when the product is used in an environment directly exposed to
foreign matters such as dust, cutting chips and spatter.
Play or increased sliding resistance can result.
Shade the sunlight in the place where the product is applied with direct sunshine.
Shield the valve from radiated heat generated by nearby heat sources.
When there is a heat source surrounding the product, the radiated heat from the heat source can
increase the temperature of the product beyond the operating temperature range. Protect it with a
cover, etc.
6.
Grease oil can be decreased due to external environment and operating conditions, and it
deteriorates lubrication performance to shorten the life of the product.
[Storage]
Warning
1. Do not store the product in a place in direct contact with rain or water drops or is exposed to
harmful gas or liquid.
2.
Store in an area that is shaded from direct sunlight and has a temperature and humidity within
the specified range (-10oC to 60oC and 35 to 85% No condensation or freezing.
3.
Do not apply vibration and impact to the product during storage.
- 57 -
14.5 Maintenance
Warning
1. Do not disassemble or repair the product.
Fire or electric shock can result.
2. Before modifying or checking the wiring, the voltage should be checked with a tester 5
minutes after the power supply is turned off.
Electrical shock can result.
Caution
1. Maintenance should be performed according to the procedure indicated in the Operating
Manual.
Incorrect handling can cause injury, damage or malfunction of equipment and machinery.
2. Removal of product.
When equipment is serviced, first confirm that measures are in place to prevent dropping of work
pieces and run-away of equipment, etc, and then cut the power supply to the system. When
machinery is restarted, check that operation is normal with actuators in the proper positions.
[Lubrication]
Caution
1. The product has been lubricated for life at manufacturer, and does not require lubrication in
service.
Contact SMC if lubrication will be applied.
14.6 Precautions for actuator with lock
Warning
Do not use the lock as a safety lock or a control that requires a locking force.
The lock used for the product with a lock is designed to prevent dropping of work piece.
2. For vertical mounting, use the product with a lock.
If the product is not equipped with a lock, the product will move and drop the work piece when
the power is removed.
3. "Measures against drops” means preventing a work piece from dropping due to its weight
when the product operation is stopped and the power supply is turned off.
1.
4.
Do not apply an impact load or strong vibration while the lock is activated.
If an external impact load or strong vibration is applied to the product, the lock will lose it’s
holding force and damage to the sliding part of the lock or reduced lifetime can result. The same
situations will happen when the lock slips due to a force over the thurst of the product, as this
accelerates the wear to the lock.
5.
Do not apply liquid or oil and grease to the lock or its surrounding.
When liquid or oil and grease is applied to the sliding part of the lock, its holding force will reduce
significantly.
6.
Take measures against drops and check that safety is assured before mounting,
adjustment and inspection of the product.
If the lock is released with the product mounted vertically, a work piece can drop due to its weight.
- 58 -
15. Controller and its peripheral devices /Specific product precautions
15.1 Design and selection
Warning
1.
Be sure to apply the specified voltage.
Otherwise, a malfunction and breakage of the controller may be caused.
If the applied voltage is lower than the specified, it is possible that the load cannot be moved due to an
internal voltage drop. Please check the operating voltage before use.
2.
Do not operate beyond the specifications.
It may cause a fire, malfunction or actuator damage can result. Please check the specifications before
use.
3.
Install an emergency stop circuit.
Please install an emergency stop outside of the enclosure so that it can stop the system operation
immediately and intercept the power supply.
4.
In order to prevent danger and damage due to the breakdown and the malfunction of this
product, which may occur at a certain probability, a backup system should be established
previously by giving a multiple-layered structure or a fail-safe design to the equipment, etc.
5.
If a fire or danger against the personnel is expected due to an abnormal heat generation,
ignition, smoking of the product, etc., cut off the power supply for this product and the system
immediately.
15.2 Handling
1.
2.
3.
4.
5.
6.
7.
8.
Warning
The inside of the controller and its connector should not be touched.
It may cause an electric shock or damage to the controller.
Do not perform the operation or setting of this equipment with wet hands.
It may cause an electric shock.
Product with damage or the one lacking of any components should not be used.
It may cause an electric shock, fire, or injury.
Use only the specified combination between the controller and electric actuator.
It may cause damage to the controller or the actuator.
Be careful not to be caught or hit by the workpiece while the actuator is moving.
It may cause an injury.
