ACON-SE Controller Serial Communication Type Operation Manual Thirteenth Edition IAI America Inc.
Please Read Before Use Thank you for purchasing our product. This Operation Manual explains the handling methods, structure and maintenance of this product, among others, providing the information you need to know to use the product safely. Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of the product. The CD that comes with the product contains operation manuals for IAI products.
CAUTION 1. Use Environment ACON controllers can be used in an environment of pollution degree 2 or equivalent. 2. Models of Teaching Pendants and PC Software New functions have been added to the whole ACON Controller Series. Since the communication protocol is accordingly changed to the general Modbus method (compatible), the PC software and teaching pendants used in conventional RCS controllers are not compatible.
x Changing the zone function Application versions: V0015 or later Now, zone signal settings that meet the relationshLS ³=RQH VHWWLQJ =RQH VHWWLQJ ´ DUH DOVR VXSSRUWHG 9 RU HDUOLHU ³=RQH VHWWLQJ d =RQH VHWWLQJ ´ o 1R ]RQH VLJQDO LV RXWSXW 9 RU ODWHU ³=RQH VHWWLQJ =RQH VHWWLQJ ´ o 1R ]RQH VLJQDO LV RXWSXW RQO\ ZKHQ WKLV FRQGLWLRQ LV VDWLVILHG $FFRUGLQJO\ D ]RQH VLJQDO FDQ QRZ EH RXWSXW HYHQ LQVLGH D ]RQH WKDW LQFOXGHV q ZKHQ D URWDU\ DFWXDWRU LV XVHG LQ WKH LQGH[ PRGH ([D
CE Marking If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately.
Table of Contents Safety Guide .................................................................................................................................1 1. Overview ................................................................................................................................9 1.1 1.2 1.3 1.4 1.5 1.6 2. Specifications .......................................................................................................................18 2.1 2.2 2.3 2.4 3. Introduction .......
4. Description of Operating Functions......................................................................................40 4.1 4.2 4.3 4.4 5. Parameter Settings ..............................................................................................................75 5.1 5.2 6. Parameter Table ..................................................................................................................... 75 Parameter Settings ...............................................................
Safety Guide When designing and manufacturing a robot system, ensure safety by following the safety guides provided below and taking the necessary measures. Regulations and Standards Governing Industrial Robots Safety measures on mechanical devices are generally classified into four categories under the International ,QGXVWULDO 6WDQGDUG ,62 ',6 ³6DIHW\ RI PDFKLQHU\ ´ DV IROORZV Safety measures Inherent safety design Protective guards --- Safety fence, etc.
Requirements for Industrial Robots under Ordinance on Industrial Safety and Health Work area Work condition Outside movement range During automatic operation Cutoff of drive source Not cut off Cut off (including stopping of operation) During teaching, etc. Inside movement range Not cut off Cut off During inspection, etc. Not cut off (when inspection, etc., must be performed during operation) 2 Measure Signs for starting operation Installation of railings, enclosures, etc. Sign, etc.
Applicable Models of IAI’s Industrial Robots Machines meeting the following conditions are not classified as industrial robots according to Notice of Ministry of Labor No. 51 and Notice of Ministry of Labor/Labor Standards Office Director (Ki-Hatsu No.
Notes on Safety of Our Products Common items you should note when performing each task on any IAI robot are explained below. No. Task 1 Model selection 2 3 4 4 Note z This product is not planned or designed for uses requiring high degrees of safety. Accordingly, it cannot be used to sustain or support life and must not be used in the following applications: [1] Medical devices relating to maintenance, management, etc.
No. Task ,QVWDOODWLRQ VWDUWXS 5 Teaching Note (2) Wiring the cables z 8VH ,$,¶V JHQXLQH FDEOHV WR FRQQHFW WKH DFWXDWRU DQG FRQWUROOHU RU FRQQHFW D WHDFKLQJ tool, etc.
6 Confirmation operation 7 Automatic operation 8 Maintenance/ inspection 9 Modification 10 Disposal 6 z After teaching or programming, carry out step-by-step confirmation operation before switching to automatic operation. z When carrying out confirmation operation inside the safety fences, follow the specified work procedure just like during teaching. z When confirming the program operation, use the safety speed. Failure to do so may result in an unexpected movement due to programming errors, etc.
Indication of Cautionary Information 7KH RSHUDWLRQ PDQXDO IRU HDFK PRGHO GHQRWHV VDIHW\ JXLGHV XQGHU ³'DQJHU ´ ³:DUQLQJ ´ ³&DXWLRQ´ DQG ³1RWH ´ DV specified below. /HYHO 'HJUHH RI GDQJHU ORVV 6\PERO 'DQJHU Failure to observe the instruction will result in an imminent danger leading to death or serious injury. 'DQJHU :DUQLQJ Failure to observe the instruction may result in death or serious injury. :DUQLQJ &DXWLRQ Failure to observe the instruction may result in injury or property damage.
8
1. Overview Introduction The ACON Series controllers are specifically designed for the RCA, RCA2 and RCL actuators, and adopt new functions to further enhance convenience and safety by reducing the size and cost while following the functions of the RCS controller. In addition, the power-saving considered function has been adopted, with awareness of energy conservation raised.
1. Overview 1.2 Main Features and Functions (1) Control signals are input/output via serial communication RS485 (compatible with Modbus protocol). (2) Positioning points: 64 (3) Setting of zone output boundary values The zone output boundary values were previously fixedly set with parameters. Convenience has been enhanced since they can now be set in the position table (only in the operation by position number specification).
1.3 Model Number SE: For serial communication only 0: 24 VDC [Motor type] 2: 2W 5: 5W 10: 10W 20S: 20W for RA3 only 20: 20W 30: 30W 0: No cable * ACON-SE controllers do not come with an I/O cable.
