IAI MSEP First Step Manual

Field Network Type
(DeviceNet, CC-Link, PROFIBUS, CompoNet,
EtherNet/IP, EtherCAT)
MSEP
First Step Guide
Fourth Edition
Thank you for purchasing our product.
Make sure to read the Safety Guide and detailed Instruction Manual (DVD) included with the product in addition to this First
Step Guide to ensure correct use.
This Instruction Manual is original.
Warning : Operation of this equipment requires detailed installation and operation instructions which are
provided on the DVD Manual included in the box this device was packaged in. It should be retained
with this device at all times.
A hardcopy of the Manual can be requested by contacting your nearest IAI Sales Office listed at
the back cover of the Instruction Manual or on the First Step Guide.
• Using or copying all or part of this Instruction Manual without permission is prohibited.
• The company names, names of products and trademarks of each company shown in the sentences are registered
trademarks.
Product Check
This product is comprised of the following parts if it is of standard configuration.
If you find any fault in the contained model or any missing parts, contact us or our distributor.
1. Parts
No. Part Name Model
Refer to "How to read the model
1 Controller Main Body
plate", "How to read the model No."
Accessories
FKC2.5HC/4-ST-5.08
2 Power Connector
(Supplier : PHOENIX CONTACT)
FMCD1.5/5-ST-3.5
3 External Brake Input Connector
(Supplier : PHOENIX CONTACT)
Drive Cutoff/Emergency Stop Input FMCD1.5/8-ST-3.5
4
Connector (Supplier : PHOENIX CONTACT)
FMCD1.5/4-ST-3.5
5 System I/O Connector
(Supplier : PHOENIX CONTACT)
6 I/O Flat Cable (For PIO Type) CB-MSEP-PIO***
CC-Link Connector MSTB2.5/5-ST-5.08 ABGY AU
7
(For CC-Link Type) (Supplier : PHOENIX CONTACT)
DeviceNet Connector MSTB2.5/5-ST-5.08 ABGY AU
8
(For DeviceNet Type) (Supplier : PHOENIX CONTACT)
9 Absolute Battery Box (Option) MSEP-ABU (Battery AB-7)
10 First Step Guide
11 Instruction Manual (DVD)
12 Safety Guide
2. Teaching Tool (Please purchase separately)
A teaching tool such as PC software is necessary when performing the setup for position setting, parameter setting, etc.
that can only be done on the teaching tool.
Please prepare either of the following teaching tools.
No. Part Name
PC Software
1
(Includes RS232C Exchange Adapter + Peripheral Communication Cable)
PC Software
2
(Includes USB Exchange Adapter + USB Cable + Peripheral Communication Cable)
3 Teaching Pendant (Touch Panel Teaching)
4 Teaching Pendant (Touch Panel Teaching with deadman switch)
Teaching Pendant
5
(Touch Panel Teaching with deadman switch + TP Adapter (RCB-LB-TG))
6 Teaching Pendant (Touch Panel Teaching)
7 Teaching Pendant (Touch Panel Teaching with deadman switch)
8 Teaching Pendant (Dead man's switch right mounted touch panel teaching)
3. Instruction manuals related to this product, which are contained in the instruction manual (DVD).
No. Name
1 MSEP Controller Instruction Manual
2 PC Software RCM-101-MW/RCM-101-USB Instruction Manual
3 Touch Panel Teaching CON-PTA/PDA/PGA Instruction Manual
4 Touch Panel Teaching TB-01/TB-01D/TB-01DR Instruction Manual
5 XSEL controller RC Gateway Function Instruction Manual
4. How to read the model plate
Serial number → SEREIAL No.
Manufactured date → PRODUCT DATE
Manual No. → MANUAL No.
