Page 1 MSEP Controller Instruction Manual Fourth Edition...
Page 3 This Instruction Manual is original. The product cannot be operated in any way unless expressly specified in this Instruction Manual. IAI shall assume no responsibility for the outcome of any operation not specified herein. Information contained in this Instruction Manual is subject to change without notice for the purpose of product improvement.
Page 5: Table Of Contents
Table of Contents Safety Guide ·····················································································································1 Precautions in Operation ··································································································8 International Standards Compliances ············································································· 11 Name for Each Parts and Their Functions······································································12 Actuator Axes··················································································································16 Starting Procedures ········································································································18 Chapter 1 Specifications Check ···················································································19 Product Check ············································································································ 19 1.1.1 Parts ···················································································································· 19 1.1.2 Teaching Tool·······································································································...
Page 6 Chapter 3 Operation·····································································································69 Basic Operation ·········································································································· 69 3.1.1 Basic Operation Methods ···················································································· 69 3.1.2 Parameter Settings ······························································································ 75 Initial Setting ··············································································································· 76 Setting of Position Data ······························································································ 85 Fieldbus Type Address Map························································································ 90 3.4.1 PLC Address Construction by each Operation Mode·········································· 90 3.4.2 Example for each Fieldbus Address Map ····························································...
Page 7 Chapter 7 Appendix····································································································237 Fan Replacement······································································································ 237 List of Specifications of Connectable Actuators························································ 238 7.2.1 Specifications for Servo Motor Type Actuator···················································· 238 7.2.2 Specifications for Pulse Motor Type Actuator ···················································· 250 Chapter 8 Warranty ····································································································283 Warranty Period ········································································································ 283 Scope of the Warranty ······························································································ 283 Honoring the Warranty······························································································...
Page 9: Safety Guide
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. Operation Description Description...
Page 10 Operation Description Description Transportation 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.
Page 11 Operation Description Description Installation (2) Cable Wiring and Start 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.
Page 12 Operation Description Description Installation (4) Safety Measures and Start 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.
Page 13 Operation Description Description Trial When the work is carried out with 2 or more persons, make it clear who Operation 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.
Page 14 Operation Description Description Maintenance 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 Inspection with each other to ensure the safety of the workers. Perform the work out of the safety protection fence, if possible.
Page 15 Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the Instruction Manual for each model. Level Degree of Danger and Damage Symbol This indicates an imminently hazardous situation which, if the Danger Danger product is not handled correctly, will result in death or serious...
Page 16: Precautions In Operation
Precautions in Operation 1. Make sure to follow the usage condition, environment and specification range of the product. Not doing so may cause a drop of performance or malfunction of the product. 2. Use an appropriate teaching tool. Use the PC Software for RoboCylinder or an appropriate teaching pendant to interface with this controller.
Page 17 5. Actuator would not operate without servo-on and pause signals. (1) Servo ON Signal (SON) The servo-on signal (SON) is available to select whether to enable or disable in the initial setting process “Servo Control”. If it is set to “Enable”, the actuator would not operate unless turning this signal ON. If parameter No.21 is set to “Not to use”, SON is made disable.
Page 18 9. According to Sequence Program Creation Please note the following things when creating a sequence program. When data transfer is necessary between two devices that have a different scan time from each other, duration more than the longer scan time is required to certainly read the signal. (It is recommended to have a timer setting of at least twice as long as the scan time in order for the PLC to adequately perform the reading process.) Operation Image...
Page 19: International Standards Compliances
International Standards Compliances MSEP with the following overseas standard. Refer to Overseas Standard Compliance Manual (ME0287) for more detailed information. RoHS Directive CE Marking To be scheduled To be scheduled...
Page 20: Name For Each Parts And Their Functions
Name for Each Parts and Their Functions 8) Fan Unit 7) Status LEDs for Driver 9) Operation Mode Setting Switch 6) Absolute Battery Connector 10) SIO Connector 5) External Brake Input 11) System I/O Connector Connector 4) Drive Cutoff/Emergency Stop Input Connector 12) Status LED 3) Model Code Record Card 13) Fieldbus...