1.4 System Configuration 1.
(2) When the SIO converter is used (RS232C serial communication) Connect the teaching pendant, PC or PLC using the SIO converter (RS232C/RS485 conversion) as shown below. 1.
1. Overview 1.5 Procedure from Unpacking to Trial Run Adjustment When using this product for the first time, pursue work while paying attention to avoid check omission and incorrect wiring by referring to the procedure below. 1. Check of Packed Items Should there be any incorrect model or insufficient item, contact your dealer.
1. Overview 6. Safety Speed Setting The default value of the safety speed is 100 mm/s or less. Change it if necessary. (Limited to 250 mm/s or less) o 5. Parameter Settings 7. Target Position Setting Set desired positions in the [Position] field of the position table by using the teaching pendant or PC, or set numeric values directly. ,I \RX PRYH WKH DFWXDWRU ZLWKRXW VHWWLQJ GHVLUHG SRVLWLRQV WKH PHVVDJH ³1R PRYHPHQW GDWD´ ZLOO EH displayed.
1. Overview 1.6 Warranty 1.6.1 Warranty Period One of the following periods, whichever is shorter: 18 months after shipment from our factory 12 months after delivery to a specified location 1.6.2 Scope of Warranty Our products are covered by warranty when all of the following conditions are met. Faulty products covered by warranty will be replaced or repaired free of charge: (1) The breakdown or problem in question pertains to our product as delivered by us or our authorized dealer.
1.6.6 Other Items Excluded from Warranty The price of the product delivered to you does not include expenses associated with programming, the dispatch of engineers, etc. Accordingly, a separate fee will be charged in the following cases even during t he warranty period: [1] Guidance for installation/adjustment and witnessing of test operation [2] Maintenance and inspection [3] Technical guidance and education on operating/wiring methods, etc.
2. Specifications 6SHFL¿FDWLRQV 2.1 Basic Specifications Specification item Model Number of controlled axes Power-supply voltage Motor power supply Actuator Motor type capacity (Note 1) 10 W RCA/ RCA2 RCL 20 W [Model code: 20] 30 W 20 W [Model code: 20S] For RA3, RA4 and TA5 types only 2W 5W 10 W Description ACON-SE 1 axis per unit 24 VDC r 10% Standard specification/Support high Support power-saving acceleration/deceleration Rated [A] Maximum (Note 2) Rated [A] Maximum (Note 2) 1.3 4.4 1.3 2.5 1.
2.2 Name and Function of Each Part of the Controller Status indicator LEDs ALM (red): 6SHFL¿FDWLRQV SV (green): Indicates the servo ON status. Indicates the alarm generated status or emergency stop status. SIO connector Connector for the teaching pendant/PC, gateway unit and SIO converter The model of the actuator connected is displayed here.
2.3 External Dimensions 6SHFL¿FDWLRQV An external view and dimensions of the product are shown below. 35 68.
2.
[4] D-sub, 9-pin connector (RS232C) $ FRQQHFWLRQ SRUW ZLWK WKH 3/&¶V FRPPXQLFDWLRQ PRGXOH $ 3& FDQ DOVR EH FRQQHFWHG WR WKLV SRUW )RU WKH FRPPXQLFDWLRQ FDEOH XVH WKH 56 & FURVV FDEOH VSHFLILHG EHORZ 6SHFL¿FDWLRQV [5] Mini DIN, 8-pin connector (RS485) $ FRQQHFWLRQ SRUW ZLWK WKH WHDFKLQJ SHQGDQW RU 3& )RU WKH FRPPXQLFDWLRQ FDEOH XVH WKH FDEOH ZLWK 56 & 56 FRQYHUWHU VXSSOLHG ZLWK WKH 3& VRIWZDUH 5&0 0: [6] PORT switch $ VZLWFK IRU HQDEOLQJ GLVDEOLQJ WKH PLQL ',1 FRQQHFWRU 6HW W
3. Installation and Wiring Pay due attention to the installation environment of the controller. 3.1 Installation Environment 3. Installation and Wiring (1) When installing and wiring the controller, do not block the cooling ventilation holes. (Insufficient ventilation will not only prevent the controller from demonstrating its full performance, but it may also cause breakdown.) (2) Prevent foreign matter from entering the controller through the ventilation holes.
[2] Precautions regarding wiring method 3. Installation and Wiring Use a twisted cable to connection the 24 VDC external power supply. Separate wiring of signal lines and encoders from power supply lines and power lines. (Do not tie them together or place in the same cable duct.) If you want to extend the motor or encoder cable bey ond the length of the supplied cable, contact IAI.
3.4 Heat Radiation and Installation Fan 50 mm or more 80 mm or more 50 mm or more Airflow Regardless of whether your system consists of a single controller or multiple controllers, provide sufficient clearance around each controller so that it can be installed/removed easily. 25 3. Installation and Wiring Design the control panel size, controller layout and cooling method in such a way that the temperature around the controller will not exceed 40qC.
3.5 External Connection Diagram An example of standard wiring is shown below. (Note) When encoder relay cables are of the robot cable specification, the line colors will be different, refer WR ³ (QFRGHU 5HOD\ &DEOHV ´ 3.
3.6 Wiring the Power Supply Connect the +24V side of the 24 VDC power supply to the 24V terminal on the power supply terminal block and the 0V side to the 0V terminal. Power supply Cable inlet Open the cable inlet by pushing terminal block it with a flathead screwdriver. 3. Installation and Wiring Input power supply: 24 VDC: 24V 0V Use a power cable satisfying the following specifications: Item Applicable wire Description Twisted wire: AWG size 22 (0.
3.8 Wiring the Emergency Stop Circuit 3.8.1 Drive Signal Shutdown (Standard) (1) When the SIO converter is used Teaching pendant T.P.
When the gateway unit is used Teaching pendant EMG push button T.P. connector EMG push button 3.
3.8.2 Cutting off the Motor Drive Power Supply (1) When the SIO converter is used Teaching pendant EMG push button EMG reset switch EMG push button SIO converter T.P.