Input power supply →
Information of the
connected axes →
(Axis No. 0 to 7)
5. How to read controller model code
(Example) Consists of 5 axes: Axis No.0=pulse motor type, Axis No.2,3=servo motor type, Axis No.4=No connected axis and Axis
No.1=Ineffective axis
M S E P - C - 5 - 2 0 P W A I - P W A I - 1 0 I - 2 0 I - N - D V - 2 - 0 - A B U - * *
<Series>
<Type>
C :Standard Type
<Connected Axes>
1 to 8: Number of driver axes
<Detail of Connected Axis>
Remarks [Pulse Motor Type]
20P : 20□ pulse motor
20SP : 20□ pulse motor
28P : 28□ pulse motor
28SP : 28□ pulse motor
Recommended Cable Size
35P : 35□ pulse motor
• Control Power Supply
42P : 42□ pulse motor
2
0.5 to 0.3mm (AWG20 to 22)
56P : 56□ pulse motor
• Motor Driving Power Supply
2.5 to 0.5mm 2 (AWG12 to 20)
P : Ineffective axis (Pulse motor)
Recommended cable size
N : Not connected
0.5 to 0.2mm 2 [Encoder Type]
(AWG20 to 24) WAI : Incremental / Battery-less Absolute Shared (Pulse Motor Type)
I : Incremental (Servo Motor Type)
Recommended Cable Size
SA : Simple Absolute (Pulse Motor / Servo Motor)
• Emergency Stop
[Option] (if servo motor is selected)
0.5 to 0.2mm 2 (AWG20 to 24)
HA : High Acceleration/Deceleration Type (when servo motor selected)
• Motor Power External Input
LA : Low Power Consumption Type (when servo motor selected)
1.25 to 0.5mm 2
T : High-Output Setting Type (when actuator selected)
(AWG16 to 20)
Recommended cable size
0.5 to 0.2mm 2 (AWG20 to 24)
***shows the cable length
(Example) *** : 020 = 2 [m]
List of Specifications
Terminal Resistance (130Ω1/2W,
Specification Item
110Ω1/2W)
enclosed one unit each Number of Controlled Axes
Prepare a terminal resistor separately
Control/Motor Power Supply
if this controller is to be allocated at Voltage
the terminal.
Brake Power Supply
For Simple Absolute Type
Control Power Current
Consumption
Control Power In-Rush
Current
Model
RCM-101-MW
Motor Current Consumption
RCM-101-USB
CON-PTA
CON-PDA
CON-PGA
TB-01 Motor Power In-Rush Current
TB-01D
Heat Generation
TB-01DR
Control System
RCA,
Manual No.
RCP2 to RCP5
ME0299
RCA2
ME0155
ME0295
RCL
ME0324
ME0188
RCD
Actuator Cable Length
Serial Communication
Interface
(SIO Port: Only for teaching)
Model → MODEL MSEP-C-5-20PI-N-42PI-PI-10I-20ILA-DV-2-0-ABU
SI-E18392
2012/02/01
ME0299
CP INPUT DC24V 2.0A
MP INPUT DC24V 7.6A
AXIS No. /OUTPUT
0 0-24Vac 3ph 0-333Hz 1.0A
1
2 0-24Vac 3ph 0-333Hz 2.0A
3 0-24Vac 3ph 0-333Hz 2.0A
4 0-24Vac 3ph 0-333Hz 1.3A
5 0-24Vac 3ph 0-333Hz 1.3A
6
7
CAUTION: Connect the wiring correctly and properly.
use IAI Corporation specified cables.
Made In Japan
<Identification for IAI use only>
* There is no identification in some cases
<Applicable for Simple Absolute Type>
ABB : Simple Absolute Type
ABBN : Simple Absolute Type
No indication : Incremental
[Servo Motor Type]
<Power Voltage>
2 : 2W servo motor
0 : 24V DC
5 : 5W servo motor
5S : 5W servo motor
<I/O Cable Length>
10 : 10W servo motor
0 : No cable
20 : 20W servo motor
3 : 3m
20S : 20W servo motor
<I/O Type>
30 : 30W servo motor
NP : NPN Type (Sink type) (Standard)
3D : 3W brushless DC electric motor
PN : PNP Type (Source type)
A : Ineffective axis (Servo motor)
DV : DeviceNet Type
CC : CC-Link Type
PR : PROFIBUS-DP Type
CN : CompoNet Type
EP : EtherNet/IP Type
EC : EtherCAT Type
Basic Specifications
Driver for Servo Motor Driver for Pulse Motor
8 axes MAX.