Page 21 FG Terminal Block This is the terminal block for frame grounding. Since this controller is made of plastic, it is necessary to ground from this terminal block. Ground Type should be Class D (formally Class 3 grounding = ground resistance 100 or less). Power Line Input Connector This is the connector to supply 24V DC power supply to the controller.
Page 22 It is connected in a series with the operation mode setting switch (AUTO/MANU) on the front panel. The controller can be in the following modes by the mode selection on each switch and teaching tool. Condition MSEP status Operation Mode Note 1 Switch on Front Panel...
Page 23 12) Status LED They are the LED lamps to show the status of the controller and PIO or Fieldbus. The layout and the content of LED display differ depending on PIO or each Fieldbus. Refer to the operation of each mode for the details. [Refer to 3.10 Status LEDs.] 13) Fieldbus/PIO Connector A connector for Fieldbus connection is mounted for the Fieldbus.
Page 24: Actuator Axes
Actuator Axes Refer to the pictures below for the actuator axes that can be controlled by MSEP. 0 defines the home position, and items in ( ) are for the home-reversed type (option). Caution: There are some actuators that are not applicable to the origin reversed type.
Page 25 (5) Gripper Type (3-Finger Gripper) (Note) Finger Attachment Note Finger attachment is not included in the actuator package. Please prepare separately. (6) Rotary Type (330 Rotation Type) (360 Rotation Type) 330° For 360 Rotation Type with the origin reversed type, the directions of + and – are the other way around.
Page 26: Starting Procedures
Initial setting and operation mode select [Refer to Section 3.2] Conduct the initial setting using the PC software, and make the operation mode select and other necessary selections. Register the operation mode selected in the initial setting to MSEP Gateway using Gateway Parameter Setting Tool. Servo ON Turn the servo ON for all the connected axes by operating a teaching tool such as PC.
Page 27: Chapter 1 Specifications Check
1.1 Product Check 1.1.1 Parts The standard configuration of this product is comprised of the following parts. If you find any faulty or missing parts, contact your local IAI distributor. Part Name Model Remarks Refer to “How to read the model plate”, Controller Main Body “How to read the model”.
Page 28: Instruction Manuals Related To This Product, Which Are Contained In The Instruction Manual (Dvd)
1.1.3 Instruction manuals related to this product, which are contained in the instruction manual (DVD). Name Manual No. MSEP Controller Instruction Manual ME0299 PC Software ME0155 RCM-101-MW/RCM-101-USB Instruction Manual Touch Panel Teaching CON-PTA/PDA/PGA Instruction Manual ME0295 X-SEL Controller RC Gateway Function Instruction Manual ME0188 1.1.4...
Page 29: How To Read The Model
Axis No.1 : Not connected Axis No.3 : Inactive Axis MSEP – C – 5 – 20PI–N–42PI–PI–10I–20ILA – DV – 2 – 0 – ABB – ** <Identification for IAI use only> * There is no identification in some cases <Type>...
Page 30: List Of Basic Specifications
1.2 List of Basic Specifications Specification Item Driver for Servo Motor Driver for Pulse Motor Number of Controlled Axes MAX. 8 axis Control/Motor Power Supply Voltage 24V DC ±10% Brake Power Supply 0.15A × Number of axes Control Power Current Consumption 0.8A Control Power In-Rush Current MAX.
Page 31: Calculation For Power Capacity
24V DC power supply unit or a short-circuit of the power supply. • 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...
Page 32: Specifications For Each Fieldbus
1.4 Specifications for each Fieldbus 1.4.1 Specifications of DeviceNet Interface Item Specification 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 Channels Refer to 3.4.1 PLC Address Construction by each Operation Mode Number of Occupied Nodes 1 Node (Note 2)
Page 33: Specifications Of Profibus-Dp Interface
1.4.3 Specifications of PROFIBUS-DP Interface Item Specification Communication Protocol PROFIBUS-DP Baud Rate Automatically follows the master Communication System Hybrid System (Master-Slave System or Token Passing System) Number of occupied stations Refer to 3.4.1 PLC Address Construction by each Operation Mode Communication Cable Length MAX.