When the gateway unit is used Teaching pendant EMG push button EMG push button SIO connector 3. Installation and Wiring EMG reset switch Gateway unit T.P.
3.9 Connecting the Actuator Cable model marking Controller end Pin No. Pin assignments (9) Pin assignments Actuator end Pin No. Signal name Cable color Wire size Red White Black Housing: DF1E-3S-2.5C (Hirose) Contact: DF1E-2022SC (Hirose) (or DF1B-2022SC) Housing: SLP-03V (J.S.T. Mfg.) Contact: BSF-21T-P1.4 (J.S.T. Mfg.) (2) RCA encoder cable/encoder robot cable Standard cable model: CB-ACS-PA Robot cable model: CB-ACS-PA-RB (optional) ( indicates the cable length L.
3. Installation and Wiring (I 12) (3) RCA2 monitor/encoder integrated cable Model: CB-ACS-MPA ( indicates the cable length L. Example: 080 = 8 m) Cable model marking Actuator end Controller end Housing Contact Pin No. Signal name Pin No. Cable name Red Yellow Black Pin No.
3.10 Connecting the SIO Communication 3.10.1 Connecting the RS232C Serial Communication (1) Basic information 3. Installation and Wiring Connect the teaching pendant, PC or PLC, and controller using the SIO converter (RS232C/RS485 conversion) as shown below.
(2) Connecting the multiple axes Item Description Maximum number of units that can 16 axes max. (depending on the operation mode) be connected Communication cable length Total cable length: 100 m or less Twisted-pair shielded cable (AWG22) Recommended brand: Taiyo Electric Wire & Cable HK-SB/20276 x L, 2P x AWG22 220 :, 1/4 W Terminal resistor Teaching pendant 3.
Connecting the PC to the ACON without using SIO converter (Grounding the positive side) Be sure to connect the PC using a SIO isolator (RCB-ISL-SIO). Take note, however, that only the RCM-101-USB PC software supports this configuration and RCM-101-MW cannot be used. 3. Installation and Wiring PC (USB port) Conversion unit (RCB-CV-USB) SIO isolator RS485 communication Insulation Controller The isolator communication cable CB-RCB-SIO must be purchased separately.
䕔 Detail Connection Diagram [Connection by Terminal Block or Joint] Gateway Unit Axis 1 Yellow 3. Installation and Wiring Double shielded twisted-pair cable Recommended cable: HK-SB/20276 X L 2P X AWG22 by Taiyo Electric Wire & Cable Orange Blue Axis 2 Yellow If installing a terminal block is difficult or any other wiring limitation applies, connect the cable directly using a joint, instead of using a terminal block.
e-CON connector pin numbers 3. Installation and Wiring Locking tab Always insert a terminal resistor (220 :, 1/4 W) at the end of the communication trunk (between pins 1 and 2 of the e-CON connector). Caution [1] When wiring to the e-CON connector, stripping the wires may cause the stripped wires to short inside the connector. [2] Wires that can be connected to the e-CON connector are those with the AWG22 outer sheath diameter of 1.35 to 1.60. When pressure-welding a wire, use pliers, etc.
3.10.2 Connection to Field Network The gateway unit is used to connect the controllers to the field network of DeviceNet, CC-Link, or PROFIBUS. The connection to the gateway unit is shown below. The details are the same as those in 3.10.1 (2). Field network 3.
4. Description of Operating Functions 4. Description of Operating Functions The ACON-SE is a dedicated serial communication controller supporting 64 positions (positioning points). This controller does not support PIO patterns. :LWK $&21 6( FRQWUROOHUV WKH DFWXDWRU FDQ EH RSHUDWHG LQ WZR ZD\V > @ ³2SHUDWLRQ E\ SRVLWLRQ QXPEHU VSHFLILFDWLRQ´ ZKHUH D SRVLWLRQ QXPEHU LV VSHFLILHG DQG > @ ³2SHUDWLRQ E\ QXPHULF VSHFLILFDWLRQ´ ZKHUH YDOXHV relating to a desired operation are specified directly.
U Same as at the left U Same as at the left U Same as at the left U Same as at the left ż ż U Set the acceleration and deceleration separately in the position table. U Set it in the position table. U Set it in the position table. U Combine two or more position nos.
4.1 Description of Position Table A position table is created by using the PC software or teaching pendant. For its usage, refer to each operation manual. In this section, a position table is explained by taking the PC software screens as examples. (In the case of the teaching pendant, the display contents are different.) 4. Description of Operating Functions No. 0 1 2 Î Position [mm] 5.00 380.00 200.00 Zone + [mm] 100.00 400.00 250.00 Speed [mm/s] 300.00 300.00 300.00 =RQH ± [mm] 0.00 300.00 150.
(4) Acceleration/deceleration: y Enter the acceleration/deceleration at which the actuator will be moved, in [G]. Basically, use acceleration/deceleration within the catalog rated value range. The input range allows larger value input than the catalog rated values, on the assumption that the tact time will be reduced if the transfer mass is significantly smaller than the rated value. Make the numeric value smaller if transfer work vibrates and causes trouble during acceleration/deceleration.
[Push & hold operation] It defines the maximum push amount from the target position in the push & hold operation. Set the positioning band in such a way as to prevent positioning completion before the actuator contacts work by considering mechanical variations of work. Position at which the position complete signal turns ON when the actuator contacts work and push completion is judged 4.
(9) Acceleration/deceleration mode: y It defines the acceleration/deceleration characteristics. The default value is 0. 0: Trapezoid pattern 1: S-shaped motion 2: First-order lag filter Trapezoid pattern Speed 'HFHOHUDWLRQ Time * Set the acceleration and deceleration in the ³$FFHOHUDWLRQ´ DQG ³'HFHOHUDWLRQ´ ILHOGV RI the position table. S-shaped motion A curve, which is gradual at the beginning of acceleration but rises sharply halfway, is drawn.