Do not connect the power supply or power on the product before confirming the area where
the work moves is safe.
The movement of the work may cause accident.
Do not touch the product when it is energized and for some time after power has been
disconnected, as it is very hot.
It may lead to a burn due to the high temperature.
Check the voltage using a tester for more than 5 minute after power-off in case of installation,
wiring and maintenance.
There is a possibility of getting electric shock, fire and injury.
- 59 -
9.
Do not use in an area where dust, powder dust, water or oil is in the air.
It will cause failure or malfunction.
10. Do not use in an area where a magnetic field is generated.
It will cause failure or malfunction.
11. Do not install in the environment of flammable gas, corrosive gas and explosive gas.
It could lead to fire, explosion and corrosion.
12. Radiant heat from strong heat supplys such as a furnace, direct sunlight, etc. should not be
applied to the product.
It will cause failure of the controller or its peripheral devices.
13. Do not use the product in an environment subject to a temperature cycle.
It will cause failure of the controller or its peripheral devices.
14. Do not use in a place where surges are generated.
When there are units that generate a large amount of surge around the product (e.g., solenoid type
lifters, high frequency induction furnaces, motors, etc.), this may cause deterioration or damage to the
product’s' internal circuit. Avoid supplys of surge generation and crossed lines.
15. Do not install this product in an environment under the effect of vibrations and impacts.
It will cause failure or malfunction.
16. If this product is used with a relay or solenoid valve, they should be the surge absorbing
element built-in type.
15.3 Installation
Warning
1.
The controller and its peripheral devices should be installed on a fire-proof material.
A direct installation on or near a flammable material may cause fire.
2.
Do not install this product in a place subject to vibrations and impacts.
It may cause an electric shock, fire, or injury.
3.
Take measure so that the operating temperature of this controller and its peripheral devices
are within the range of the specifications.
Also, this controller should be installed with 50mm
or larger spaces between each side of it and the other structures or
components.
It may cause a malfunction of the controller and its peripheral devices and a fire.
4.
Do not mount this controller and its peripheral devices together with a large-sized
electromagnetic contactor or no-fuse breaker, which generates vibration, on the same panel.
Mount them on different panels, or keep the controller and its peripheral devices away from
such a vibration supply.
5.
This controller and its peripheral devices should be installed on a flat surface.
If the mounting surface is distorted or not flat, an unacceptable force may be added to the housing, etc.
to cause troubles.
- 60 -
15.4 Wiring of cables/Common precautions
Warning
1.
Do not apply any excessive force to cables by repeated bending, tensioning or placing a heavy
object on the cables.
It may cause an electric shock, fire, or breaking of wire.
2.
Connect wires and cables correctly.
Incorrect wiring could break he controller or its peripheral devices depending on the seriousness.
3.
Do not connect wires while the power is supplied.
It can break the controller or its peripheral devices could be damaged to cause a malfunction.
4.
Do not carry this product by holding its cables.
It may cause an injury or damage to the product.
5.
Do not connect power cable or high-voltage cable in the same wiring route as the unit.
Te wires to the controller or its peripheral devices can be interrupted with noise or induced surge
voltage from power lines or high-voltage lines and malfunction could be caused.
Separate the wiring of the controller and its peripheral device from that of power line and high voltage
line.
6.
Verify the insulation of wiring.
Insulation failure (interference with other circuit, poor insulation between terminals and etc.) could
introduce excessive voltage or current to the controller or its peripheral devices and damage them.
15.5 Power supply
Caution
1. Use a power supply that has low noise between lines and between power and ground.
In cases where noise is high, an isolation transformer should be used.
2. The power supplys should be separated between the controller power and the I/O signal power
and both of them do not use the power supply of “rush-current restraining type”.
If the power supply is “rush-current restraining type”, a voltage drop may be caused during the
acceleration of the actuator.
3. To prevent surges from lightning, an appropriate measure should be taken. Ground the surge
absorber for lightning separately from the grounding of the controller and its peripheral
devices.
15.6 Grounding
Warning
1. Be sure to carry out grounding in order to ensure the noise tolerance of the controller.
It may cause an electric shock or fire.
2. Dedicated grounding should be used.
Grounding should be to a D-class ground (Ground resistance of 100 Ω or less.)
- 61 -
3.
Grounding should be performed near the unit as much as possible to shorten the grounding
distance.
4.
In the unlikely event that malfunction is caused by the ground, it may be disconnected.