Page 34: Specifications Of Ethernet/Ip Interface
1.4.6 Specifications of EtherNet/IP Interface Item Specification Communication Protocol IEC61158 (IEEE802.3) Baud Rate 10BASE-T/100BASE-T (Autonegotiation setting is recommended) Follows EtherNet/IP specifications (Distance between hub and each node: 100m Communication Cable Length max.) Number of Connection Master Unit Available Node Addresses for Setting 0.0.0.0 to 255.255.255.255 Category 5e or more (Note 1) Communications Cable...
Page 35: Pio Input And Output Interface
50mA 1 circuit Electric Current Specification ON/OFF ON voltage MIN. 18V DC Leak Current MAX 2mA/1 point voltage OFF voltage MAX. 6V DC External circuit insulation with Photocoupler MSEP MSEP External Power Source 24V DC 5.6K Output Load Terminal Input...
Page 36: External Dimensions
1.5 External Dimensions 1.5.1 Controller Main Unit Front View Rear View 10.5 Side View 10.5...
Page 37: Absolute Battery Box
1.5.2 Absolute Battery Box Front View Rear View 10.5 Side View...
Page 38: Absolute Battery Box
For Simple Absolute type, an absolute battery box capable for the batteries for 8 axes is used. The battery is to be attached only to the axes for Simple Absolute Type. The connection to MSEP controller is to be made with the dedicated cable (CB-MSEP-AB005).
Page 39: Regenerative Resistor Unit
Regenerative Resistor Unit This unit is necessary to be connected in the case that the regenerative energy cannot be consumed by the regenerative resistor built into the MSEP controller. It is necessary to connect the unit in the following case:...
Page 40: Installation And Storage Environment
1.7 Installation and Storage Environment This product is capable for use in the environment of pollution degree 2 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.
Page 41: Noise Elimination And Mounting Method
1.8 Noise Elimination and Mounting Method (1) Noise Elimination Grounding (Frame Ground) Other Controller equipment Controller Connect the ground line to the FG terminal block on the controller unit. Other Other Controller Copper wire: Connect a ground equipment equipment wire with a diameter of 1.6 mm (2mm : AWG14) or larger.
Page 42 (4) Cooling Factors and Installation Design and Build the system considering the size of the controller box, location of the controller and cooling factors to keep the ambient temperature around the controller below 40 C. Pay a special attention to the battery unit since the performance of it would drop both in the low and high temperatures.
Page 43: Chapter 2 Wiring
2.1 Wiring Diagram (Connection of construction devices) 2.1.1 For PIO Control Teaching Pendant PC software Touch Panel Teaching (to be purchased separately) (to be purchased separately) Absolute Battery Box CB-MSEP Emergency Stop -AB005 Circuit Power Supply for I/O (24V DC …Please prepare Control/Drive Power Flat Cable...
Page 44: When Controlled By Fieldbus
2.1.2 When Controlled by Fieldbus PC software Teaching Pendant (to be purchased separately) Touch Panel Teaching (to be purchased separately) Absolute Battery Box CB-MSEP Emergency Stop -AB005 Circuit Communication power supply (if necessary) (24V DC Control/Drive Power …Please prepare Supply...
Page 45: For Rc Gateway Control
This product is capable for the connection to RC Gateway Function (Fieldbus type) equipped in XSEL controller to make an operation in harmony with XSEL controller. 24V DC Power Supply XSEL-P/Q When RC controller is connected additionally PCON-DV Junction Unit for DeviceNet MSEP ACON-DV...
Page 46: Operation Pattern Selected
2.2.1 Outline for Operation Patterns PIO type MSEP units provide 6 varying patterns of PIO operation. Fieldbus type MSEP units provide 6 varying modes of fieldbus operation. Select an appropriate pattern or fieldbus mode based upon your application requirements. See Section 3 Operation for the details of the operation patterns.
Page 47: Pio Pattern Selection And Pio Signal
2.2.2 PIO Pattern Selection and PIO Signal 1) PIO Patterns and Signal Assignment The signal assignment of I/O flat cable by the PIO pattern is as shown below. Follow the following table to connect the external equipment (such as PLC). Operation Pattern (PIO pattern) Category 2-Input,...