First-order lag filter More gradual acceleration/deceleration curves are drawn than the linear acceleration/deceleration (trapezoid pattern). Use this in the applications by giving micro vibrations to work during acceleration/deceleration not desired. 4. Description of Operating Functions Speed Time * Set the degree of primary delay using parameter No. 55 [Primary filter time constant for position command]. The setting unit is msec, and a desired value can be set in 0.1-msec increments in a range of 0.
4.2 Setting Data in Numeric Specification Mode If operation is performed in the numeric specification mode, the position table will become invalid. Set the data related to operation (target position, speed, acceleration/deceleration, current-limiting value during push & hold operation, positioning band, etc.) directly via serial communication. For details, refer to the Gateway Unit Operation Manual and ROBO Cylinder Series Serial Communication Operation Manual. 4.
4.3 Control Signals, Control Data In order to operate ACON-SE via serial communication, it is required to write/read the 16-bit internal memory (Modbus register, Modbus status) of the controller. The main signals and their symbol names handled at that time are shown below. For details, refer to the serial communication operation manual for your ROBO Cylinder series. (1) Controller Input Signals 4.
(PLC o Controller) Register Position no. specification register POSR Bit Bit Signal address position symbol Signal name Description ± 043AH 5 PC32 %+ Address 0D03H 043CH *1 043DH [POS specification] 043EH 3& 3 PC8 6SHFLI\ WKH FRPPDQG SRVLWLRQ QR ZLWK WKH ELW ELQDU\ code. 6HWWLQJ WKH SRVLWLRQ VWDUW VLJQDO &675 WR ³ ´ VWDUWV positioning operation.
(PLC o Controller) Register Address PCMD Position data specification 9900H b15 4. Description of Operating Functions 9901H *1 [Numeric specification] INP Position data specification b0 b8 b7 b0 High order Low order 32-bit integer (unit: 0.01 mm) The setting range is 0H to 000F423FH (0 to 999999). Specify the position-complete detection width for positioning operation. It becomes the set value of the push width for push & hold operation (required to specify with the CTLF flag).
(PLCo Controller) Register Address Description PPOW b15 b8 b7 Current-limiting 9907H value during push & hold operation *1 ELW LQWHJHU XQLW VHWWLQJ UDQJH + ± ))+ a [Numeric When this register is rewritten, movement starts. specification] E 9908H E E E E 4.
(2) Controller output signals (Controller o PLC) 4.
(Controller o PLC) Register Bit Bit Signal address position symbol Zone status register ZONS Address + ± Signal name Description 8 PZONE Position zone output ± (+ =21( =RQH RXWSXW 014FH 0 ZONE1 Zone output 1 ± $+ 30 %+ 30 013CH 3 PM8 '+ 30 (+ [POS VSHFLILFDWLRQ@ 013FH 30 0 PM1 7KLV VLJQDO EHFRPHV ³ ´ ZKHQ WKH SRVLWLRQ LV ZLWKLQ WKH VHWWLQJ UDQJH RI WKH SDUDP
4.4 4. Description of Operating Functions 4.4.1 Operation Timings Timing after Power ON After conforming that the slider or rod is not contacting the mechanical end or transferred work is not interfering with peripheral equipment, start operation following the steps below. [1] Reset the emergency stop condition or put the motor drive power into a current-accessible state.
Ŷ Controller ready (PWR) This signal indicates whether the controller is controllable from the outside. 0: Controller BUSY, 1: Controller READY The controller is not generally put into a BUSY status. Ŷ Servo ON command (SON) :KHQ WKLV VLJQDO EHFRPHV ³ ´ WKH VHUYR 21 VWDWXV LV PDGH Use this signal when the servo ON/OFF is required in constructing the safety circuit of the entire equipment.
4.4.2 Home Return Operation Since this controller adopts the incremental position detector (encoder), mechanical coordinates will be lost if the power is cut off. Because of this, it is required to establish the mechanical coordinates by performing home return operation immediately after power-on. To perform home return operation, input the home return command (HOME). 4.
Ŷ Home return command (HOME) When the rise edge (0o1) of this signal is detected, home return operation starts. Upon completion of home return, the home return completion (HEND) signal will be output. The HOME signal can be input any number of times even after the completion of home return. (Note) Home return operation is automatically performed during the first positioning operation (CSTR signal) without performing home return after power-on. Ŷ 4.
4.4.3 Positioning Operation )LUVW WXUQ RQ WKH 9'& SRZHU VXSSO\ DQG FRQILUP WKDW WKH SRVLWLRQ FRPSOHWH VLJQDO 3(1' LV ³ ´ E\ UHIHUULQJ WR +RPH UHWXUQ KDV QRW EHHQ FRPSOHWHG LPPHGLDWHO\ DIWHU WKH SRZHU LV LQSXW ,W LV UHTXLUHG WR SHUIRUP KRPH UHWXUQ E\ LVVXLQJ WKH KRPH UHWXUQ FRPPDQG +20( DV GHVFULEHG LQ ,I SRVLWLRQLQJ VWDUW &675 VLJQDO LV RXWSXW E\ VSHFLI\LQJ D SRVition (position no.
Caution: When the start signal turns ON, the position complete output will turn OFF and the PRYLQJ RXWSXW ZLOO WXUQ 21 The start signal must be turned OFF with the confirmation that the moving output has turned ON (the position complete output has turned OFF) while the start signal remains 21 If the start input remains ON as shown below, the position complete output will not turn 21 HYHQ LI WKH DFWXDWRU PRYHPHQW KDV EHHQ FRPSOHWHG Start Position complete Moving 1 msec or less $FWXDWRU Movement compl
Ŷ Positioning start (CSTR) 4. Description of Operating Functions Upon detecting a rise edge (0o1) of this signal, the controller will read the target position number as a binary code consisting of six bits from PC1 to PC32 (position no. specification register), and execute positioning to the target position of the corresponding position data. Before issuing a start command, all operation data such as the target position and speed must be set in the position table using the PC or teaching pendant.
