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NSD ABSOCODER nv Series Specifications And Instruction Manual

Converter for tc-net i/o
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ZEF004780908
Toshiba Corporation
Unified Controller
nv
Series
ABSOCODER CONVERTER for TC-net I/O
AB934N
Specifications and Instruction Manual
Applicable sensor
CYLNUC cylinder
VLS-12.8PRA28
VLS-12.8MHP28
IRS-51.2P

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  • Page 1 ZEF004780908 Toshiba Corporation Unified Controller Series ABSOCODER CONVERTER for TC-net I/O AB934N Specifications and Instruction Manual Applicable sensor CYLNUC cylinder VLS-12.8PRA28 VLS-12.8MHP28 IRS-51.2P...

  • Page 3: Table Of Contents

    CONTENTS INTRODUCTION ............................i RELATED MANUALS ..........................i COPYRIGHT ..............................i GENERAL SAFETY RULES ........................ii REVISION HISTORY ........................... v 1. OVERVIEW ............................... 1 1-1. Overview ......................................1 1-2. Features ......................................1 1-3. Terminology ....................................2 2. SYSTEM CONFIGURATION ........................4 2-1.
  • Page 4 CONTENTS 6. INSPECTIONS ............................30 7. TROUBLESHOOTING .......................... 31 7-1. Error List ......................................31 7-2. ABSOCODER Sensor Check List ............................. 33 7-2-1. VLS-12.8 ....................................33 7-2-2. IRS-51.2P（CYLNUC MarkⅡ）............................35 7-2-3. CYLNUC ....................................37 8. SPECIFICATIONS ..........................41 8-1. AB934N Module Specifications ..............................41 8-1-1.

  • Page 5: Introduction

    INTRODUCTION Thank you very much for purchasing our product. Before operating this product, be sure to carefully read this manual so that you may fully understand the product, safety instructions and precautions. - Please submit this manual to the operators actually involved in operation. - Please keep this manual in a handy place.

  • Page 6: General Safety Rules

    NSD. This product is designed to be used under the industrial environments categorized in Class A device. The supplier and user may be required to take appropriate measures.

  • Page 7: Installation

    - Do not store the module in a place exposed to water, or toxic gas and liquid. - Be sure to store the module in designed temperature and humidity range, and do not exposed to direct sunlight. - Be sure to consult with NSD when any module is stored for long periods. 3. Transport CAUTION - Do not hold the cable or shaft of the ABSOCODER sensor during transport;...

  • Page 8: Operation

    6. Operation CAUTION - Do not change the module's function switch settings during the operation; otherwise, it will cause injury. - Do not approach the machine after instantaneous power failure has been recovered. Doing so may result in injury if the machine starts abruptly - Be sure to check that the power supply specifications are correct;...

  • Page 9: Revision History

    REVISION HISTORY The Document No. appears at the upper right of this manual's cover page. Document No. Date Revision Description ZEF004780900 3, Nov., 2009 1st Edition Japanese document: ZEF004780500 ZEF004780901 8, Jan., 2010 2nd Edition Japanese document: ZEF004780501 ZEF004780902 29, Jan., 2010 3rd Edition Japanese document: ZEF004780501 ZEF004780903 27, Jul., 2010 4th Edition...

  • Page 10: Overview

    1. OVERVIEW 1. OVERVIEW 1-1. Overview The AB934N module is an ABSOCODER converter for the TC-net I/O System of the Toshiba Corporation Unified Controller nv Series. Combine the module with a linear type ABSOCODER sensor (CYLNUC cylinder, VLS-12.8, IRS-51.2P) to have the detected position data converted into binary codes. 1-2.

  • Page 11: Terminology

    1. OVERVIEW 1-3. Terminology (1) ABSOCODER "ABSOCODER" is a generic name referring to the type of sensing device that detects rotational and linear displacement as well as speed and acceleration in an absolute format and outputs them digitally (or analogously). "ABSOCODER" comprises a detection unit that converts displacement into a variation in magnetic resistance and a conversion unit that inputs an alternating-current energization signal into the detection unit and then issues an absolute-format data according to the output signal returned from the detection unit.
  • Page 12 1. OVERVIEW (3) Semi-absolute format The AB934N module detects the machine position in a semi-absolute format. In the semi-absolute format, “standard pitch” of the sensor rod is detected in absolute value. (Absolute detection range) Furthermore, the pitch is counted by the software. 1 pitch 2 pitches 3 pitches...