Page 48 Operation Pattern Category 2-Input, 3-Input, Continuous Functions Point-to-Point Movement speed Target position Fieldbus 3-Point 3-Point reciprocating Movement setting change connection Movement Movement operation Solenoid Single Double Single Double Single Double – Double – system – ASTR (Note 1) (Note 1) Input *STP *STP...
Page 49 2) List of PIO Signals The table below lists the functions of PIO signals. Refer to the section shown in Relevant Sections for the details of the control of each signal. Signal Relevant Category Signal Name Function Description Abbreviation Sections •...
Page 50: Circuit Diagram
Emergency Stop Switch on Teaching Pendant EMG A EMG B Emergency Stop Emergency Stop MSEP Reset Switch Switch System I/O Connector SIO Connector (Note1) EMG- Emergency Stop Control Circuit External Drive Cutoff •...
Page 51 Emergency Stop Switch on Teaching Pendant EMG A EMG B Emergency Stop Emergency Stop MSEP Reset Switch Switch SIO Connector System I/O Connector (Note1) EMG- Emergency Stop Control Circuit External Drive Cutoff • Emergency Stop Input Connector (Note 2) MPISLOT0...
Page 52 (1st axis) (3rd axis) (5th axis) (7th axis) (2nd axis) (4th axis) (6th axis) (8th axis) 1) Connection to RCP2 Series MSEP Connection AX0 to 7 (Note 1) Actuator Cable Connector 2) Connection to RCP3, RCP4, RCA2 and RCL Series MSEP...
Page 53 4) Connection to RCA Series MSEP Connection AX0 to 7 (Note 1) Actuator Cable Connector Note 1 Applicable Connection Cable Model Codes : Cable length Example) 030 = 3m Model Cable Remarks RCP2 CB-PSEP-MPA Robot cable from 0.5 to 20m...
Page 54 It is not necessary if an external release is not required. It is possible to release the brake as long as the control power is supplied to MSEP even without the main power being supplied to the controller.
Page 55 OFF. An output signal of the type is normally ON in the power-on status and turned OFF at signal output. Use the attached cable for the I/O connection. Model : CB-MSEP-PIO indicates the cable length L. Example. 020 = 2m) YW-8 (34B)
Page 56 OFF. An output signal of the type is normally ON in the power-on status and turned OFF at signal output. Use the attached cable for the I/O connection. Model : CB-MSEP-PIO indicates the cable length L. Example. 020 = 2m) YW-8 (34B)
Page 57 OFF. An output signal of the type is normally ON in the power-on status and turned OFF at signal output. Use the attached cable for the I/O connection. Model : CB-MSEP-PIO indicates the cable length L. Example. 020 = 2m) YW-8 (34B)
Page 58 OFF. An output signal of the type is normally ON in the power-on status and turned OFF at signal output. Use the attached cable for the I/O connection. Model : CB-MSEP-PIO indicates the cable length L. Example. 020 = 2m) YW-8 (34B)
Page 59 OFF. An output signal of the type is normally ON in the power-on status and turned OFF at signal output. Use the attached cable for the I/O connection. Model : CB-MSEP-PIO indicates the cable length L. Example. 020 = 2m) YW-8 (34B)
Page 60 OFF. An output signal of the type is normally ON in the power-on status and turned OFF at signal output. Use the attached cable for the I/O connection. Model : CB-MSEP-PIO indicates the cable length L. Example. 020 = 2m) YW-8 (34B)
Page 61 Follow the instruction manual of the master unit for each Fieldbus and the constructing PLC for the details of how to connect the cables. 1) DeviceNet Type Terminal Resistance is required to be mounted on the terminal. Terminal Resistance Terminal Resistance Master Unit Slave Devices MSEP-DeviceNet Type 121Ω 121Ω CAN_H CAN_H CAN_H Drain Drain Drain...
Page 62 Supply power separately to the slave devices that requires the communication power supply. It is not necessary to supply communication power to MSEP Unit, however, there is no problem even if communication power is supplied. 5) EtherNet/IP Type Switching Hub...