Ŷ Position Complete (PEND) This signal indicates that the target position has been reached, and turns ON in the following condition: > @ 7KH RSHUDWLRQ UHDG\ VLJQDO 69 LV ³ ´ DQG [2] The current position deviation from each target position is within the positioning band or [3] Work is contacted (not missed) during push & hold operation. This signal is used as a trigger signal to peripheral equipment when the target position is reached.
4.4.4 Push & Hold Operation The actuator can continue to hold work in position while the rod end is pushing it, like an air cylinder. Therefore, it can be used in the operation of work clamping or press fit process. 4. Description of Operating Functions (1) Basic operation After moving to the target position set as shown below, the actuator will move at the set push speed and push work by the push amount set as the maximum.
[1] Push & hold mode y 6HW D QXPHULF YDOXH RWKHU WKDQ LQ WKH ³3XVK´ ILHOG RI WKH SRVLWLRQ WDEOH &XUUHQW OLPLWLQJ YDOXH y ,Q WKH FDVH RI QXPHULF VSHFLILFDWLRQ VSHFLI\ ³ ´ WR ELW LQ WKH FRQWURO IODJ VSHFLILFDWLRQ UHJLVWHU &7/) > @ 3XVK VSHHG 6HW WKH SXVK VSHHG ZLWK SDUDPHWHU 1R SXVK VSHHG ,W LV LQGLYLGXDOO\ VHW RQ DQ DFWXDWRU PRGHO EDVLV EHIRUH VKLSPHQW > @ 3XVK GLUHFWLRQ y 6LJQ RI WKH ³SRVLWLRQLQJ EDQG´ LQ WKH SRVLWLRQ WDEOH y ,Q WKH FDVH RI QXPHULF VSHFLILFDWLRQ VHW ³ ´ RU
(2) Work is not contacted (missed) If work is not contacted even though the actuator has moved the distance by the set positioning band (when the motor current does not reach the current-limiting value during push & hold operation), the positioning complete signal will not be output. However, the completed position number will be output. At this time, the PSFL bit of the devicH VWDWXV UHJLVWHU '66 EHFRPHV ³ ´ Speed 4.
(4) Positioning band is entered with an incorrect sign If the positioning band is entered with an incorrect sign, the position will deviate by twice the positioning band, as shown below. Therefore, exercise sufficient caution.
4.4.5 Pause The actuator will decelerate to a stop by setting the pause command (STP) to “1” during its operation. Since the remaining movement is retained, setting STP to “0” again will restart the remaining movement. Command position 4.
4.4.6 Speed Change during Movement Speed control involving multiple speed levels is possible in a single operation. The actuator speed can be decreased or increased at a certain point during movement. However, the position at which to implement each speed change must be set. Position 2 Position 1 Position 2 Position 1 Position 2 4.
(Note) If the pause command is output during home return operation, the movement command will be retained when the actuator has not pushed the mechanical end but operation must again begin with home return after the actuator has pushed the mechanical end and performed pushing-back operation. Ŷ Alarm reset (RES) An alarm can be reset at a rise edge of 0 to 1. If the cause for the alarm is not resolved, the alarm status will be entered again.
4.4.7 (1) (2) Operation at Different Acceleration and Deceleration Settings If the operation by position number specification is used, the acceleration and deceleration can be set separately in the position table. If the operation by numeric specification is used, the acceleration/deceleration data (set on register 9906H) will become valid during data receiving. Therefore, to make the deceleration different from the acceleration, change the acceleration/deceleration data during movement.
4. Description of Operating Functions 4.4.
4.4.9 Pitch Feeding by Relative Coordinate Specification For the target position in the position table, relative coordinate specification is also available. Therefore, it can be used in constant-pitch positioning (constant-pitch feeding). (1) Operation example in the position no. The following is the description of an example of positioning with a 50 mm pitch from position No. 1. Create a position table as shown below.
Position command Position 1 * Position 2 * Positioning start (CSTR) Position complete (PEND) 4. Description of Operating Functions Completed position Position 1 Position 2 Position 2 0RYLQJ 029( Zone signal (PZONE) Speed Actuator movement Time Distance from home * T1: Set T1 to 6 msec or more in consideration of the scan time of the host controller. [Operational description] [1] Perform positioning operation to position 1 (100.00 mm).
(2) Notes on positioning operation Selecting/entering a position number using relative coordinates during positioning will cause the actuator to move to the position corresponding to the initial position plus the relative movement. (If the relative movement is a negative value, the actuator will move to the position corresponding to the initial position minus the relative movement.
(3) Notes on push & hold operation If the start signal is input with a position number using relative coordinates (push specification) selected/entered while the actuator is moving in the push & hold mode, the actuator will move to the position corresponding to the position at the time of start input plus the relative movement. Therefore, the end position will become indeterminate. 4.
5. Parameter Settings 5.1 Parameter Table Parameters are classified into four types according to their content. a: Parameter relating to the actuator stroke range b: Parameter relating to the actuator operating characteristics c: Parameter relating to the external interface d: Servo gain adjustment No.
5. Parameter Settings No.
5.2 Parameter Settings If a parameter has been changed, always restart the controller using a software reset command or by reconnecting the power. 5.2.1 Ɣ Parameters Relating to the Actuator Stroke Range Soft limit (No. 3/4 LIMM/LIML) ([DPSOH 6HW WKH HIIHFWLYH UDQJH WR EHWZHHQ PP DQG PP 3DUDPHWHU 1R SRVLWLYH VLGH 3DUDPHWHU 1R QHJDWLYH VLGH Soft limits set in the controller Approx. PP Approx.
