PCON-CY Controller Solenoid Valve Type Fourteenth Edition Operation Manual Ninth Edition 1
Please Read Before Use Thank you for purchasing our product. This Operation Manual explains the handling methods, structure and maintenance of this product, among others, providing the information you need to know to use the product safely. Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of the product. The CD or DVD that comes with the product contains operation manuals for IAI products.
CAUTION 1. Use Environment PCON controllers can be used in an environment corresponding to pollution degree 2 or equivalent. 2. PC Software and Teaching Pendant Models New functions have been added to the entire PCON controller series. To support these new features, the communication protocol has been changed to the general Modbus (Modbus-compliant) mode. As a result, the existing PC software programs and teaching pendants compatible with RCP2 controllers can no longer be used.
CAUTION 4. Using Rotary Actuators in Multi-rotation Specification Rotary actuators of multi-rotation specification models can be set to operate in the multi-rotation mode or limited-rotation mode using a parameter. 4.1 Note Pay attention to the PIO pattern parameter setting for the following controllers. Each controller does not support relative coordinate specification in the PIO pattern specified below: [1] PCON-C/CG: PIO pattern = 5 (User parameter No.
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.
5.3 5.4 5.5 6. 5.2.5 Positioning Operation .......................................................................................................................51 z Meaning of Position Detection Output Signals (LS0, LS1, LS2)..................................................52 z Notes on Setting the Positioning Band ........................................................................................52 z Speed Change during Movement....................................................................
Push Speed (No.34 PSHV) .........................................................................................................88 Push-motion Completion Judgment Time (No.6 PSWT) .............................................................88 Enable Function (No.42 FPIO) ....................................................................................................89 Home Check Sensor Input Polarity (No.43 AIOF) .......................................................................
Safety Guide “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product. Safety Precautions for Our Products The common safety precautions for the use of any of our robots in each operation. No.
No. 2 2 Operation Description Transportation 3 Storage and Preservation 4 Installation and Start Description When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
No. 4 Operation Description Installation and Start Description (2) Cable Wiring Use our company’s genuine cables for connecting between the actuator and controller, and for the teaching tool. Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil it around. Do not insert it. Do not put any heavy thing on it. Failure to do so may cause a fire, electric shock or malfunction due to leakage or continuity error.
No. 4 5 4 Operation Description Installation and Start Teaching Description (4) Safety Measures When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. When the product is under operation or in the ready mode, take the safety measures (such as the installation of safety and protection fence) so that nobody can enter the area within the robot’s movable range.
No. 6 7 Operation Description Trial Operation Automatic Operation Description When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. After the teaching or programming operation, perform the check operation one step by one step and then shift to the automatic operation.
No. 8 9 6 Operation Description Maintenance and Inspection 10 Modification and Dismantle Disposal 11 Other Description When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Perform the work out of the safety protection fence, if possible.
Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the Operation Manual for each model. Level Degree of Danger and Damage Danger This indicates an imminently hazardous situation which, if the product is not handled correctly, will result in death or serious injury.
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1. 1. Overview 1.1 Overview Introduction As a dedicated controller for our RCP2 and RCP3 actuators, this controller becomes smaller and more affordable and incorporates a new set of features to offer greater convenience and safety, while maintaining the functions of the RCP2 controller. This controller also provides power-saving functions to address the growing need for saving energy. The key features and functions of this controller are summarized below.
1. Overview 1.2 Differences from Air Cylinders in Control Functions For those of you who have been using air cylinders and have never used motorized cylinders before, this section gives a brief explanation of how this controller is different from air cylinders. Read the following information and implement controls appropriate for your system. Item Air cylinder PCON Drive method Air pressure by solenoid valve control. Ball screw or timing belt drive using a pulse motor.
PCON When the power is turned on, mechanical coordinates are not stored in the controller and thus the current position is not yet determined. For this reason, a rear end move command must be executed after the power has been turned on, in order to establish coordinates. The actuator performs homing first, and then moves to the rear end. [2] Rear end [3] Power-on position [1] [1] The actuator moves toward the mechanical end on the motor side at the homing speed.
1. Overview 1.
1.4 System Configuration 1. Overview This controller performs positioning to 3 points (rear end, intermediate point, front end) via a PLC and I/O signals. Standard teaching pendant Host system PCON-CY controller Flat cable Cable length: 2 m * If a PLC will not be used, disable the servo-on input by the applicable parameter.
1. Overview 1.5 Steps from Unpacking to Adjustment by Trial Operation If you are using this controller for the first time, refer to the steps explained below and perform the specified tasks carefully by making sure you check all necessary items and connect all required cables. 1. Checking the items in the package Should you find any of the following items missing or of a wrong model type, please contact your IAI sales agent.
6. Operating when the servo is ON Turn ON the servo using the PC or teaching pendant. If the actuator enters a servo lock state and the monitor LED [SV/ALM] on the front face of the controller illuminates in green, the controller is normal. 7. Confirming the safety circuit operation Confirm that the emergency cutoff circuit (or motor drive-power cutoff circuit) operates normally. → Chapter 3, “Installation and Wiring” 8.
1. Overview 1.6 Warranty 1.6.1 Warranty Period One of the following periods, whichever is shorter: Elapse of 18 months after the shipment from IAI Elapse of 12 months after the delivery to the specified location 1.6.2 Scope of Warranty Our products are covered by warranty when all of the following conditions are met.
1.6.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications 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.
2. 2. Specifications 2.
2.2 Name and Function of Each Part of the Controller Status indicator LED PIO connector 2. Specifications SV (Green) --- Indicates whether or not the servo is on. If this LED is blinking, the controller is in the automatic servo-off mode. ALM (Red) --- Indicates whether or not an alarm is present. The PIO pattern number is indicated here. If the PIO pattern is different for each system, indicate the applicable PIO pattern here to prevent confusion. Connects the PLC and PIO.
2.3 External Dimensions 2. Specifications An external view and dimensions of this product are shown below.
3. Installation and Wiring Pay due attention to the environment where the controller is installed. 3.1 Installation Environment 3. Installation and Wiring This product is capable for use in the environment of pollution degree 2*1 or equivalent. *1 Pollution Degree 2 : Environment that may cause non-conductive pollution or transient conductive pollution by frost (IEC60664-1) [1] Installation Environment Do not use this product in the following environment.