Page 63 Connect shield to Connect shield to connector shell connector shell 7) EtherNetCAT Type MSEP Unit Slave Devices Master Unit EtherCAT Type EtherNet Straight Cable Category 5e or more Double shielded cable braided with aluminum...
Page 64: Wiring Method
2.4 Wiring Method 2.4.1 Connection to Power Input Connector The wire of the power supply is to be connected to the enclosed connector (plug). Strip the sheath of the applicable wires for 10mm and insert them to the connector. Push a protrusion beside the cable inlet with a small slotted screwdriver to open the inlet.
Page 65: Wiring Layout Of System I/O Connector
2.4.2 Wiring Layout of System I/O Connector The connector consists of the emergency stop input for the whole controller, changeover of the operation modes (AUTO/MANU) externally and the external regenerative resistor connection terminals. Insert the wires to the enclosed connector (plug). Strip the sheath of the applicable wires for 10mm and insert them to the connector.
Page 66: Connection Of Drive Cutoff/Emergency Stop Input Connector
2.4.3 Connection of Drive Cutoff/Emergency Stop Input Connector Insert wires if an emergency stop input is desired individually for each slot or drive cutoff for each slot. Unless it is desired, the controller can be used in the condition that the enclosed short-circuit line is connected.
Page 67: Connecting With Actuator
Side controller side Brake Release Positive Side Brake Release Negative Side Not for use Not for use Cable dedicated for IAI Encoder A-phase products differential + input Encoder A-phase differential - input Encoder B-phase differential + input Encoder B-phase...
Page 68: Connection Of Absolute Battery Connector
BATTMP AXIS Axis No.4 Absolute Battery No.4 Temperature Sensor BATTMP AXIS Axis No.5 Absolute Battery No.5 Temperature Sensor Cable dedicated for IAI BATTMP AXIS Axis No.6 Absolute Battery products No.6 Temperature Sensor BATTMP AXIS Axis No.7 Absolute Battery No.7 Temperature Sensor BAT AXIS No.0...
Page 69: Connection Of External Brake Connector
2.4.6 Connection of External Brake Connector Connection needs to be established when an external brake release is required for the actuator. The brake can be released if the power (24V DC 150mA/axis) is supplied to this connector even without the main power supplied to the controller. Connector Name System I/O Connector Cable Side...
Page 70: Connection Of Sio Connector
Description Applicable cable diameter Teaching Tool Signal + Teaching Tool Signal - Power supply for teaching tool Enable signal input Cable dedicated for IAI EMGA Emergency Stop Signal A products Power supply for teaching tool EMGB Emergency Stop Signal B...
Page 71: Connection Of Pio (For Pio Type)
Also, the end of the cable harness to be connected to the host controller (PLC, etc.) is just cut and no treatment is conducted so the wiring layout can be performed freely. Model: CB-MSEP-PIO indicates the cable length L. Example. 020 = 2m)
Page 72: Wiring Layout Of Fieldbus Connector
2.4.9 Wiring Layout of Fieldbus Connector Check the instruction manuals for each Fieldbus master unit and mounted PLC for the details. 1) DeviceNet Type RD (V+) WT (CAN H) Shield BL (CAN L) BK (V - ) Connector Name DeviceNet Connector Cable Side MSTB2.5/5-ST-5.08 ABGY AU Enclosed in standard...
Page 73 2) CC-Link Type Shield (SLD) YW (DG) WT (DB) BL (DA) Connector Name CC-Link Connector Cable Side MSTB2.5/5-ST-5.08 ABGY AU Enclosed in standard package Manufactured by PHOENIX CONTACT Controller Side MSTBA2.5/5-G-5.08AU Signal Name Applicable cable Pin No. Description (Color) diameter DA (BL) Communication Line A DB (WT)
Page 74 3) PROFIBUS-DP Type Use the type A cable for PROFIBUS-DP (EN5017). Red B line (Positive side) Green A line (Negative side) Cable Shield Connector Name PROFIBUS-DP Connector Cable Side 9-pin D-sub Connector (Male) Please prepare separately Controller Side 9-pin D-sub Connector (Female) Applicable cable Pin No.