15.7 Maintenace
Warning
1. Perform a maintenance check periodically
Confirm wiring and screws are not loose.
Loose screws or wires may cause unintentional malfunction.
2. Conduct an appropriate functional inspection after completing the maintenance.
In case of any abnormities (in the case that the actuator does no move, etc.), stop the operation of the
system. Otherwise, an unexpected malfunction may occur and it will become impossible to secure the
safety.
3. Do not disassemble, modify or repair this controller and the peripheral equipment.
4.
Do not put anything conductive or flammable inside of this controller.
It may cause a fire and explosion.
5.
Do not conduct an insulation resistance test and withstand voltage test on this product.
6.
Ensure sufficient space for maintenance activities.
Provide space required for maintenance.
Design the system that allows required space for maintenance.
- 62 -
16. Troubleshooting
In case of any troubles, please consult thefollowing table.
Consider replacing controller, if not of the causes on this table are applicable. It is possible that this
product is damaged due to the operating conditions (applications), please contact SMC to discuss
appropriate measures.
16.1 Operation trouble
Trouble
The actuator
does not
move at all.
Move
occasionally.
Possible
cause
How to diagnose the trouble
Solutions
Power fault
Check if the LED (green) of the controller
is lit.
The power supply, voltage or current
should be modified to an appropriate one.
→4. External Wiring Diagram (page16)
→5. CN1: Power supply plug (page 18)
External
device fault
Check if the PLC connected to the
controller is working well. Test operation
of the controller stand-alone.
Take appropriate measures according to
this manual.
→ 6.3 The parallel I/O signal is detailed
(page24)
Wiring fault
Check if the controller is wired correctly
according to this manual without any
breakings and short circuits.
Correct the wiring so that the input/output
of each signal is performed appropriately.
Separate the power supply for the
CN1controller power supply and the CN5
I/O signal power supply.
→ 4. External Wiring Diagram (page16)
→6.4 Parallel I/O Wiring Example
(page27)
Alarm
condition
Check if the controller is in the alarm
condition. If it is, check the type of alarm
referring to this manual.
Take appropriate measures according to
this manual.
→ 12. Alarm Detection (page48)
Lock release
error
Check if you can hear the sound of lock
release when the manual lock switch is
turned on and off.
If there is no sound of lock release, the
lock brake is possibly broken.
→ If the trouble continues, please contact
SMC.
Inappropriate
specifications
Check if the controller’s specifications are
appropriate, the power supply is suitable
and the actuator is compatible to the
controller.
Check the actuator part number to replace
with one of the appropriate ones
compatible to the controller.
→ 3. Product Specifications (page11)
Alarm
condition
Check if the controller is in the alarm
condition. If it is, check the type of alarm
referring to this manual.
Take appropriate measures according to
this manual.
→12. Alarm Detection (page48)
Wiring fault
Check if the controller is wired correctly
according to this manual without any break
and short circuits.
Correct the wiring so that the input/output
of each signal is performed appropriately.
Separate the power supply for the
CN1controller power supply and the CN5
I/O signal power supply.
→ 4. External Wiring Diagram (page16)
→6.4 Parallel I/O Wiring Example
(page27)
Electric noise
Check if the grounding for the controller is
appropriate. Also, check if the cables are
not bundled.
Take appropriate measures according to
this manual.
→ 3.4 How to install (page14)
- 63 -
Move
occasionally.
Inappropriate
parameter
Check if the parameters are appropriate.
Check if the controller is compatible to the
actuator.
Modify the parameters accordingly and
check the operation.
→ 7. Setting Data Entry (page28)
Voltage drop
Check if there are any temporary voltage
drops for the power supply.
(In case of a voltage drop, the EMG
terminal of CN1 power connector will be
turned off to put the actuator in an stop
condition. However, this stop will be
released when the voltage recovers.)
Replace the power supply.
But do not use the power supply of
“rush-current restraining type”.that has a
sufficient capacity.
→ 3. Product Specifications (page11)
The pushing
operation
defective.
If the controller version is below SV1.00
The pushing force is reduced when the
energy saving mode is turned on. If the
Cheak during pushing operation the INP
pushing force is reduced to a value less
output signal is turning on.
than the value in step data “trigger LV” the
(On completion of pushing the operation the
INP output signal is turned off. Check the
output INP signal is generated, the PLC
INPoutput signal before the energy savig
cannot confirm the completion of driving. )
mode is turned on.