  • Page 13: System Configuration

    Error cancel AB934N AB934N signal signal *1: SA911 can be replaced with SA912. For more details, contact your NSD representative. NOTES Use the general I/O base unit BU902 for the AB934N module. Do not use any other types of base units.

  • Page 14: Connection Configuration

    2. SYSTEM CONFIGURATION 2-2. Connection Configuration The following figure indicates connecttion configuration of the AB934N module. ●Connection configuration TC-net I/O bus ②ABSOCODER ③Extension sensor cable BU902 sensor TC-net I/O bus 4P-S/RBT/URT-9044-[L] connector ① AB934N 4P-S/RBT/URT-9044[L] 4P-S/RBT/URT/HRT-4344-[L] CYLNUC Cylinder 4P-S/RBT/URT-9040-[L] CYLNUC MarkⅡ Cylinder External input ・Error cancel...
  • Page 15 2. SYSTEM CONFIGURATION ●Model List Items Models Descriptions Position data 24bit binary code output ABSOCODER Converter AB934N ① A Toshiba base unit BU902 is required. It should be separately provided by the user. SCMJ ABSOCODER sensor SCJJ Resolution: 1.5625μm (CYLNUC Cylinder) SCHH SCAH CSAH...

  • Page 16: Internal Block Diagram

    2. SYSTEM CONFIGURATION 2-3. Internal Block Diagram Shown below is the internal block diagram of an AB934N module. Figure 2.2 Internal block diagram Shield...
  • Page 17 2. SYSTEM CONFIGURATION - MEMO -...

  • Page 18: Installation Conditions And Precautions

    3. INSTALLATION CONDITIONS and PRECAUTIONS 3. INSTALLATION CONDITIONS and PRECAUTIONS Installation procedures and precautions for AB934N modules and ABSOCODER sensors are described. For details about base unit installation, TC-net I/O bus cable connection and the startup and shutdown procedures, refer to the High-speed Serial I/O System TC-net I/O Instruction Manual (Toshiba Corporation). 3-1.

  • Page 19: Installing The Ab934N Module

    3. INSTALLATION CONDITIONS and PRECAUTIONS 3-2. Installing the AB934N Module This section explains about the installation of an AB934N module to the base unit (BU902). ●Installation (1) Hook the module to the slot on the bottom of the AB934N module in the lower part of the base unit, and rotate it to fit the connector.

  • Page 20: Absocoder Sensor Installation Conditions And Precautions

    (3) When the cable port is exposed, a shielding plate should be installed as shown in the right figure. Contact your NSD representative for details of the installation conditions and precautions for ABSOCODER sensor.

  • Page 21: Replacing The Ab934N Module

    3. INSTALLATION CONDITIONS and PRECAUTIONS 3-4. Replacing the AB934N Module This section provides precautions when replacing an AB934N module. (1) AB934N modules can be replaced while the system is energized or not energized. When replacing them while the system is energized, set the maintenance switch to the up (MAINT) position for the AB934N module.

  • Page 22: External Wiring

    Power Connect the power for external inputs and the sensors. supply *1: A wire color indicates the color of the NSD extension sensor cable. NOTES The power supply (P24, Z24) is intended for both external inputs and the sensors. Be sure to provide 24VDC even if no input signal is used.

  • Page 23: Absocoder Sensor Connection

    4. EXTERNAL WIRING 4-1. ABSOCODER Sensor Connection This section explains about ABSOCODER sensor connection. 4-1-1. Sensor Cable Wiring Precautions ●Sensor cable length The length of the extendable cable has a limitation depending on the models of ABSOCODER sensor and sensor cable. For more details, refer to “8-2. ABSOCODER Sensor Specifications ". ●Wiring precautions (1) The sensor cable should be clamped as shown in the right figure to prevent excessive tension from being applied to the cable...