Page 75 4) CompoNet Type RD (BS+) WT (BDH) BK (BS-) BL (BDL) Connector Name CompoNet Connector Cable Side Prepare a connector complied with CompoNet standards. Controller Side XW7D-PB4-R Produced by OMRON Signal Name Applicable cable Pin No. Description (Color) diameter Communication Power BS+ (RD) (Note 1) Supply +...
Page 76 6) MECHATROLINK Type Connector Name MECHATROLINK Connector Cable Side Prepare a connector complied with MECHATROLINK standards. Controller Side DUSB-ARB82-T11A-FA Produced by DDK Applicable cable Pin No. Signal Name Description diameter Front view of A1/B1 NC Disconnected connector on A2/B2 /DATA Signal line - side MECHATROLINK controller side...
Page 77: Chapter 3 Operation
Chapter 3 Operation 3.1 Basic Operation 3.1.1 Basic Operation Methods There are two ways for the operation; one is to control with PIO and the other with Fieldbus. Check the model code described on the model code record card inserted on the front panel of the unit to find which way is to be applied for your product.
Page 78 The actuator Electric Cylinder Single Solenoid System point-to-point movement Air Cylinder (Standard Point-to-Point is available using the Movement) same control function as Dedicated MSEP Cable for the air cylinder. Backward Backward Position Detection Position Detection (LS0) (LS0) The target position setting...
Page 79 Single Solenoid System point-to-point movement Air Cylinder (Point-to-Point Movement, is available using the Target Position Setting same control function as Dedicated PL C MSEP Cable (Position Data) Change) for the air cylinder. Backward Backward Position Detection P(Air) Position Detection (LS0)
Page 80 (2) Fieldbus Type Command target Transfer data position, speed, etc. with Fieldbus Confirmation of movement complete (read status signal) Slave Slave Actuator Controller...
Page 81 [Refer to the instruction manuals of the master unit and PLC.] [5] Link to Network 1) Set the operation mode setting switch on the front panel of MSEP to AUTO side, and reboot the power. (Field network line becomes valid by setting the switch to AUTO)
Page 82 Operation Mode Available in Fieldbus Type 6 types of operation modes are available to select from. Explained below is the outline. Operation Pattern Description Overview Positioner 1 Mode In Positioner 1 Mode, 256 points of position data can be Electric Cylinder registered at the maximum and is able to stop at the registered positions.
Page 83: Parameter Settings
3.1.2 Parameter Settings Parameter data should be set appropriately according to the applicaiton requirements. (Example) Software Stroke Limit : Set a proper operation range for definition of the stroke end, prevention of interferences with peripherals and safety. Zone Output : Set to require signal outputs in an arbitrary position zone within the operation zone.
Page 84: Initial Setting
Make sure the power, system I/O connector wires and operation mode setting switch are in MANU condition when having the setting done. [Step 1] Connect the PC and SIO connector on MSEP with using the cable enclosed in RC PC Software and start up the PC software.
Page 85 Continuous This is available only if Double is selected in System Operation Type No.1. /Momentary For the signal sent from PLC to MSEP, select Operation Type “Continuous Operation” (level signal) or (Continuous “Momentary Operation” (edge signal). Operation (Reference) Double Solenoid Circuit...
Page 86 Operation Pattern Setting Range No. Setting Item Description : Available for Setting) (Set in delivery) 4 Intermediate Both Solenoid This is available only if Operation Pattern 3 is Stop System selected. Select whether to have the Both Solenoid movement to the intermediate point performed with the forward end movement (Both Solenoid command and backward end movement...
Page 87 Operation Pattern Setting Range No. Setting Item Description : Available for Setting) (Set in delivery) 8 Output 0 to 2 If “Use” is selected in No. 5 Servo Control, Signal select the combination of the used output Selection signals considering the operation pattern. Select 0 if “Not to Use”...
Page 88 [Step 6] The confirmation window for controller reboot opens. Click “Yes”. [Step 7] The initial setting needs to be held on all the MSEP composition axes. In the case that multiple axes are connected, repeat the Steps 2 to 6.