→ 6.3 The parallel I/O signal is detailed.
(page24)
Inappropriate
specifications
Check if the controller’s specifications are
appropriate, the power supply is suitable
and the controller is compatible to the
actuator.
Signal timing
PLC processing delay and controller scan
delay are generated. Please ensure an
Check the timing of the signal from the PLC interval of 30msec or more between input
to the controller.
signals, and maintain the signal state.
→ 8.4 Controller input signal response
time (page 36)
- 64 -
Check the actuator part number to replace
with one of the appropriate ones
compatible to the controller.
→ 3. Product Specifications (page11)
16.2 Position/Speed trouble
Trouble
The
actuator
does not
move to
the correct
position.
Possible
cause
If it is a pushing operation, repeat return
to origin operations several times to
check if the actuator returns to the origin
correctly.
Take measure to make the actuator operates
normally (remove foreign matters that
interferes with the actuator movement, etc.)
Inappropriate
basic
parameters
Check if the values for the parameter are
appropriate and the program is correct.
Review the maximum speed, the
maximum acceleration and the maximum
deceleration of the actuator.
Modify the parameters to appropriate ones and
test the operation.
→ 7. Setting Data Entry (page28)
Wiring fault
Inappropriate
specifications
Signal timing
Data writing
failure
Inappropriate
basic
parameters
Inappropriate
step data
Insufficient
speed
Solutions
Incorrect
origin
position
Inappropriate
specifications
The
actuator
does not
move
correctly.
How to diagnose the trouble
Inappropriate
specifications
Voltage drop
Check if the controller’s specifications are
Take appropriate measures according to this
appropriate, the power supply is suitable
manual.
and the controller is compatible to the
→ 3. Product Specifications (page11)
actuator.
Correct the wiring so that the input/output of
each signal is performed appropriately.
Check if the controller is wired correctly
Separate the power supply for the CN1
controller power supply and the CN5 I/O
according to this manual without any
breaks and short circuits
signal power supply.
→ 4. External Wiring Diagram (page16)
→6.4 Parallel I/O Wiring Example (page27)
Check if the controller’s specifications are
Take appropriate measures according to this
appropriate, the power supply is suitable
manual.
and the controller is compatible to the
→ 3. Product Specifications (page11)
actuator.
PLC processing delay and controller scan
delay are generated. Please ensure an interval
Check the timing of the signal from the
of 30msec or more between input signals, and
PLC to the controller.
maintain the signal state.
→ 8.4 Controller input signal response time
(page 36)
Check whether data (step data,
Input correct data (step data, parameter) again
parameter) is written correctly.
and confirm operation.
Do not turn off the controller input power
→ 3.2 Parts description (page 12)
or remove the cable while data is being
→ 7. Setting Data Entry (page 28)
written (green light flashing).
Check if the values for the parameter are
Modify the values of the parameters to
appropriate and the program is correct.
appropriate ones and test the operation.
Review the maximum speed and the
→ 7. Setting Data Entry (page28)
maximum acceleration of the actuator.
Check if a trapisodial acceleration /
deceleration is programmed for the
Modify the setting to make the moving distance
actuator operation. In case of such
longer or the acceleration larger.
operation, the actuator may start slowing
→ 7. Setting Data Entry (page28)
down before it reaches the maximum
speed.
Check if the controller’s specifications are
Take appropriate measures according to this
appropriate, the power supply is suitable
manual.
and the controller is compatible to the
→ 3. Product Specifications (page11)
actuator.
Check if there has been any temporary
voltage drop in the power supply.
There is a possibility of a momentary voltage
(If there is a temporary voltage drop in the drop because the capacity of the power supply
is insufficient, or the power supply has inrush
power supply, the EMG terminal of CN1
power connector will turn OFF so the
current restraining specification.
actuator will stop. However, this stop will →3. Product Specifications (page 11)
be released when the voltage recovers.)
- 65 -
Revision history
4-14-1, Sotokanda, Chiyoda-ku, Tokyo 101-0021 JAPAN
Tel: + 81 3 5207 8249 Fax: +81 3 5298 5362
URL http://www.smcworld.com
Note: Specifications are subject to change without prior notice and any obligation on the part of the manufacturer.
© 2010 SMC Corporation All Rights Reserved
- 66 -
Download PDF