  • Page 24: Connection Configure Example Of The Sensor Cable

    4. EXTERNAL WIRING 4-1-2. Connection Configure Example of the Sensor Cable Indicates the connection configure example when using the NSD special cable and commercially available cable. ●In the case of using the NSD special cable BU902 Extension sensor cable ABSOCODER sensor...
  • Page 25 ×5P) and connecting with crimping terminals BU902 Please install the crimping AB934N terminals by customers JKPEV-S Cable cross section ABSOCODR sensor *Note 1 NSD special cable Commercially available cable Crimping terminal (R1.25-4) Crimping terminal (R1.25-4) Crimping terminal (R1.25-4) NSD special cable...
  • Page 26 BU902 Please install the connector by customers AB934N JKPEV-S Cable cross section ABSOCODER sensor ommercially available cable NSD special cable NSD special cable NSD special cable JKPEV-S cable ABSOCODER sensor Terminal No. and wire color Connector pin No. Connector pin No.

  • Page 27: Input Signal Wiring

    4. EXTERNAL WIRING 4-2. Input Signal Wiring For input signal wiring, make sure to use a cable sized in the range of 0.75 to 2 mm 4-3. Power Supply Connection Describes about the power supply connection. (1) The power supply should be isolated from the commercial power supply. (2) Choose the power supply capacity which is more than twice the power consumption.

  • Page 28: Function

    5. FUNCTION 5. FUNCTION 5-1. Function List As shown in table 5.1, the AB934N module functions. Table 5.1 Function List Items Descriptions Position data The machine position will be detected using the ABSOCODER sensor. detection function The position data value will be corrected to "0" upon any of the following actions: Origin setting - Turning the external-input “origin setting"...

  • Page 29: Operation Sequence

    5. FUNCTION 5-2. Operation Sequence START -------- Refer to section 5-3-6 Parameter switch setting Set the parameter switches on the back of the AB934N module. -------- Refer to section 5-3-5 Slot address setting Set the slot address setting switch (SLT ADR). -------- Refer to section 3 Device installation (1) Install the AB934N module to the base unit BU902.

  • Page 30: Nomenclature

    5. FUNCTION 5-3. NOMENCLATURE This section explains about the AB934N module component names and functions. 5-3-1. Component Names Front of the panel Back Module state display LED Parameter switch Function switch Maintenance switch Slot address setting switch...

  • Page 31: Module State Display Led

    5. FUNCTION 5-3-2. Module State Display LED Shown below is the list of LEDs provided on the AB934N module panel and the description of what each LED indicates. Refer to 7-1 for the details of the errors indicated. LED name Description : Module is normal or in maintenance (maintenance switch in the upper position) Normal...

  • Page 32: Maintenance Switch (Maint)

    5. FUNCTION 5-3-4. Maintenance Switch (MAINT) This switch is used only when the module is inserted or removed online. Insertion or removal is performed when the switch is set to the up (MAINT) position to separate the module from the system. When insertion is complete, the switch is returned to the down (RUN) position for normal operation.

  • Page 33: Parameter Switch (Back Of The Panel)

    5. FUNCTION 5-3-6. Parameter Switch (back of the panel) This section explains about AB934N module parameter switches Parameter Name Switch setting Description : Disabled When this switch is set to the ON position, error will not occur even if Axis 1 disabled : Enabled Axis 1 sensor is not connected.

  • Page 34: Input And Output Data

    5. FUNCTION 5-4. Input and Output Data 5-4-1. I/O Word List Each of the input data and output data into the AB934N module are separately assigned to one of the I/O word numbers listed below. Input data Output data I/O word No. I/O word No.
  • Page 35 5. FUNCTION ●Status The "Status" bits store error information, Refer to 7-1 for the details of the errors indicated. Signal Name Indication Description (Status Name) 1: Unset The origin is unset. Origin unset 0: Set Reserved 0: Fixed 1: Origin setting possible Origin setting can be performed.