Page 89 [Step 10] Main Window is displayed. [Step 11] Reading is started from MSEP to PC. Click on the “Read” button and a confirmation window appears. Click on the “Yes” button. Once the parameter reading is completed in normal condition, the reading complete...
Page 90 [Step 12] For PIO Type, proceed to Step 13. The parameters input to MSEP are listed as shown below. Indicate the node address (station) of MSEP on field network in Address. Caution for CC-Link Type station setting In the following slave, set the value the number of occupied station is added to the current station number.
Page 91 [Step 14] Once the setting of the number of axes is done, the cells for the operation mode settable to each axis turn to blank in response. For PIO Type and SEP I/O Mode, “*” is displayed for a number equals to the number of set axis. [Step 15] Click on a blank cell and “*”...
Page 92 [Step 17] Write the edited operation mode setting parameters to MSEP. Click on the “Write” button shown below and a confirmation window pops up. Click on the “Yes” button. If the writing is finished in normal condition, writing complete window appears. Click OK.
Page 93: Setting Of Position Data
3.3 Setting of Position Data PIO Type makes an operation based on the position data (position, speed, etc.) set in advance in the position table. Set the target position (forward end, backward end and intermediate point (Note) ) first. (Note) The setting may not be made for some operation modes. Forward End Intermediate Backward End...
Page 94 1) Position Name (No.)·······It shows the position the actuator moves towards. 2) Position [mm] ·················It is the coordinate value for positioning. Input the position from the home position. Caution: (1) For gripper type Setting is to be conducted with the basis on one finger. Set the value for the movement of one finger from the home position.
Page 95 [Pressing towards Forward End or Intermediate Position] Speed Time Pressing Width Backward End Pressing Forward End Start Position (Intermediate) [Pressing towards Backward End or Intermediate Position = Pulling Action] Backward Speed Time Pressing Width Backward End Forward End Pressing (Intermediate) Start Position...
Page 96 6) Acceleration [G]··············Set the acceleration at operation. 7) Deceleration [G] ·············Set the deceleration at stop. (Reference) How to set the acceleration is described below. The same idea can be applied to the deceleration. 1G=9800mm/s : Acceleration capable to accelerate up to 9800mm/s per second 0.3G: Acceleration capable to accelerate up to 9800mm/s ×...
Page 97 [2] Additional Setting Items for Operation Pattern 1 Set the position and speed for the speed change as well as the position data. Example for Position Table Setting Position Name 9) Speed Change 10) Changed Speed Position [mm/s] [mm] Backward End 60.00 Input changed speed Position...
Page 98: Fieldbus Type Address Map
The PLC address domain to be occupied differs depending on the operation mode. Refer to the example in Section 3.4.2 for the assignment. (Note 1) • PLC Output MSEP Input (n is PLC output top word address to MSEP) Direct PLC Output Simple Direct...
Page 99 (Note 1) • MSEP Output PLC Input (n is PLC input top word address from MSEP) Direct PLC Intput Simple Direct Positioner 1 Positioner 2 Positioner 3 SEP I/O Indication Details (Note 2) Area Mode Mode Mode Mode Mode Mode Gateway Status 0 3.4.3...
Page 100: Example For Each Fieldbus Address Map
(Connection cannot be established with other ways) Caution: • If SEP I/O Mode is selected, all the axes connected to MSEP are involved in SEP I/O Mode. • This controller is able to control 2 axes with one driver board (1 slot), however, different operation mode cannot be selected in the same driver board.
Page 101 DeviceNet (CompoNet is not applicable for this mode) [Combination Example 1] When number of Simple Direct Mode axes is 8 and number of Direct Indication Mode 0 (n is the top channel number for each PLC input and output between MSEP and PLC) MSEP MSEP CH No.
Page 102 [Combination Example 2] When number of Simple Direct Mode axes is 6 and number of Direct Indication Mode 2 (n is the top channel number for each PLC input and output between MSEP and PLC) MSEP MSEP CH No. Description CH No.
Page 103 [Combination Example 4] When number of Simple Direct Mode axes is 0 and number of Direct Indication Mode 8 (n is the top channel number for each PLC input and output between MSEP and PLC) MSEP MSEP CH No. Description CH No.