3.3 Noise Elimination Measures and Grounding The following explains the noise elimination measures that should be taken when using this controller. (1) Wiring and power connection 3. Installation and Wiring [1] Provide dedicated class-D grounding using a grounding wire with a size of 2.0 to 5.5 mm2 or larger.
3.4 Heat Radiation and Installation Fan At least 50 mm At least 80 mm At least 50 mm Airflow Regardless of whether you are installing one or more controllers, provide sufficient clearances around each controller to permit easy access for installation and removal of the controller. 23 3. Installation and Wiring Design the control panel size, controller layout and cooling method so that the temperatures around the controller will always be kept to 40°C or below.
3.5 External Connection Diagram An example of standard wiring is shown below. (Note) The PIO signal names are those based on the proximity switch type. The color of the encoder relay cable is different for the robot cable specification. Refer to 3.9.2, “Encoder Relay Cable.” 3.
3.6 Wiring the Power Supply Connect the positive side and negative side of the 24-VDC power supply to the 24-V terminal and N terminal on the power-supply terminal block, respectively. Power-supply terminal block Cable inlet 3. Installation and Wiring Push with a flat-head screwdriver to open the cable inlet. Input power supply 24 VDC (Max. 2 A per unit) Use a wire satisfying the following specifications. Item Applicable wire Specification Twisted wire: AWG 22 (0.
3.8 3. Installation and Wiring 3.8.1 Wiring the Emergency Stop Circuit Cutting Off the Drive Signal (Standard) Connect one side of the external EMG switch to the positive side of the 24-VDC power supply, and connect the other side to the BK terminal. (Note) The EMG switch on the teaching pendant works only on the controller connected to the switch.
If a separate emergency stop circuit is provided to stop the entire system, or when multiple controllers are linked together and each controller has a different power supply, connect external EMG relay contacts. 24-VDC control External EMG power supply reset switch External EMG circuit DC 0V 3. Installation and Wiring Relay Power-supply terminal block (1st) 24-VDC input power supply (Max. 2 A per unit) Power-supply terminal block (2nd) 24-VDC input power supply (Max.
3.8.2 Cutting Off the Motor Drive Power 3. Installation and Wiring If the motor drive power must be cut off in order to meet the required safety category of the entire system, connect external EMG relay contacts between the MPI terminal and MPO terminal. Also connect the 24-V controller power supply to the EMG terminal. (Note) The EMG switch on the teaching pendant cuts off the motor driver signal. It does not cut off the motor drive power.
3.9 Connecting the Actuator 3.9.1 Motor Relay Cable • Connect the motor relay cable to the MOT connector. Signal table of controller-end connector (CN2) Signal A VMM B A VMM B Wire color Orange Gray White Yellow Pink Yellow (Green) Description Motor drive line (phase -A) Motor power line Motor drive line (phase -B) Motor drive line (phase +A) Motor power line Motor drive line (phase +B) Controller end Actuator end CN2 pin layout CN1 pin layout Cable color Signal abbreviation Pin No. Orange 3.
3.9.2 Encoder Relay Cable • Connect the encoder relay cable to the PG connector. Signal table of controller-end connector (CN2) 3. Installation and Wiring Pin No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 Signal abbreviation F.
3.10 Connecting the I/O Flat Cable Cable type: Red 2 3. Installation and Wiring Brown 1 Housing: Contact: No.
3.11 Connecting the Communication Cable Connect the communication cable to the SIO connector. 3. Installation and Wiring Pin layout of cable-end connector RS485 conversion adapter end Signal Cable color abbreviation Pin No. Controller end Pin No. Signal abbreviation Cable color Brown Yellow Yellow Orange Red Orange Brown/Green Blue Black Green Shorting wire UL1004AWG28 (Black) Not connected to the shield.
4. Position Table Settings To move the actuator to a specified position, basically you must enter the target position in the “Position” field of the position table. A target position can be specified as an absolute coordinate indicating a distance from the home (absolute mode), or as a relative coordinate indicating a relative travel from the current position (incremental mode).
• Enter a speed at which to move the actuator, in mm/sec. The default speed varies depending on the actuator type. (4) Acceleration/ deceleration • Enter an acceleration/deceleration at which to move the actuator, in G. Basically, specify values inside the rated acceleration/deceleration range shown in the catalog. The input range is greater than the rated range specified in the catalog.
(7) Positioning band • What this field means is different in “positioning operation” and “push-motion operation.” “Positioning operation”: In the proximity switch type, this field defines the width within which the movement complete signal turns ON. In the standard type, this field defines how far before the target position the movement complete signal turns ON. The factory setting is “0.1” mm. Proximity switch type 4.
• This field defines the range within which the zone output signal turns ON during operation of the standard type. To increase flexibility, a different range can be set for each target position. (8) Zone +/– [Setting example] Position [mm] Zone + [mm] Zone – [mm] Comment Rear end 4.
(12) Standstill mode • This field defines the power-saving mode to be applied while the actuator is standing by after completing the positioning to the target position set in the “Position” field under the applicable position number. 0: All power-saving modes are disabled. * The factory setting is “0” (disabled). 1: Automatic servo-off mode. The delay time is defined by Parameter No. 36. 2: Automatic servo-off mode. The delay time is defined by Parameter No. 37. 3: Automatic servo-off mode.
Notes on the ROBO Gripper (1) Finger Operation [1] Definition of position With the two-finger type, the stroke specification indicates the total sum of travels by both fingers. In other words, the travel by one finger is one-half this stroke. A position is specified as a travel by one finger from the home position toward the closing direction. Therefore, the maximum command value is 5 mm for the GRS type, and 7 mm for the GRM type.
(2) Removing the gripped work The ROBO Gripper is structured in such a way that even when the controller power is cut off, the work gripping force will still be maintained by a self-lock mechanism. If you must remove the gripped work while the power is cut off, turn the open/close screw or remove one of the finger attachments to release the work. [Two-finger type] Turn the open/close screw or remove one of the finger attachments. 4.