  • Page 36: Output Data

    5. FUNCTION 5-4-3. Output Data Axis 1 data I/O word No. I/O word No. OS1 RES Axis 1 command Axis 2 data I/O word No. I/O word No. OS2 RES Axis 2 command ●Command Commands can be used for origin setting or error cancelling. Signal Name Indication Description...

  • Page 37: Origin Setting Operation

    5. FUNCTION 5-5. Origin Setting Operation Completing the origin setting operation will change the position data value to "0". In the following situations, the origin will be unset and therefore origin setting needs to be performed. - Immediately after power-on - When the maintenance switch has been switched from "MAINT"...

  • Page 38: Error Cancelling Operation

    5. FUNCTION 5-6. Error Cancelling Operation Errors other than "Origin Unset" can be cancelled by performing one of the following actions after resolving the error cause: - Pressing the function switch "CLR" on the module panel. - Turning the external-input error cancelling signal ON. - Setting the RES command output to "1".

  • Page 39: Inspections

    6. INSPECTIONS 6. INSPECTIONS The inspection should be conducted once every 6 months to a year. Any inspected items which do not satisfy the criteria shown below should be repaired. Inspection Inspection description Criteria Remark item Power Measure the voltage fluctuation of the power supply to Within 20.4 to 26.4VDC Tester supply...

  • Page 40: Troubleshooting

    7. TROUBLESHOOTING 7. TROUBLESHOOTING Error causes and countermeasures are described below. 7-1. Error List When an error has occurred related to the AB934N module or the ABSOCODER sensor, the module state display LED “ER1” or “ER2” will come on (or blink) and the input data states will change. Refer to the following list to resolve the error.
  • Page 41 7. TROUBLESHOOTING NOTES The origin will become unset after an error is cancelled (BOS = 1). Be sure to perform origin setting after cancelling an error. About error cancelling and origin setting methods, refer to 5-6, "Error Cancelling Operation", and 5-5, "Origin Setting Operation".

  • Page 42: Absocoder Sensor Check List

    7. TROUBLESHOOTING 7-2. ABSOCODER Sensor Check List 7-2-1. VLS-12.8 ●Applicable ABSOCODER sensor models VLS-12.8MHP28 VLS-12.8PRA28 (Consult our sales representative.) ●Connection configuration ABSOCODER sensor Module Extension sensor cable BU902 Commercially available cable Input terminal block JKPEV-S (1.25mm ×5P) ●Connector appearance and pin position View ①...
  • Page 43 Extension sensor cable resistance value The resistance value of the NSD special cable is 0.2Ω/m (loop resistance). The resistance value of the JKPEV-S cable is 0.034Ω/m (loop resistance). Consider resistance variations due to temperature, which, relative to the standard temperature (25 increases 0.4% when the temperature rises 1...

  • Page 44: Irs-51.2P（Cylnuc Markⅱ

    7. TROUBLESHOOTING 7-2-2. IRS-51.2P（CYLNUC MarkⅡ） ●Applicable ABSOCODER sensor models IRS-51.2P18 MⅡM, MⅡJ, MⅡMJ, MⅡJJ IRS-51.2P30 ●Connection configuration ABSOCODER sensor Module Extension sensor cable BU902 Commercially available cable Input terminal block JKPEV-S (1.25mm ×5P) ●Connector appearance and pin position View ① View ②...
  • Page 45 Extension sensor cable resistance value The resistance value of the NSD special cable is 0.2Ω/m (loop resistance). The resistance value of the JKPEV-S cable is 0.034Ω/m (loop resistance). Consider resistance variations due to temperature, which, relative to the standard temperature (25 increases 0.4% when the temperature rises 1...