24V DC ±10%
0.15A × Number of axes
0.8A
MAX. 5A 30ms or less
Motor
Motor Type Rated Low power MAX. (Note 1) MAX.
Flange Size
2W 0.8A 4.6A 20P 2.0A
28P 2.0A
3W (RCD) 0.7A 1.5A
35P
2.0A
5W 1.0A 6.4A
(High output invalid)
10W (RCL) 6.4A
1.3A 42P
10W
2.5A 4.4A 3.5A (Rated) /
(RCA/RCA2)
4.2A (MAX.)
20W 1.3A 2.5A 4.4A
(High output valid)
56P
20W (Note 4)
1.7A 3.4A 5.1A
(20S Type)
30W 1.3A 2.2A 4.4A
Number of slots × MAX. 10A 5ms or less
26W Max.
Vector control (Rectangular waveform drive only for
Weak field-magnet vector control
3W of the motor type)
All Types 800Pulse/rev
RCA2-□□□N 1048Pulse/rev
Except for RCA2-□□□N 800Pulse/rev
RA1L • SA1L • SA4L • SM4L 715Pulse/rev
RA2L • SA2L • SA5L • SM5L 855Pulse/rev
RA3L • SA3L • SA6L • SM6L 1145Pulse/rev
All Types 400Pulse/rev
MAX. 20m (Note) 10m maximum for Simple Absolute type
RS485 1CH (based on Modbus Protocol) Speed 9.6 to 230.4kbps
Specification Item Driver for Servo Motor
PIO Type:Signal I/O dedicated for 24V DC (to be selected when purchased NPN/PNP)
PIO Type Number of max. input: 4 points per axis, Number of max. output: 4 points per axis
Cable length MAX. 10m
DeviceNet, CC-Link, PROFIBUS-DP, CompoNet, EtherNet/IP, EtherCAT
Field Network Type
(Reference) An operation by RC Gateway Function is available.
Data Setting and Input PC Software, Touch Panel Teaching, Gateway Parameter Create Tool
Position data and parameters are saved in the nonvolatile memory.
Data Retention Memory
(There is no limitation in number of writing)
PIO Type: 2 or 3 points
Field Network Type: 256 points (There is no limit for simple direct and direct indication modes)
Number of Positioning Points
(The number of positioning points differs depending on the operation mode select by the
parameter setting.)
LED Display 8 LED lamps for driver status display (for each driver board)
(Mounted on Front Panel) Status LED 4 points (PIO Type), 7 points (Field Network Type)
Electromagnetic Brake
Brake release available for each axis by compulsory release signal input (24V DC input)
Compulsory Release
Overcurrent Protection (Equipped with a built-in cutoff circuit using a semiconductor for each
Protective functions (Note3)
slot)
Protection Function against
Class I basic insulation
Electric Shock
Insulation Resistance 500V DC 10MΩ
Weight 620g, For simple absolute type, 690g plus 1950g for absolute battery box (for 8-axis type)
Cooling Method Forced air-cooling
External Dimensions 123W × 115H × 95D
Surrounding Air
0 to 40°C
Temperature
Surrounding
85%RH or less (non-condensing)
Humidity
Surrounding
(with absolute battery)
[Refer to Installation Environment]
Environment
Surrounding
(with no absolute battery)
-20 to 70°C
Storage
0 to 40°C for absolute battery
Temperature
Surrounding
85%RH or less (non-condensing)
storage humidity
Usable Altitude 1000m or lower above sea level
2 : 2m (Standard)
Frequency 10 to 57Hz/ Swing width : 0.075mm
5 : 5m
Vibration Durability Frequency 57 to 150Hz/ Acceleration : 9.8m/s
XYZ Each direction Sweep time: 10 min. Number of sweep: 10 times
Shock Resistance 150mm/s 2 11ms Semi-sine wave pulse XYZ Each direction 3 times
Protection Class IP20
Note 1 The current becomes maximum when the excitation phase of the servo-motor is detected, which is performed during the
initial servo-motor ON processing after the power is injected. (Normal: Approx. 1 to 2 sec, MAX.: 10 sec).