5. Operation Using I/O Signals This chapter explains the wiring/connection and operation timings you should know to perform positioning operation using a PLC and I/O signals. For PIO pattern, two types are available. The movement complete signals have different meanings in each type, so select an appropriate type according to your specific application. * The factory setting is to use the LS mode. 5. Operation Using I/O Signals 5.
5.1.2 External Output Specifications Item Specification Number of input points 6 points Rated load voltage 24 VDC Maximum current 50 mA per point Residual voltage Max. 2 V Insulation method Photocoupler 5.
5.1.3 Recognition of Input Signals The input signals of this controller have an input time constant to prevent malfunction due to chattering, noise, etc. Each input signal is switched when the new signal state has continued for at least 6 msec. In other words, when the input is switched from OFF to ON, the controller will recognize that the input signal is ON after 6 msec. The same applies when the input is switched from ON to OFF. 5.
5.2 Proximity Switch Type This type assumes applications where the servo is turned on/off frequently by the PLC or the automatic servo-off function is used. Use this type if your application meets the following conditions: [1] The servo is turned off as a secondary safety measure when the emergency stop circuit is configured to directly cut off the input power.
Detection Output for Each Position (LS0, LS1, LS2) 5. Operation Using I/O Signals Just like the LS signals of an air cylinder, each signal turns ON when the current actuator position is inside the positioning band set for the applicable target position. (Note) Even if the servo turns off or an emergency stop is actuated while the actuator is standing still at the target position, the signal will remain ON as long as the actuator position is inside the positioning band.
5.2.2 Timings after Power On z Steps from Initial Startup to Actuator Adjustment Safety circuit status Emergency stop cancelled Supply of 24-VDC I/O power Supply of 24-VDC controller power Initial parameter settings * Servo-on input (SON) SV lamp (front panel) Green An orange light comes on for 2 seconds, and then turns off. Ready output (SV) T1 * (Note 1) Use a teaching pendant or PC to set optimal values in the respective fields under Nos. 0 to 2 in the position table.
z Normal Operating Procedure 5. Operation Using I/O Signals The operating procedure in a normal condition is explained below. [1] Confirm that the slider or rod is not contacting a mechanical end or that the work is not contacting any peripheral equipment. [2] Cancel the emergency stop or connect the motor drive power. [3] Supply the 24-VDC I/O power. [4] Supply the 24-VDC controller power. [5] Input a servo-on signal from the PLC (if the servo-on input is enabled).
Warning: Since the drive motor is a pulse motor, the excited phase is detected when the servo is turned on for the first time after turning on the power. Therefore, one condition for the servo to turn on is that the actuator can move once the servo is turned on. If the slider or rod is contacting a mechanical end or the work is contacting any peripheral equipment, the excited phase may not be detected correctly and an erroneous movement or excitation detection error may occur.
5.2.3 Position Table and Parameter Settings Required for Operation Test Operation Immediately after the system has been started, the movement speed can be reduced as follows to ensure safety of the operator and prevent damage to the jigs, etc. Change the applicable parameters as necessary. → For details on the change operation, refer to the operation manual for the PC/teaching pendant you are using. Safety speed during manual feed 5.
Full-scale Operation In situations where the actuator remains standstill for a long time at a standby position, this controller provides several modes to reduce power consumption in such standstill state as part of the controller’s energy-saving function. Use these modes after confirming that they will not cause problems in any part of the system. Power-saving when the standby time after power on is long In this case, you can select full servo control by Parameter No. 53 (Default standstill mode).
5.2.4 Homing This controller adopts an incremental position detector (encoder), so once the power is cut off, the mechanical coordinates will be lost. Accordingly, homing must be performed to establish the initial mechanical coordinate every time the power is turned on. To perform homing, input a rear end move command (ST0). 5.
5.2.5 Positioning Operation This section explains how to move the actuator from the rear end to the front end, by using an actuator with a 400-mm stroke as an example. Although the actuator is not stopped at the intermediate point in this example, you can increase the positioning band and use the intermediate point detection output signal (LS2) just like the zone output signal.
z Meaning of Position Detection Output Signals (LS0, LS1, LS2) These signals are handled in the same way as limit switches (LSs). They turn ON when the following conditions are met: [1] The homing complete output signal (HEND) is ON. [2] The current position is within the allowable distance before or after each target position (inside the positioning band).
z Speed Change during Movement If the work is made of soft material or is a bottle or has other shape that tips over easily, one of the following two methods can be used to prevent the work from receiving vibration or impact upon stopping: [1] Decrease the deceleration to make the deceleration curve more gradual. [2] Initially move the actuator at the rated speed, and decrease the feed speed shortly before the target position. An example of [2], or decreasing the feed speed, is explained.
z Pausing during Movement Move commands are implemented based on signal levels. Accordingly, the actuator moves while the signal is ON, and once the signal turns OFF, the actuator will decelerate to a stop and the operation will end. If you want to pause the actuator as a secondary safety measure, turn the move command signals OFF. (Example) Pausing the actuator while moving toward the front end Front end move command input (ST1) 5.
5.3 Standard Type This type assumes situations where the system must achieve high productivity or uses push-motion operation. Use this type if your application meets the following conditions: [1] Use the zone output signal to quicken the operation timings with respect to the respective equipment and thereby reduce the tact time. [2] Use the zone output signal as an interlock signal to prevent contact with peripheral equipment.
Positioning Complete Output for Each Position (PE0, PE1, PE2) 5. Operation Using I/O Signals After a move command, the corresponding positioning complete output turns ON when the actuator has entered the positioning band before the target position. When the next move command to a different position is issued, the positioning complete output turns OFF.
5.3.2 Timings after Power On z Steps from Initial Startup to Actuator Adjustment Emergency stop cancelled Safety circuit status Supply of 24-VDC I/O power Supply of 24-VDC controller power Initial parameter settings * Servo-on input (SON) SV lamp (front panel) * An orange light comes on for 2 seconds, and then turns off. Max. 170 msec Green Use a teaching pendant or PC to set optimal values in the respective fields under Nos. 0 to 2 in the position table.
z Normal Operating Procedure The operating procedure in a normal condition is explained below. [1] Confirm that the slider or rod is not contacting a mechanical end or that the work is not contacting any peripheral equipment. [2] Cancel the emergency stop or connect the motor drive power. [3] Supply the 24-VDC I/O power. [4] Supply the 24-VDC controller power. [5] Input a servo-on signal from the PLC.