  • Page 46: Cylnuc

    7. TROUBLESHOOTING 7-2-3. CYLNUC ●Applicable ABSOCODER sensor models SCM, SCJ, SCMJ, SCJJ, SCHH, SCAH, CSAH ●Connection configuration ABSOCODER sensor Module Extension sensor cable BU902 Commercially available cable Input terminal block JKPEV-S (1.25mm ×5P) ●Connector appearance and pin position View ② View ②...
  • Page 47 7. TROUBLESHOOTING ◆SCAH, SCHH Check position Standard coil resistance [Ω] A, A1, A2, A3, B1 Cylinder bore size, shown in ( ) are rod diameter Signal Terminal Wire names Wiring Wiring Wiring φ40 φ50 φ63 φ80 φ100 Pin No. color color color (φ18)
  • Page 48 Extension sensor cable resistance value The resistance value of the NSD special cable is 0.2Ω/m (loop resistance). The resistance value of the JKPEV-S cable is 0.034Ω/m (loop resistance). Consider resistance variations due to temperature, which, relative to the standard temperature (25 increases 0.4% when the temperature rises 1...
  • Page 49 7. TROUBLESHOOTING - MEMO -...

  • Page 50: Specifications

    8. SPECIFICATIONS 8. SPECIFICATIONS 8-1. AB934N Module Specifications 8-1-1. General Specification Items Specifications Power supply voltage 24VDC (＋10%, －15%) For TC-net I/O (supplied to SA911) Power consumption 0.1A or less (at 24VDC) For sensors and Power supply voltage 24VDC (＋10%, －15%) external inputs Power consumption 0.2A or less (at 24VDC)

  • Page 51: Performance Specification

    8. SPECIFICATIONS 8-1-2. Performance Specification Items Specifications Number of detection axes Position detection format Semi-absolute format Photo-coupler isolation Isolation format (between TC-net I/O circuit and sensor circuit) CYLNUC Cylinder, VLS-12.8 : 1.5625μm Resolution CYLNUC MarkⅡ Cylinder, IRS-51.2P : 6.25μm Standard pitch x number of pitches Total number of divisions [8192 divisions (2 ) x 2048 pitches = 16777216(2...

  • Page 52: External Input Specification

    8. SPECIFICATIONS 8-1-3. External Input Specification Items Specifications Number of input points 3 points (Origin setting: 2, Error cancel: 1) Isolation format Photo-coupler isolation Rated input voltage 24VDC (＋10%, －15%) Input voltage range 20.4 to 26.4VDC *1 Rated input current 5.2 mA ON voltage 16.8VDC or more...

  • Page 53: Absocoder Sensor Specifications

    4P-S 200ｍ Max. sensor Robotic cable 4P-RBT 100ｍ cable length JKPEV-S cable JKPEV-S (1.25mm ×5P) 200m For more details, contact your NSD representative. (2) Rod sensor (VLS-12.8PRA28) Items Specifications Model VLS-12.8PRA28-[ ]FA[ ] VLS-12.8PRA28-[ ]LA[ ] Max. detection stroke 1200 mm Absolute detection range 12.8 mm...
  • Page 54 8. SPECIFICATIONS (3) Rod sensor (VLS-12.8MHP28) Items Specifications Model VLS-12.8MHP28-[ ]FA[ ] VLS-12.8MHP28-[ ]LA[ ] Max. detection stroke 1200 mm Absolute detection range 12.8 mm Resolution 1.5625μm(12.8mm/8192) Linearity error Max. 0.15 + [stroke (mm)]/5000 mm Head 6.5 + 0.1 x [ cable length(m)] kg Mass 1 + 0.0048 x [ stroke (mm)] kg Sliding resistance...
  • Page 55 8. SPECIFICATIONS (4) In-rod sensor (IRS-51.2P) Items Specifications Model IRS-51.2P18 IRS-51.2P30 Detection stroke 25.6 to 1024 mm 25.6 to 2048 mm Resolution 6.25μm(51.2mm/8192) Linearity error Max. 0.15 + [stroke (mm)] /5000 mm 1.1 + 0.0012 x [stroke (mm)] + 0.1 x [cable 3.0 + 0.0033 x [stroke (mm)] + 0.1 x [cable Mass length (m)] kg...

  • Page 56: Sensor Cable Specification

    8-core, 2 pairs without shield + 2 pairs with shield Color of sheath Gray Black Heat treatment and Extensible for long Advantage Superior flexibility; ideal for moving place flexible; ideal for distances moving place REMARKS Contact your NSD representative when the extension cable combines different types of cables.
  • Page 57 8. SPECIFICATIONS - MEMO -...