Note 2 The current is maximized at the excitation phase detection conducted in the first servo-on process after the power is
supplied (ordinary 100ms).
Note 3 For servo-motor, the protection is triggered with the current greater in 1.4 times than the maximum load current.
Note 4 High-output type driver board can control one axis per board.
< Calculation of 24V DC Power Capacity >
For the calculation of 24V DC power capacity, figure out the numbers for (1) to (5) below, and then follow Step (7).
(1) Control Power Current Consumption: 0.8A··························································································1)
(2) Current Consumption of Motor Power Supply:
Total of motor current consumption of connected actuator ······································································2)
(3) Current Consumption at Excitation Phase Detection:
Maximum current in the total of maximum motor current to turn the servo on at the same time ······················3)
(4) Control Power In-Rush Current: 5A····································································································4)
(5) Motor Power In-Rush Current: Number of slots × 10A ···········································································5)
(6) Current consumption of brake power supply: Number of actuators with brake × 0.15A·································6)
(7) Selection of Power Supply:
Usually, the rated current is to be approximately 1.3 times higher than 1) + 2) + 6) above considering approximately 30% of
margin to the load current. However, considering the current of 3) to 5), even though it is a short time, select a power
supply with "peak load corresponding" type or that with enough capacity. For the current of 3) to 5), it can be avoided from
the current consumption occurred at the same time by the timing for the emergency stop release (motor power-on) and
servo-on being changed. In the case that the capacity margin is not sufficient, voltage might be dropped in a moment. In
particular, be careful of the power unit with the remote sensing function.
(Note) Make short-circuit on 0V side when separate power sources are used for the control power and motor power.
(Note 2)
(Reference) Selection of Power Supply Protection Circuit Breaker
It is recommended that the power supply protection is conducted on the primary side (AC power side) of the 24V DC power
supply unit.
Pay attention to the in-rush current of 24V DC power supply unit and rated cutoff current of the circuit breaker.
• Rated Breaking Current > Short-circuit Current = Primary Power Supply Capacity/Power Voltage
• (Reference) In-rush Current of IAI Power Supply Unit PS241 = 50 to 60A, 3msec
● Specifications of DeviceNet Interface
Item
Communication Protocol DeviceNet2.0
Group 2 Dedicated Server
Network-Powered Insulation Node
Baud Rate Automatically follows the master
Communication System Master-Slave System (Polling)
Number of Occupied MAX. 16CH (Input, Output)
Channels
Number of Occupied 1 node
Node
Baud Rate
Communication Cable
500kbps
Length (Note 2)
250kbps
125kbps
Communications Cable Use the dedicated cable.
Connector (Note 1) MSTBA2.5/5-G-5.08-ABGY AU (Manufactured by PHOENIX CONTACT or equivalent)
Consumption Current of 60mA
Communication Power
Supply
Communication Power 24V DC (Supplied from DeviceNet)
Supply
Note 1 The cable-side connector is a standard accessory. (PHOENIX CONTACT MSTB2.5/5-ST-5.08ABGY AU)
Note 2 For T branch communication, refer to the Instruction Manuals for the master unit and programmable controller (PLC)
to be mounted.
Driver for Pulse Motor
2
Specification
Total Branch Line Max. Branch Line
Max. Network Length
Length Length
100m 39m
6m
250m 78m
500m 156m