IAI MSEP-LC First Step Manual

Position Controller with I/O Control Function
MSEP-LC
First Step Guide
Second Edition
Thank you for purchasing our product.
Make sure to read the Safety Guide and detailed Instruction Manual as well as this First Step Guide to ensure correct use.
This Instruction Manual is original.
Warning : Read the instruction manual carefully and follow the instruction manual when handling this
equipment.
Please downloaded the user's manual from our website.
You can download it free of change. User registration is required for first time users.
URL:www.iai-robot.co.jp/data_dl/CAD_MANUAL/
Keep a printout of the introduction manual near the equipment in which this product is installed so
that it can be checked at all times, or display it on your computer, tablet terminal, etc. so that you can
check it immediately.
If you need a bound copy of the instruction manual, order it from the nearest sales office listed in the
First Step Guide or at the end of the instruction manual. It will be provided for a fee.
• 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.
When using this product for the first time, refer to the processes shown below and make sure not to have
any missing in checking or mistake in wiring.
Step1 Confirm all the necessary things are prepared
(Contact us or our sales agency in case of any missing)
Refer to Section "Product Check" in this manual for details.
☆Actuator and Connection Cable
☆MSEP-LC
(The cable differs depending on the actuator type
[Refer to Step 3])
☆CD-ROM (Enclosed in RCM-101-□□) ☆Ladder Edit Program (LC-LDS-01)
(The following software is included) Download it in IAI homepage
1) RC PC Software (www.iai-robot.co.jp)
2) Gateway parameter setting tool
Step2 Installation
• External Dimensions
Controller Main Body
123 7.5 95
10.5
4
10.5
Absolute Battery Box : MSEP-ABU (Option)
123 98
10.5
4
2B
1. Noise Elimination Grounding (Frame Ground)
Earth Terminal: Class D grounding (Formerly Class-III grounding :
Grounding resistance at 100Ω or less)
2. Cooling Factors and Installation
Keep the ambient temperature of the controller at 40°C or less.
Especially, keep the temperature around the battery at room temperature. (Approximately 20°C is the
recommended temperature.)
For the attachment of the unit, use the fixture holes on
the four corners or attach on the DIN rail. (Attachment
should be the same for the absolute battery box.)
111
Step3 Wiring
Refer to the contents below or Chapter 2 "Wiring" in MSEP Instruction Manual
Example for Basic Wiring
5 5
111
Absolute Battery
Box MSEP-ABU
(Option)
Control/Drive Power Supply
(24V DC
...Please prepare separately)
5 5
Other
Connect the ground line to the FG Controller
equipment
terminal block on the controller unit.
Put a tool such as a screwdriver into
the square slot and connect the line.
Other
Controller
equipment
Copper wire: Connect a ground wire
with a diameter of 1.6 mm (2mm 2 : AWG
14) or larger.
Do not share the ground wire with or connect
to other equipment. Ground each controller.
Ceiling
20mm
20mm 20mm
20mm
or more or more
or more or more
20mm or more
Air outlet Air outlet Air outlet
(Heat (Heat (Heat
Radiation) Radiation) Radiation)
50mm
or more
Ensure
enough space
for wiring. 50mm or more
Air inlet Air inlet Air inlet
Rear View
DIN rail
φ5 fixture hole
Lever for attachment to DIN rail
Touch Panel Teaching
such as TB-01
(to be purchased
separately)
PC Software
Ladder Edit
Program
Emergency Stop
Circuit
Actuator
Wiring with Host Device
(PIO and Field Network
...Please prepare separately)
Connection of Actuator • •
Connect the actuator following the contents described on the model code card.