Warning: Since the drive motor is a pulse motor, the excited phase is detected when the servo is turned on for the first time after turning on the power. Therefore, one condition for the servo to turn on is that the actuator can move once the servo is turned on. If the slider or rod is contacting a mechanical end or the work is contacting any peripheral equipment, the excited phase may not be detected correctly and an erroneous movement or excitation detection error may occur.
5.3.3 Position Table and Parameter Settings Required for Operation Test Operation Immediately after the system has been started, the movement speed can be reduced as follows to ensure safety of the operator and prevent damage to the jigs, etc. Change the applicable parameters as necessary. → For details on the change operation, refer to the operation manual for the PC/teaching pendant you are using. Safety speed during manual feed 5.
Full-scale Operation In situations where the actuator remains standstill for a long time at a standby position, this controller provides several modes to reduce power consumption in such standstill state as part of the controller’s energy-saving function. You can also select the positioning complete signal state to be applied when the servo turns off or “position deviation” occurs while the actuator is standing still after completion of positioning.
5.3.4 Homing This controller adopts an incremental position detector (encoder), so once the power is cut off, the mechanical coordinates will be lost. Accordingly, homing must be performed to establish the initial mechanical coordinate every time the power is turned on. To perform homing, input a rear end move command (ST0). 5.
5.3.5 Positioning Operation This section explains how to move the actuator from the rear end to the intermediate point and then to the front end, by using an actuator with a 400-mm stroke as an example.
z Meaning of Positioning Complete Output Signals (PE0, PE1, PE2) These signals indicate that the target position has been reached. They turn ON when the following conditions are met: [1] The homing complete output signal (HEND) is ON. [2] The actuator has entered the positioning band before the target position. Each signal can be used as trigger signal for peripheral equipment when the target position is reached.
z Speed Change during Movement If the work is made of soft material or is a bottle or has other shape that tips over easily, one of the following two methods can be used to prevent the work from receiving vibration or impact upon stopping: [1] Decrease the deceleration to make the deceleration curve more gradual. [2] Initially move the actuator at the rated speed, and decrease the feed speed shortly before the target position. An example of [2], or decreasing the feed speed, is explained.
z Pausing during Movement Move commands are implemented based on signal levels. Accordingly, the actuator moves while the signal is ON, and once the signal turns OFF, the actuator will decelerate to a stop and the operation will end. If you want to pause the actuator as a secondary safety measure, turn the move command signals OFF. (Example) Pausing the actuator while moving toward the front end Front end move command input (ST1) 5.
z Constant Pitch Feed Since a target position can also be set as a relative distance, an application where the actuator performs positioning to a series of works placed at equal intervals is also possible. (Example) How to move the actuator from the intermediate point to the front end at a 50-mm pitch is explained. Under No. 1 in the position table, enter “50” (mm) in the “Position” field and “1” in the “Incremental” field. (1 defines that 50 mm is a relative distance.
Operation timings PLC processing 1: Operation: 5. Operation Using I/O Signals PLC processing 2: PLC processing 3: * The rear end move command signal (ST0) and front end move command signal (ST1) turn OFF, and the intermediate point move command signal (ST2) turns ON. [1] The actuator starts moving, and when it reaches the intermediate point, the intermediate point positioning complete output (PE2) turns ON. The zone output signal also turns ON.
5.3.6 Zone Output Signal This signal remains ON while the actuator is inside the zone set in the position table. The zone output signal can be set only at a single point, but a different zone can be set for the move command corresponding to each target position (rear end, front end, or intermediate point). Use the zone output signal in the following situations. [1] Set an interlock signal to prevent contact with peripheral equipment.
5.3.7 Push-motion Operation 5. Operation Using I/O Signals Just like you can with an air cylinder, you can maintain the actuator in a condition where the tip of the rod is pushing a work. Accordingly, the actuator can be used with systems that clamp, press-fit or otherwise push works. This function is enabled by entering a current-limiting value in the “Push” field of the position table. * If the “Push” field contains “0,” positioning operation is applied.
Operation timings PLC processing 1: Operation: PLC processing 2: If the zone output signal dose not turn ON when the front end positioning complete output (PE1) is ON, the condition should be interpreted as “missed work” or “abnormal work installation position.
The correlation diagram of current-limiting value [%] and push force [N] is shown below for each actuator. Note: For the specific data with the RCP3, check the operation manual for the RCP3. z Slider Type (1) SA5C/SA6C/SS7C type (2) SA7C type Low-speed type (lead: 4 mm) Push force (N) 5.
(3) SS8C type Push force (N) Low-speed type (lead: 5 mm) 5. Operation Using I/O Signals Current-limiting value (%) Push force (N) Medium-speed type (lead: 10 mm) Current-limiting value (%) Push force (N) High-speed type (lead: 20 mm) Current-limiting value (%) Caution: Accuracy of push force while the actuator is standing still is not guaranteed. The above figures should be used for reference purposes only.
z Rod Type (1) RA2C type (2) RA3C type Push force (N) 5. Operation Using I/O Signals Push force (N) Low-speed type (lead: 2.5 mm) Current-limiting value (%) Current-limiting value (%) Push force (N) Medium-speed type (lead: 5 mm) Current-limiting value (%) Caution: 74 Accuracy of push force while the actuator is standing still is not guaranteed. The above figures should be used for reference purposes only.
(3) RA4C type (4) RA6C type Low-speed type (lead: 4 mm) Push force (N) Push force (N) Low-speed type (lead: 2.5 mm) Current-limiting value (%) Medium-speed type (lead: 8 mm) Push force (N) Push force (N) Medium-speed type (lead: 5 mm) Current-limiting value (%) Current-limiting value (%) High-speed type (lead: 16 mm) Push force (N) Push force (N) High-speed type (lead: 10 mm) Current-limiting value (%) Caution: 5.