Ɣ Home return offset (No. 22 OFST) The controller is shipped from the factory with an optimal value set in parameter No. 22, so the distance from each mechanical end to the home becomes uniform. The minimum setting unit is 0.01 [mm].
5.2.2 Ɣ Parameters Relating to the Actuator Operating Characteristics Default speed (No. 8 VCMD) The factory setting is the rated speed of the actuator. When a target position is written to an unregistered position table or the current position is read in the teaching mode, the setting in this parameter will be used as the speed data for the applicable position number. To reduce the default speed from the rated speed, change the setting in parameter No. 8. Ɣ Default acceleration/deceleration (No.
Ɣ Default movement direction for excitation-phase signal detection (No. 28 PHSP1) Excitation-phase detection is performed at the first servo ON after the power is input. Define the detection direction at this time. This setting need not be changed in normal conditions of use. However, if the actuator contacts the mechanical end or an obstacle and cannot be moved by hand when the power is input, this setting must be changed to the direction in which the motor is easier to operate.
Ɣ Safety speed (No. 35 SAFV) Define the feed speed for manual operation. The speed is individually set in accordance with the actuator characteristics. When changing the speed, set an optimal value to parameter No. 35. However, the maximum speed is controlled to 250 [mm/sec]. Use the setting in this parameter as a slower speed than the maximum speed. Ɣ Default acceleration/deceleration mode (No.
Ɣ Push speed (No. 34 PSHV) This meter defines the speed after the target position has been reached during push & hold operation. The factory setting is the default value in accordance with the actuator characteristics. Set an appropriate value in consideration of the material, shape, etc., of the work. However, the maximum speed is controlled to 20 [mm/sec] even in the high-speed type although it varies depending on the actuator. Use the push speed as a slower speed than this maximum one.
Ɣ Enable function (No. 42 FPIO4) In ANSI-compliant teaching pendants, parameter No. 42 defines whether the deadman switch function is enabled or disabled. ANSI-compliant teaching pendants are to be developed in the future. Enable (use) Disable (not use) Setting 0 1 The factory setting is 1 [Disable]. Ɣ Home check sensor input polarity (No.
Ɣ Position command primary filter time constant (No. 55 PLPF) Parameter No. 55 defines the degree of delay if 1 [primary GHOD\ ILOWHU@ LV VHW LQ WKH ³$FFHOHUDWLRQ GHFHOHUDWLRQ PRGH´ ILHOG RI WKH SRVLWLRQ WDEOH The setting unit is [msec], minimum input unit is 0.1 msec, and setting range is 0.0 to 100.0. The factory setting is 0 [msec]. When the setting in this parameter is 0, WKH SULPDU\ GHOD\ ILOWHU ZLOO EHFRPH LQYDOLG 7KH ODUJHU WKH VHWWLQJ EHFRPHV WKH ODUJHU WKH GHOD\ GHJUHH ZLOO EHFRPH 5.
Ɣ Position feed forward gain (No. 71 PLFG) Setting Default Parameter No.
If the actuator is moved in the order to positions 1 o 2 o 3 o 4, the actuator will operate differently depending on whether or not shortcut is selected. When shortcut is not selected Point No. 1 Point No. 1 Point No. 2 5. Parameter Settings Point No. 2 Point No. 3 Point No. 4 Point No. 4 Point No. 3 When shortcut is selected Point No. 1 Point No. 1 Point No. 2 Point No. 2 Point No. 3 Ɣ Point No. 4 Point No. 4 Point No. 3 Absolute unit (No. 83 ETYP) Parameter No.
5.2.3 Ɣ Parameters Relating to the External Interface Position complete signal output method (No. 39 FPIO) Parameter No. 39 defines the condition of the position complete signal when the servo OFF condition or ³GHYLDWLRQ´ RFFXUV ZKLOH WKH DFWXDWRU KDV stopped under the positioning completed state.
Ɣ Silent interval magnification (No. 45 SIVM) 5. Parameter Settings This parameter applies to commands via RS485 serial communication. It defines the magnification of the silent interval time in the delimiter judgment of the RTU mode. The factory setting is based on the communication time of 3.5 characters in accordance with the Modbus specification. This parameter need not be changed under normal operation by the PC or teaching pendant.
5.2.4 Servo Gain Adjustment Since servo adjustment is made in accordance with the standard specification of the actuator before shipment, this setting need not be changed in normal conditions of use. However, because vibrations or abnormal sounds may be produced due to the affixing method of the actuator or loading conditions, parameters related to servo adjustment are released. Especially custom-made items (the lead length of the ball screw is greater, stroke is longer, etc.
Speed loop integral gain (No. 32 VLPT) Parameter No. 32 Unit Input range Default 1 – 217270 Individual setting in accordance with actuator characteristics 5. Parameter Settings This parameter determines the level of response with respect to a speed control loop. Decreasing the setting results in lower response to the speed command and decreases the reactive force upon load change. If the setting is too low, compliance with the position command drops and the positioning time increases as a result.
6. Troubleshooting 6.1 Action to Be Taken upon Occurrence of Problem Please check items a) through i) before contacting IAI. (Reference) Lamp changes in each condition SV (green lamp) Servo OFF Servo ON Emergency-stop Motor drive power is cut off Unlit Lit Unlit Unlit Lit Lit ALM (red lamp) Unlit Unlit Both the SV and ALM lamps are unlit in the pole sense mode. 91 6.
6.2 Alarm Level Classification Alarms are classified into the following two levels in accordance with the symptoms they represent: Alarm level ALM lamp Failure status register /LW UHG $/0/ LV ³ ´ Cold start /LW UHG $/0+ LV ³ ´ 6. Troubleshooting Operation cancellation What happens when alarm generates The actuator decelerates to a stop and then the servo turns OFF. The actuator decelerates to a stop and then the servo turns OFF.
6.