1) Connection to RCP2 Series
MSEP-LC
AX0 to 5 Connection Cable
Actuator
Connector
Other
equipment
2) Connection to RCP3, RCP4, RCP5, RCA2 and RCL Series
MSEP-LC
AX0 to 5 Connection Cable
Actuator
Connector
3) Connection to RCP2 Small Rotary Series
MSEP-LC
AX0 to 5 Connection Cable
Actuator
Connector
4) Connection to RCA Series
MSEP-LC
AX0 to 5 Connection Cable
Actuator
Connector
Note 1 Connection Cable Model Codes
Model
RCP2 (Other than Small Rotary) CB-PSEP-MPA□□□
Small Rotary Type
RCP2-RTBL, RTCL, RTBSL, CB-RPSEP-MPA□□□
RTCSL, RTBBL, RTCBL
RCA CB-ASEP-MPA□□□
RCP3, RCA2, RCL CB-APSEP-MPA□□□
CB-CA-MPA□□□-RB
RCP4 (Other than GR* Type),
RCD (Applicable Controller Symbol : D3)
CB-CA-MPA□□□
CB-CAN-MPA□□□-RB
RCP4 (GR* Type), RCP5,
RCD (Applicable Controller Symbol : D5)
CB-CAN-MPA□□□
Note 2 The cable maximum length for RCD is 10m for both the standard cable and the robot cable.
Example for Power Source Emergency Stop Circuit
24V
Emergency Stop
Emergency Stop
Reset Switch Switch
S1
CR1
S2
(Note3)
CR1
EMG-
φ5 fixture hole
(Note2) MPISLOT0
CR2
MPOSLOT0
(Note2)
MPISLOT1
CR2
MPOSLOT1
(Note2)
MPISLOT2
CR2
MPOSLOT2
MP+24V
CP+24V
CR1
Note 1 When the teaching pendant is not connected, S1 and S2 become short-circuited inside the controller.
Note 2 When the motor driving source is cut off externally, connect a contact such as a contactor to the wires between
MPISLOT* and MPOSLOT*.
Note 3 The rating for the emergency stop signal (EMG-) to turn ON/OFF at contact CR1 is 24V DC and 10mA.
Note 4 For CR1, select the one with coil current 0.1A or less.
Note 5 When supplying the power by turning on/off the 24V DC, keep the 0V being connected and have the +24V
supplied/disconnected (cut one side only).
Note 6 By having a disconnection between EMG+SLOT* and EMGINSLOT+, it is possible to have only the disconnected
slot number in emergency stop condition. (*:slot number)
Wiring of I/O (When using Input and output of PIO)
Refer to "Wiring of I/O" in this manual or Chapter 2 "Wiring" in MSEP Instruction Manual.
Wiring of Field Network (When using Field Network)
Refer to the section for wiring of each field network or Chapter 2 "Wiring" in MSEP Instruction Manual.
(Note 1)
(Note 1)
(Note 1)
(Note 1)
Cable□□□: Cable Length Remarks
Robot cable from 0.5 to 20m
Robot cable from 0.5 to 20m
Robot cable from 0.5 to 20m
Robot cable from 0.5 to 20m
Robot cable from 0.5 to 20m (Note 2)
Standard cable from 0.5 to 20m (Note 2)
Robot cable from 0.5 to 20m (Note 2)
(Note 2)
Standard cable from 0.5 to 20m
0V
Emergency Stop Switch
on Teaching Pendant
EMG A EMG B
MSEP
System I/O Connector SIO Connector
5 8
3
(Note1)
2
4
Emergency Stop Control Circuit
External Drive Cutoff •
Emergency Stop Input Connector
(Note6)
4
7 EMG+SLOT0
Motor Power Supply (Slot 0)
(Axis No.0 and 1)
3 8 EMGINSLOT0
(Note6)
5 EMG+SLOT1
2
Motor Power Supply (Slot 1)
6 EMGINSLOT1
1 (Axis No.2 and 3)
(Note6)
15 EMG+SLOT2
12
Motor Power Supply (Slot 2) 16 EMGINSLOT2
11 (Axis No.4 and 5)
13
10
14
9
Power Line Input Connector
4 1 0V
2 Control 3 0V
Power
(Note4)
CR1
(Note2)
CR2