5.3.8 Examples of Tact Time Reduction Combining Zone Outputs and 3 Stop Points This section explains how the tact time is reduced differently between an application with two stop points only, and an application with three stop points where zone output signals are also used. z 2 Stop Points [Carry-out actuator] 5. Operation Using I/O Signals Rear end Front end [Carry-in actuator] Front end Rear end Machine M Assume that Machine M has completed processing.
(Reference) Timing Charts and Example of Ladder Sequence Circuit Rear end move command for carry-out side Zone II Intermediate point move command for carry-in side Front end move command for carry-in side Stopped/standing by Intermediate point Front end Machine M is processing. Chuck closed Top end Processing R2 5. Operation Using I/O Signals Horizontal movement of carry-in side Flat speed Intermediate Front end point The Zone II signal turns ON while moving to the intermediate point.
5.4 Power-saving Modes at Standby Positions One general characteristic of pulse motors is that their holding current in standstill state is greater than AC servo motors. For this reason, in situations where the actuator remains standstill for a long time at a standby position, this controller provides several modes to reduce power consumption in such standstill state as part of the controller’s energy-saving function.
Full Servo Control Mode The pulse motor is servo-controlled to reduce the holding current. Although the specific level of current reduction varies in accordance with the actuator model, load condition, etc., generally the holding current drops to around a half to one-fourth. The servo remains on, so position deviation does not occur. The actual holding current can be checked in the current monitor screen of the PC software.
Warning: If the next move command is an incremental move command (via constant pitch feed), never use automatic servo-off. The current position may deviate slightly as the servo turns on. 5. Operation Using I/O Signals Caution: 80 In push-motion operation, both the full servo control mode and automatic servo-off mode are not effective if the work has been contacted successfully. They are effective when the actuator has missed the work.
5.5 Using Rotary Actuators in Multi-rotation Specification Rotary actuators of multi-rotation specification models can be set to operate in the multi-rotation mode or limited-rotation mode using a parameter. 5.5.1 How to Use Homing When a homing command is issued, a signal of the limit switch located in the home direction is detected. Once a limit switch signal is detected, the actuator reverses its direction.
6. Parameter Settings 6.1 Parameter List 6. Parameter Settings The parameters are classified into the following four types depending on their function: Types: a: Parameter relating to actuator stroke range b: Parameter relating to actuator operating characteristics c: Parameter relating to external interface d: Servo gain adjustment No.
6.2 Detail Explanation of Parameters If you have changed any parameter, be sure to restart the controller via a software reset or reconnect the controller power. 6.2.1 Parameters Relating to Actuator Stroke Range z Soft Limits (No.3/4 LIMM/LIML) Soft limits set in the controller Approx. 0.3 mm Approx. 0.3 mm Effective range Approx. 0.1 mm Approx. 0.1 mm Jogging/inching range permitted after homing z Home Direction (No.
z Home Offset (No.22 OFST) Parameter No. 22 has been set to an optimal value at the factory so that the distance from the mechanical end to home will remain constant. The minimum setting unit is 0.01 mm. This parameter can be adjusted in the following conditions: [1] Align the actuator’s home with the mechanical home on the equipment after the actuator has been assembled to the equipment. [2] Set the home position again after reversing the factory-set home direction.
6.2.2 Parameters Relating to Actuator Operating Characteristics Default Speed (No.8 VCMD) The factory setting is the rated speed of the actuator. This value is recognized as speed data corresponding to each position number when a target position is entered for that position in the position table where speed is not yet entered. To decrease the default speed from the rated speed, change the value set in Parameter No. 8. Default Acceleration/Deceleration (No.
z Default Direction of Excited Phase Signal Detection (No.28 PHSP) The excited phase is detected when the servo is turned on for the first time after turning on the power. This parameter defines the direction of this detection. This parameter need not be changed in normal conditions of use. However, if the actuator is contacting a mechanical end or any obstacle when the power is turned on and cannot be moved by hand, change the direction of detection to one in which the motor can be driven easily.
z Automatic Servo-off Delay Time (No.36 ASO1/ No.37 ASO2/ No.38 ASO3) This parameter defines the delay time after positioning is completed until the servo turns off automatically when the “Standstill mode” field in the position table is set to any value from “1” to “3” (the automatic servo-off mode is enabled) or the setting of Parameter No. 53 (Default standstill mode) is set to any value from “1” to “3” (the automatic servo-off mode is enabled).
z Push Speed (No.34 PSHV) This parameter defines the push speed that applies after the target position has been reached in push-motion operation. Before shipment, a default speed appropriate for the actuator characteristics is set. Depending on the material and shape of the work, etc., set an appropriate speed in Parameter No. 34. Note that, while the maximum speed varies according to the actuator, it should not exceed 20 mm/sec even with the high-speed type. Set a push speed below the maximum speed.
z Enable Function (No.42 FPIO) Whether to enable or disable the deadman switch function on the ANSI-type teaching pendant is set in Parameter No. 42. * The ANSI-type teaching pendant is currently under development. Setting Enable (Use) 0 Disable (Do not use) 1 The factory setting is “1” [Disable]. z Home Check Sensor Input Polarity (No.43 AIOF) The home check sensor is not included in the standard specification, but it can be installed as an option.
z Home Sensor Input Polarity (No. 18, LS) This parameter is supported by the rotational axes of RCP2-RTB/RTC types adopting the home sensor method. Definition of settings: 0 (Sensor not used) 1 (Sensor polarity of contact a) 2 (Sensor polarity of contact b) z Ball Screw Lead (No. 77, LEAD) This parameter defines the ball screw lead. Before shipment, a default value appropriate for the actuator characteristics is set. z Axis Operation Type (No. 78, ATYP) 6.
z Shortcut Selection for Rotational Axis (No. 80, ATYP) This parameter is set in certain conditions, such as when you want to turn a rotational axis in a specific direction. Shortcut refers to operating an actuator in such a way that it always moves to a point that is closest to the next point. Setting 0 1 Do not select Select You can cause the actuator to rotate in a specific direction by selecting the shortcut mode. Point No. 1 Positions Point No. 2 Setting 0 90 180 270 6.