  • Page 58: Outer Dimensions

    9. OUTER DIMENSIONS 9. OUTER DIMENSIONS 9-1. AB934N Module Units: mm...

  • Page 59: Absocoder Sensor

    9. OUTER DIMENSIONS 9-2. ABSOCODER Sensor (1) CYLNUC Cylinder / CYLNUC MarkⅡ Cylinder Contact your NSD representative for details of the dimension. (2) Rod sensor (VLS-12.8PRA28) ◆VLS-12.8PRA28-[ ]FA[ ] (Flange-mount type) Units: mm ◆VLS-12.8PRA28-[ ]LA[ ] (Base-mount type)
  • Page 60 9. OUTER DIMENSIONS (3) Rod sensor (VLS-12.8MHP28) ◆VLS-12.8MHP28-[ ]FA[ ] (Flange-mount type) Units: mm ◆VLS-12.8MHP28-[ ]LA[ ] (Base-mount type)
  • Page 61 9. OUTER DIMENSIONS (4) In-rod sensor (IRS-51.2P) ◆IRS-51.2P18[ ] Units: mm Size table IRS-51.2P18A IRS-51.2P18B IRS-51.2P18C IRS-51.2P18D Stroke Scale K=33mm K=58.6mm K=84.2mm K=109.8mm ST mm S mm H mm L mm H mm L mm H mm L mm H mm L mm 25.6 to 1024.0 ST+154.1...

  • Page 62: Extension Sensor Cable

    9. OUTER DIMENSIONS 9-3. Extension Sensor Cable (1) 4P-S-9044-[L] / 4P-RBT-9044-[L] / 4P-URT-9044-[L] Units: mm NOTE: [L] is given in terms of meter. (2) 4P-S-4344-[L] / 4P-RBT-4344-[L] / 4P-URT-4344-[L] / 4P-HRT-4344-[L] NOTE: [L] is given in terms of meter. (3) 4P-S-9040-[L] / 4P-RBT-9040-[L] / 4P-URT-9040-[L] NOTE: [L] is given in terms of meter.
  • Page 63 9. OUTER DIMENSIONS (4) 4P-S-4340-[L] / 4P-RBT-4340-[L] / 4P-URT-4340-[L] / 4P-HRT-4340-[L] Units: mm NOTE: [L] is given in terms of meter. (5) 4P-S-9055-[L] / 4P-RBT-9055-[L] / 4P-URT-9055-[L] NOTE: [L] is given in terms of meter. (6) 4P-S-9090-[L] / 4P-RBT-9090-[L] / 4P-URT-9090-[L] NOTE: [L] is given in terms of meter.

  • Page 64: Appendix 1. Ce Marking

    APPENDIX APPENDIX 1. CE MARKING The AB934N module conforms to EMC directive. APPENDIX 1-1. EMC Directives It is necessary to do CE marking in the customer’s responsibility in the state of a final product. The customer should confirm EMC compliance of the machine and the entire device because EMC changes configuration of the control cabinet, wiring, and layout.

  • Page 65: Appendix 1-4. Measures For Emc Compliance And Restriction

    APPENDIX APPENDIX 1-4. Measures for EMC Compliance and Restriction In this section, restrictions are described for conforming the AB934N module to the EMC Directive. For conforming the Toshiba Corporation Unified Controller nv Series to the EMC Directive, contact Toshiba Corporation. ①Install the zippertubing around the cable when the sensor cable is used in 30m or more.
  • Page 66 Manufacturer NSD Corporation 3-31-28, OSU, NAKA-KU, NAGOYA, JAPAN 460-8302 Distributor NSD Trading Corporation 3-31-23, OSU, NAKA-KU, NAGOYA, JAPAN 460-8302 Phone: +81-52-261-2352 Facsimile: +81-52-252-0522 URL: www.nsdcorp.com E-mail: foreign@nsdcorp.com Copyright©2020 NSD Corporation All rights reserved.

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