Code Error name 0B5 Phase-Z position error 6. Troubleshooting 0BA Home sensor non-detection 0BE Home return timeout 0C0 Excessive actual speed 0C9 Excessive motor supply voltage 0CC Abnormal control supply voltage 0CE Drop in control supply voltage 94 Cause/Action The position at which phase Z was detected during home return was outside the specified range, or phase Z was not detected. Cause: Faulty encoder Action: Contact IAI.
Code Error name 0D2 Excessive motor power-supply voltage 0D8 Deviation overflow Cause: This error occurs when overvoltage of motor power has been detected (38V or more) Action: Check the motor power input voltage (MPI terminal). In case there is no fault found in voltage, malfunction of controller can be considered. Please contact us. The position deviation counter has overflowed. Cause: [1] The speed dropped during movement due to the effect of an external force, etc.
6. Troubleshooting 0EF Absolute encoder error (3) 96 Cause: When the power was cut off, the current value changed at a speed equal to or above the set value of rotational speed due to an external factor, etc. Action: Change the value set in the simple absolute unit and take an appropriate action to prevent the actuator from moving at a speed equal to or above the set speed. If the battery backup time has enough allowance to do so, increase the setting of motor speed.
(2) Cold-start level alarms Code Error name 0A1 Parameter data error 0A8 Motor/encoder type not supported 0B4 Electrical angle mismatch Cause/Action Cause: The data input range in the parameter area is not appropriate. (Example) This error occurs when the magnitude relationship is apparently inappropriate such as when 300 mm was incorrectly input as the value of the soft limit negative side while the value of the soft limit positive side was 200.3mm. Action: Change the value to an appropriate one.
Code Error name 0CB Current sensor offset adjustment error 6. Troubleshooting 0E0 Overload 0E8 Phase-A/B disconnection detection 0F4 Mismatched PCB 0F5 Nonvolatile memory write verify error 98 Cause/Action The condition of the current detection sensor inside the controller is checked in the initialization processing after the power is input. A sensor error was detected at this time.
Code Error name 0F6 Nonvolatile memory write timeout 0F8 Damaged nonvolatile memory 99 6. Troubleshooting 0FA CPU error Cause/Action This alarm indicates that no response was made when data was written in the nonvolatile memory. Cause: [1] Faulty nonvolatile memory [2] The memory has been rewritten more than 100,000 times. (The nominal rewrite limit of the nonvolatile memory is around 100,000 times.) Action: If the alarm is generated again after reconnecting the power, please contact IAI.
6.4 Messages Displayed during Operation Using the Teaching Pendant or PC Software This section explains the warning messages that may be displayed during operation using the teaching pendant or PC software. Code Message name 112 Invalid data 113 Value too small Cause/Action An inappropriate value was entered in a parameter. (Example) 9601 was entered as the serial communication speed by mistake. Reenter an appropriate value. The entered value is smaller than the setting range. 6.
Code Message name 20C CSTR-ON during operation 20E Soft limit over 210 HOME-ON during operation 0HPRU\ FRPPDQG refused 309 Write address error 30C No connected axis This message indicates that the home return signal (HOME) became ³ ´ E\ WKH 3/& ZKLOH WKH DFWXDWRU ZDV PRYLQJ DQG WKDW GXSOLFDWH movement commands occurred as a result. This message indicates that position table or parameter writing operation was performed in the monitor mode.
6.5 6. Troubleshooting Ɣ Specific Problems The ALM lamp illuminates in red when the power is input. (An alarm is present, or an emergency stop has been actuated or the motor power is cut off.) Check whether an alarm is present by connecting the PC or teaching pendant. If an alarm is present, check the description of the error and remove the cause. If an error is not present, the emergency stop circuit may be activated.
Ɣ Home return ends in mid-process in a vertical application. Cause: [1] The loading mass exceeds the rating. [2] The ball screw is receiving torsional stress due to the affixing method of the actuator, tightening of bolts only on one side, etc. [3] The slide resistance of the actuator itself is large. Action: Check / Change the parameters set in User Parameter No. 13 (Current Limit at Home Return).
6. Troubleshooting Ɣ A malfunction occurs when the servo turns ON after the power is input. Cause: Exciting-phase detection is not normally performed when the servo turns ON due to the following: [1] The slider or rod is contacting the mechanical end. [2] Transferred work is pushed by a strong external force. Action: [1] Check that the slider or rod is not contacting the mechanical end. If it is contacting the mechanical end, separate it.
7. Operation Examples For operation examples of this product, refer to the following operation manuals: y- Device Net Gateway Unit Operation Manual y CC-Link Gateway Unit Operation Manual y Serial Communication Operation Manual for ROBO Cylinder Series 7.
Appendix * Appendix List of Specifications of Connectable Actuators The specifications included in this specification list are limited to those needed to set operating conditions and parameters. For other detailed specifications, refer to the catalog or operation manual for your actuator. Caution * Appendix x The push force is based on the rated push speed (factory setting) indicated in the list, and provides only a guideline.
Appendix Actuator series Type RA3R RGD3R Motor No. of Feed output encoder screw pulses [W] Ball screw Ball screw 20 20 800 800 20 RA4C Ball screw 20 Ball RGS4C screw 20 Ball screw Maximum acceleration/ deceleration [mm/s] [mm/s] [G] 10 12.5 500 0.3 5 Horizontal/ vertical 6.25 250 0.3 2.5 Horizontal/ vertical 3.12 125 0.2 10 Horizontal/ vertical 12.5 500 0.3 5 Horizontal/ vertical 6.25 250 0.3 2.5 Horizontal/ vertical 3.
Appendix Actuator series Type Motor No. of Feed output encoder screw pulses [W] 20 RA4D Ball screw 20 * Appendix Ball RGS4D screw RCA (rod type) 20 Ball RGD4D screw 20 Ball screw 108 Maximum acceleration/ deceleration [mm/s] [G] 12 15 600 0.3 6 Horizontal/ vertical 7.5 300 0.3 3 Horizontal/ vertical 3.75 150 0.2 12 Horizontal/ vertical 15 600 0.3 6 Horizontal/ vertical 7.5 300 0.3 3 Horizontal/ vertical 3.75 150 0.2 12 Horizontal/ vertical 15 600 0.