6.2.3 Parameters Relating to External Interface z PIO Pattern Selection (No.25 IOPN) Parameter No. 25 is used to select a desired PIO operation pattern. This is a basic operation parameter, so be sure to set it at the beginning. 6. Parameter Settings Setting of Parameter No. 25 Features of PIO pattern 0 Proximity switch type Each movement complete signal is handled in the same manner as an auto switch of an air cylinder.
z Servo-on Input Disable Selection (No.21 FPIO) Parameter No. 21 is used to set whether enable or disable the servo-on input signal. Setting Enable (Use) 0 Disable (Do not use) 1 The factory setting is “0” [Enable]. z SIO Communication Speed (No.16 BRSL) z Minimum Delay Time for Slave Transmitter Activation (No.17 RTIM) This parameter is not used with this controller. It applies to controllers of serial communication type.
6.2.4 Servo Gain Adjustment Since the servo has been adjusted at the factory in accordance with the standard specification of the actuator, the servo gain need not be changed in normal conditions of use. However, vibration or noise may occur depending on how the actuator is affixed, specific load condition, and so on, and therefore the parameters relating to servo adjustment are disclosed to allow the customer to take quick actions should adjustment become necessary.
Speed Loop Integral Gain (No.32 VLPT) Parameter number Unit Input range Default 32 --- 1 ~ 217270 Set individually in accordance with the actuator characteristics. This parameter determines the level of response with respect to a speed control loop. 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.
7. 7.1 Troubleshooting What to Do When A Problem Occurs 7. Troubleshooting If you encountered a problem, follow the steps below to conduct the specified checks to gather information needed to implement quick recovery and prevent recurrence of the problem. a. Check the status indicator lamps SV (green) --- The servo is on. ALM (red) --- An alarm is present or emergency stop has been actuated, or the motor drive power is cut off. b. Check the host controller for abnormality. c.
7.2 Alarm Level Classification The alarms are classified into three levels based on the corresponding symptoms. Alarm level Operation cancellation Cold start Note: ALM lamp *ALM signal Lit Output Lit Output Condition at occurrence of alarm The actuator decelerates to a stop, and then the servo turns off. The actuator decelerates to a stop, and then the servo turns off. How to reset Execute reset using the PC/teaching pendant. Reconnect the power.
7.3 Alarms, Causes and Actions (1) Operation Cancellation Alarms Code 0A1 Error Parameter data error Cause/action Cause: Action: 7. Troubleshooting 0A2 Position data error Cause: Action: 0A7 Command deceleration error The parameter data does not meet the specified input range. (Example) This alarm generates when a pair of values clearly has an inappropriate magnitude relationship, such as when the soft limit + setting is 200.3 mm, while the soft limit – setting is 300 mm.
Code 0C0 Error Excessive actual speed Cause/action Cause: Action: The motor speed exceeds the maximum speed set by the manufacturer’ s parameter. This alarm does not generate during normal operation, but it may occur if the load decreased before a servo error was detected and the motor speed has increased as a result. This condition occurs due to the following reasons: [1] The slide resistance of the actuator is large in some areas. [2] The load increased due to momentary application of external force.
Code Error Cause/action Low control power-supply voltage This alarm indicates that the voltage of the 24-V input power supply is low (24 V - 20%: 19.2 V or below). Cause: [1] The voltage of the 24-V input power supply is low. [2] Faulty part in the controller Action: Check the input power-supply voltage. If the voltage is normal, contact IAI. 0D8 Deviation overflow The position deviation counter has overflowed. Cause: [1] The speed dropped while the actuator was moving due to external force, etc.
(2) Cold Start Alarms Code Error Cause/action Excitation detection error This controller detects the excited phase when the servo is turned on for the first time after turning on the power. This alarm indicates that the specified encoder signal level cannot be detected after excitation for the time set by Parameter No. 29 (Excited phase signal detection time). Cause: [1] The connector of the motor relay cable is loose or its circuit is open.
Code 0ED Error Cause/action Absolute encoder error (1) Cause: Action: Absolute encoder error (2) Cause: 0EF Absolute encoder error (3) Cause: 7. Troubleshooting 0EE 102 [1] When the power was turned off and then on again following an absolute reset, the current position changed due to an external factor, etc., while the controller was communicating with the absolute unit. [2] When an absolute reset was executed, the current position changed due to an external factor, etc.
Code Error Cause/action Inconsistent PCB This controller uses a different motor drive circuit depending on the motor capacity, and therefore the installed printed circuit board (PCB) is also different with each controller. During the initialization after starting, the controller checks if the motor type set by the manufacturer’s parameter matches the actual PCB installed. This alarm indicates that the two do not match.
7.4 Messages Displayed during Teaching Pendant Operation This section explains the warning messages that may be displayed while operating the teaching pendant. 7. Troubleshooting Code Message Description 112 Input data error An inappropriate value was input as a user parameter setting. (Example) “9601” was input as the serial communication speed by mistake. Input an appropriate value again. 113 114 Input value too small Input value too large The input value is under the setting range.
Code Message Description CSTR-ON during operation A move command signal from the PLC turned ON while the actuator was moving, resulting in redundant move commands. 20E Soft limit over A soft limit was reached. 221 Write inhibited in monitor mode A position table field or parameter was written in the monitor mode. 223 Operation inhibited in monitor mode The actuator was moved in the monitor mode.
7.5 Common Problems and Recommended Actions z I/O Signals Cannot Be Sent or Received to/from the PLC. Cause: Action: [1] The 24-V I/O power supply is connected in reverse polarities. (In this case, input circuits are not affected, but output circuits will be damaged.) [2] If an output circuit presents this problem, electrical current exceeding the maximum current flowed due to a large load and a circuit component was damaged. [3] Poor contact at the connector or relay terminal block on the PLC side.
z With an Actuator Installed in Vertical Orientation, Positioning Completes Prematurely. Cause: Action: [1] The load exceeds the rated load capacity. [2] The ball screw is receiving torsional stress due to the actuator affixing method, uneven tightening of bolts, etc. [3] The slide resistance of the actuator itself is high. If [1] is suspected, increase the value of User Parameter No. 13 (Current-limiting value during homing). Increasing the parameter value increases the homing torque.
z A Servo Error Occurred while the ROBO Gripper Was Moving. Cause: Action: The work was not positioned properly and a finger attachment contacted the work in the positioning mode. Consider how much the work deviates and adjust the start position of push-motion operation, as well as the thickness of the finger attachment (including buffer material), so that the work can be clamped properly in the push-motion mode.
z The Actuator Malfunctions when the Servo Is Turned On after Turning On the Power. Cause: Action: z The SV Lamp Blinks. The automatic servo-off mode is active. (This is not an error or failure.) 109 7. Troubleshooting Excited phase detection is not performed properly when the servo is turned on, because one of the following conditions exists when the power was turned on: [1] The slider or rod was contacting a mechanical end. [2] The work was pushed by a strong external force.
* 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 The push force is based on the rated push speed (factory setting) indicated in the list, and provides only a guideline.
Actuator series Type RGD4C Feed screw Ball screw No. of encoder pulses Lead 10 Horizontal/ vertical 12.5 5 Horizontal/ vertical 6.25 800 16 Ball screw 800 8 4 16 RGS6C Ball screw 800 8 4 16 RGD6C Ball screw 800 8 4 5 SRA4R Ball screw 800 2.5 5 SRGS4R Ball screw 800 2.5 5 SRGD4R Ball screw 800 2.5 Horizontal 3.
Actuator series Type Feed screw No. of encoder pulses Lead Mounting direction Minimum speed [mm/s] [mm] Horizontal 20 25 Vertical SA5C Ball screw 800 * Appendix Horizontal 12 15 Vertical Horizontal RCP2 (slider type) 6 7.5 Vertical Horizontal 3 3.75 Vertical Horizontal 12 15 Vertical SA5R Ball screw Horizontal 800 6 7.5 Vertical Horizontal 3 3.
Actuator series Type Feed screw No. of encoder pulses Lead Mounting direction Minimum speed [mm/s] [mm] Horizontal 20 25 Vertical SA6C Ball screw 800 Horizontal 15 Vertical Horizontal RCP2 (slider type) 6 7.5 Vertical Horizontal 3 3.75 Vertical Horizontal 12 15 Vertical SA6R Ball screw Horizontal 800 6 7.5 Vertical Horizontal 3 3.
Actuator series Type Feed screw No. of encoder pulses Lead Mounting direction Minimum speed [mm/s] [mm] Horizontal 16 20 Vertical SA7C Ball screw 800 8 4 16 SA7R Ball screw 800 8 4 12 * Appendix SS7C Ball screw 800 6 3 RCP2 (slider type) Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical 10 5 20 10 Ball screw 800 6 3 600 (at 50 to 500st) 470 (at 600st) 7.
Actuator series Type Feed screw No. of encoder pulses Lead Mounting direction Minimum speed [mm/s] [mm] Horizontal 20 25 Vertical Horizontal SS8R Ball screw 800 10 12.5 Vertical Horizontal RCP2 (slider type) 5 6.25 Vertical Horizontal HS8C Ball screw 800 30 37.5 Horizontal HS8R Ball screw 800 30 37.
Actuator series Type Feed screw No.
Actuator series Type Feed screw No. of encoder pulses Lead Lead screw 800 RA2BC Lead screw 800 2 1 Horizontal/ vertical 6 RCP3 (rod type) 4 RA2AR Lead screw 800 RA2BR Lead screw 800 SA2BC Lead screw 800 RCP3 (slider type) Lead screw SA2BR Lead screw 2 1 Horizontal 7.5 300 5 200 2.5 100 7.5 4 5 2 2.5 2 1 5 Horizontal 2.5 1.25 7.5 Horizontal 4 4 6 800 100 2.5 1.25 Horizontal 2 Ball screw 2.5 5 6 SA3R 200 2.
Actuator series Type Feed screw No. of encoder pulses Lead [mm] 10 SA4C Ball screw 800 5 2.5 10 SA4R Ball screw 800 Mounting direction 5 2.5 Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Minimum speed [mm/s] [G] 12.5 380 (at 50st) 500 (at 100st to 500st) 6.25 250 3.12 125 12.5 380 (at 50st) 500 (at 100st to 500st) 6.25 250 3.12 125 0.7 0.3 0.7 0.3 0.7 0.3 0.3 0.2 0.3 0.2 0.2 0.
Actuator series Type Feed screw No. of encoder pulses Lead Mounting direction Minimum speed [mm/s] [mm] Horizontal 12 15 Vertical SA5R Ball screw Horizontal 800 6 7.5 Vertical Horizontal 3 3.75 Vertical RCP3 (slider type) 20 25 Vertical SA6C Ball screw 800 Horizontal 12 15 Vertical Horizontal 6 7.5 Vertical Horizontal 3 3.
Actuator series Type Feed screw No. of encoder pulses Lead Mounting direction Minimum speed [mm/s] [mm] Horizontal 12 15 Vertical RCP3 (slider type) SA6R Ball screw Horizontal 800 6 7.5 Vertical Horizontal 3 3.75 Vertical 6 * Appendix TA3C Ball screw 800 4 2 6 TA3R Ball screw 800 4 2 6 TA4C Ball screw 800 4 2 RCP3 (table type) 6 TA4R Ball screw 800 4 2 10 TA5C Ball screw 800 5 2.5 10 TA5R Ball screw 800 5 2.
Actuator series Type Feed screw No.
Appendix Correlation diagram of speed and load capacity for the slider type (motor-straight type) Vertical installation Load capacity (kg) Load capacity (kg) High-speed type Horizontal installation Speed (mm/sec) Load capacity (kg) Load capacity (kg) Medium-speed type * Appendix Speed (mm/sec) Speed (mm/sec) Load capacity (kg) Load capacity (kg) Low-speed type Speed (mm/sec) Speed (mm/sec) (Note) In the above graphs, the number after the type code indicates the lead.
Appendix Correlation diagram of speed and load capacity for the slider type (motor-reversing type) Vertical installation Load capacity (kg) Load capacity (kg) High-speed type Horizontal installation Speed (mm/sec) Load capacity (kg) Load capacity (kg) Speed (mm/sec) Load capacity (kg) Load capacity (kg) Speed (mm/sec) Low-speed type * Appendix Medium-speed type Speed (mm/sec) Speed (mm/sec) Speed (mm/sec) (Note) In the above graphs, the number after the type code indicates the lead.