Appendix Actuator series Type Motor No. of Feed output encoder screw pulses [W] 20 Ball RGD4R screw RCA (rod type) SRGS4R Ball screw 20 Ball screw 20 Maximum speed Maximum acceleration/ deceleration [mm/s] [mm/s] [G] 12 15 600 0.3 6 Horizontal/ vertical 7.5 300 0.3 3 Horizontal/ vertical 3.75 150 0.2 12 Horizontal/ vertical 15 600 0.3 6 Horizontal/ vertical 7.5 300 0.3 3 Horizontal/ vertical 3.75 150 800 2.5 5 800 2.5 5 800 2.
Appendix Actuator series Type SA4C SA4D * Appendix SA4R Motor No. of Feed output encoder screw pulses [W] Ball screw Ball screw Ball screw 20 20 20 800 800 800 RCA (slider type) SA5D SA5R Ball screw Ball screw Ball screw 20 20 800 Maximum speed [mm/s] [mm/s] 10 12.5 665 5 Horizontal/ vertical 6.25 330 2.5 Horizontal/ vertical 3.12 165 10 Horizontal/ vertical 5 Horizontal/ vertical 2.
Appendix Actuator series Type Motor No.
Appendix Actuator series RCA (slider type) Type SS6D A4R RCA (arm type) A5R * Appendix A6R RCA2 (rod type) Motor No. of Feed output encoder screw pulses [W] Ball screw 30 800 Lead [mm] 20 Ball screw 20 Ball screw 30 GS3N Lead screw 10 1048 GD3N Lead screw 10 1048 SD3N Lead screw 10 1048 ± ± 3 Horizontal/ vertical 3.
Appendix Actuator series Type Motor No.
Appendix Actuator series Type Motor No. of Feed output encoder screw pulses [W] Lead [mm] 6 SA3C Ball screw 10 800 4 2 6 SA3R Ball screw 10 800 4 2 RCA2 (slider type) 10 SA4C Ball screw 20 800 5 2.5 * Appendix 10 SA4R Ball screw 20 800 5 2.
Appendix Actuator series Type Motor No. of Feed output encoder screw pulses [W] Lead Mounting direction [mm] Minimum speed [mm/s] Horizontal 20 25 Vertical SA5C Ball screw 20 800 +RUL]RQWDO 15 Vertical +RUL]RQWDO RCA2 (slider type) 6 7.5 Vertical +RUL]RQWDO 3 3.75 Vertical +RUL]RQWDO 12 15 Vertical SA5R Ball screw 20 +RUL]RQWDO 800 6 7.5 Vertical +RUL]RQWDO 3 3.
Appendix Actuator series Type Motor No. of Feed output encoder screw pulses [W] Lead Mounting direction [mm] Minimum speed [mm/s] Horizontal 20 25 Vertical SA6C Ball screw 30 800 * Appendix +RUL]RQWDO 12 15 Vertical +RUL]RQWDO RCA2 (slider type) 6 7.5 Vertical +RUL]RQWDO 3 3.75 Vertical +RUL]RQWDO 12 15 Vertical SA6R Ball screw 30 +RUL]RQWDO 800 6 7.5 Vertical +RUL]RQWDO 3 3.
Appendix Actuator series Type Motor No.
Appendix Actuator series Type Motor No. of Feed output encoder screw pulses [W] Lead [mm] 6 TA4R Ball screw 10 800 4 2 10 TA5C Ball screw 20 800 5 2.5 10 TA5R Ball screw 20 800 5 2.
18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 No.
120 41 40 39 38 37 36 35 34 33 32 31 30 29 28 27 26 25 24 23 22 21 20 19 No.
63 62 61 60 59 58 57 56 55 54 53 52 51 50 49 48 47 46 45 44 43 43 42 Position [mm] Speed [mm/s] Acceleration [G] Deceleration [G] Push [%] Threshold [%] Positioning band [mm] Zone + [mm] * Appendix No.
Appendix Recording of Parameters Recorded date: * Appendix a: b: c: d: Parameter relating to the actuator stroke range Parameter relating to the actuator operating characteristics Parameter relating to the external interface Servo gain adjustment No.
Appendix No. Category 78 b 79 b 80 b 83 b 88 a 91 * b Symbol ATYP ATYP ATYP ETYP SWLM PSFC Name Axis operation type Rotation axis mode selection Rotation axis shortcut selection ABS unit [0: Not used/1: Use] Software limit margin Current-limiting value at stopping due to missed push-motion Unit mm Default factory setting - The numbers are displayed on the PC software screen but not on the teaching pendant. The missing numbers are not used and omitted.
Appendix Change History Revision Date Description of Revision First edition 2nd edition x Added the description in 1, "24V Power Supplies When UL Certification Is Required" in CAUTION. x Added the description in 2, "Use Environment" in CAUTION. August 2008 3rd edition x Changed the description from "serial communication protocol operation manual" to "ROBO Cylinder series serial communication operation manual" on page 1. x Change the contents of power capacity in Basic Specifications on page 12.
Appendix Revision Date Description of Revision October 2009 5th edition Added the slim compact type on the number of encoder pulses in the specification on page 10. Updated the cable drawing on pages 24 and 25. Added the explanation of S-shaped motion on page 76. Added the cause of error 0B5 and absolute error on page 85. February 2010 6th edition Added the description about CE Marking. 7th edition Added "Please Read Before Use" on the first page after the cover.
Manual No.: ME0171-13A (December 2012) Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan TEL +81-54-364-5105 FAX +81-54-364-2589 website: www.iai-robot.co.