Appendix Correlation diagram of speed and load capacity for the standard rod type Vertical installation Load capacity (kg) Load capacity (kg) High-speed type Horizontal installation (Note 1) Speed (mm/sec) Load capacity (kg) Load capacity (kg) Medium-speed type * Appendix Speed (mm/sec) Speed (mm/sec) Load capacity (kg) Load capacity (kg) Low-speed type Speed (mm/sec) Speed (mm/sec) (Note) In the above graphs, the number after the type code indicates the lead.
Appendix Correlation diagram of speed and load capacity for the single-guide type Vertical installation Load capacity (kg) Load capacity (kg) High-speed type Horizontal installation Speed (mm/sec) Load capacity (kg) Load capacity (kg) Speed (mm/sec) Load capacity (kg) Load capacity (kg) Speed (mm/sec) Low-speed type * Appendix Medium-speed type Speed (mm/sec) Speed (mm/sec) Speed (mm/sec) (Note) In the above graphs, the number after the type code indicates the lead.
Appendix Correlation diagram of speed and load capacity for the double-guide type Vertical installation Load capacity (kg) Load capacity (kg) High-speed type Horizontal installation Speed (mm/sec) Load capacity (kg) Load capacity (kg) Medium-speed type * Appendix Speed (mm/sec) Speed (mm/sec) Load capacity (kg) Load capacity (kg) Low-speed type Speed (mm/sec) Speed (mm/sec) (Note) In the above graphs, the number after the type code indicates the lead.
Appendix Correlation diagram of speed and load capacity for the dustproof/splash-proof type Vertical installation (Note 2) Load capacity (kg) Load capacity (kg) High-speed type Horizontal installation (Note 1) Speed (mm/sec) Load capacity (kg) Load capacity (kg) Speed (mm/sec) Load capacity (kg) Load capacity (kg) Speed (mm/sec) Low-speed type * Appendix Medium-speed type Speed (mm/sec) Speed (mm/sec) Speed (mm/sec) (Note) In the above graphs, the number after the type code indicates the
Appendix Correlation diagram of speed and load capacity for the RCP3 slider type Horizontal installation Vertical installation Lead 4 Lead 6 Load capacity (kg) Load capacity (kg) Lead 2 Lead 2 Lead 4 * Appendix Speed (mm/sec) Lead 6 Speed (mm/sec) Lead 5 Lead 10 Load capacity (kg) Load capacity (kg) Lead 2.5 Lead 2.
Appendix Correlation diagram of speed and load capacity for the RCP3 table type Horizontal installation Vertical installation Lead 2.5 Lead 5 Lead 10 Load capacity (kg) Load capacity (kg) Lead 2.
Appendix Push Force and Current-limiting Value Caution • • • • The relationship of push force and current-limiting value is based on the rated push speed (factory setting) and provides only a guideline. Make sure the actual push force is equal to or greater than the minimum push force. If not, the push force will not stabilize. Do not change the setting of push speed (parameter No. 7). If you must change the push speed, consult IAI.
Appendix Push force (N) RCP2 Series Short Type Lead 2.
Appendix Gripper Gripping force (N) Gripping force (N) RCP2 Series Gripping force (N) Gripping force (N) Current-limiting value (ratio, %) Current-limiting value (ratio, %) Current-limiting value (ratio, %) Push force (N) * Appendix Current-limiting value (ratio, %) Standard type High-speed type Current-limiting value (ratio, %) 132
Appendix 3-finger Gripper Gripping force (N) Gripping force (N) RCP2 Series Current-limiting value (ratio, %) Gripping force (N) * Appendix Gripping force (N) Current-limiting value (ratio, %) Current-limiting value (ratio, %) Current-limiting value (ratio, %) 133
Appendix RCP3 Series Slim, Compact Rod Type Push force (N) RA2BC/RA2BR Lead 2 Current-limiting value (ratio, %) Current-limiting value (ratio, %) RA2AC/RA2AR Lead 2 RA2BC/RA2BR Lead 4 Push force (N) Push force (N) * Appendix Push force (N) RA2AC/RA2AR Lead 1 Current-limiting value (ratio, %) Current-limiting value (ratio, %) Current-limiting value (ratio, %) 134 RA2BC/RA2BR Lead 6 Push force (N) Push force (N) RA2AC/RA2AR Lead 4 Current-limiting value (ratio, %)
Appendix RCP3 Series Slider Type SA4C Type Push force (N) Push force (N) SA3C Type Current-limiting value (ratio, %) Current-limiting value (ratio, %) * Appendix Push force (N) SA5C/SA6C Type Current-limiting value (ratio, %) RCP3 Series Slim, Compact Table Type TA3C/TA3R Type TA4C/TA4R Type Lead 4 Lead 6 Push force (N) Push force (N) Lead 2 Lead 4 Lead 6 Current-limiting value (ratio, %) Current-limiting value (ratio, %) RCP3 Series Lead 2 Table Type TA6C/TA7C Type Push force (N)
Appendix Micro-cylinder Push force (N) RCL Series * Appendix Current-limiting value (ratio, %) 136
2 1 0 No.
Appendix Parameter Record Recorded date: * Appendix Types: a: b: c: d: No.
Appendix Change History Revision Date Description of Revision First edition 2007.03 Second edition Third edition 2009.12 Third B edition • Note added regarding CE Marking at the beginning 2010.02 Fourth edition • Operation Manual Catalog No. changed 2010.03 Fifth edition • “Please Read Before Use” added after top page • “H: High-acceleration loading specification” added to model name in P.4 2010.04 Sixth edition • “Precautions for Safety” in P.
Appendix Change History Revision Date 140 Description of Revision 2012.05 Twelfth edition • “Explanation for UL Compliance” added before Contents • Contents added and changed in Safety Guide • 3.1 Installation Environment revised 2012.07 Thirteenth edition • Contents changed in UL 2013.
Manual No.: ME0156-14A (January 2013) Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan TEL +81-54-364-5105 FAX +81-54-364-2589 website: www.iai-robot.co.jp/ Technical Support available in USA, Europe and China Head Office: 2690 W.