Page 104 [Combination Example 2] When number of Simple Direct Mode axes is 6 and number of Direct Indication Mode 2 (Extended Cyclic Setting/Number of Occupied Stations: 8 times/2 stations) MSEP MSEP Address Description Address Description RY 000 to 01F Gateway Control...
Page 105 [Combination Example 3] When number of Simple Direct Mode axes is 2 and number of Direct Indication Mode 6 (Extended Cyclic Setting/Number of Occupied Stations: 8 times/2 stations) MSEP MSEP Address Description Address Description RY 000 to 01F Gateway Control...
Page 106 (MECHATROLINK is not applicable for this mode) [Combination Example 1] When number of Simple Direct Mode axes is 8 and number of Direct Indication Mode 0 (n is the top node address for each PLC input and output between MSEP and PLC) MSEP MSEP Node Address...
Page 107 [Combination Example 3] When number of Simple Direct Mode axes is 2 and number of Direct Indication Mode 6 (n is the top node address for each PLC input and output between MSEP and PLC) MSEP MSEP Node Address Node Address...
Page 108 [2] Address Map for Positioner 2 Mode Shown below is the address map for each Fieldbus when eight axes of MSEP are operated in Positioner 2 Mode. 1) DeviceNet (CompoNet is not applicable for this mode) (n is the top channel number for each PLC input and output between MSEP and PLC)
Page 109 Information Information [3] Address Map for Positioner 3 Mode Shown below is the address map for each Fieldbus when eight axes of MSEP are operated in Positioner 3 Mode. 1) DeviceNet, CompoNet (n is the top channel number for each PLC input and output between MSEP and PLC)
Page 110 RWw 08 to 0F Cannot be used. RWr 08 to 0F Cannot be used. 3) PROFIBUS-DPP, EtherNet/IP, MECHATROLINK, EtherCAT (n is the top node address for each PLC input and output between MSEP and PLC) MSEP MSEP Node Address Node Address...
Page 111 [4] Address Map for SEP I/O Mode Shown below is the address map for each Fieldbus when eight axes of MSEP are operated in SEP I/O Mode. 1) DeviceNet, CompoNet (n is the top channel number for each PLC input and output between MSEP and PLC)
Page 112: Gateway Control Signals (In Common For All Operation Modes)
When operating the system with Fieldbus, the axes are controlled via Gateway of MSEP. The top 2 words of input and output in each operation mode are the signals Gateway control and status monitoring. (n is the top word address for each PLC input and output between MSEP and PLC) MSEP (PLC Output) MSEP...
Page 113 (2) List for Input and Output Signal (ON = Applicable bit is “1”, OFF = Applicable bit is “0”) Signal Type Symbol Description Details Operation control with communication is available – while it is ON – Cannot be used. – Retained condition of ERR-T or ERR-C during an operation is cancelled if it is ON It is the cancel signal when ERR-T or ERR-C...
Page 114 (ON = Applicable bit is “1”, OFF = Applicable bit is “0”) Signal Type Symbol Description Details This signal turns ON when Gateway is in normal – operation. This signal turns ON if the ERR-T or ERR-C occurred during an operation is retained and turns LERC OFF if cancel signal RTE is turn ON.
Page 115: Control Signals For Positioner 1/Simple Direct Mo
Zone signal output Zones are set using parameters. PIO pattern selection (1) PLC Address Composition (m is PLC input and output top word address for each axis number) MSEP (PLC Output) MSEP PLC (PLC Input) (Note 1) Target Position m to m+1...
Page 116 (2) Input and Output Signal Assignment for each Axis The I/O signals for each axis consists of 4-word for each I/O bit register. The control signals and status signals are ON/OFF signals in units of bit. For the target position and current position, 2-word (32-bit) binary data is available and values from -999999 to +999999 (unit: 0.01mm) can be used.
Page 117 PLC Input (m is PLC input top word address for each axis number) 1 word = 16 bit Address m b15 b14 b13 b12 Current Position (Lower word) Address m+1 b15 b14 b13 b12 Current Position (Upper word) (Note) If the target position is a negative value, it is indicated by a two’s complement. Address m+2 b15 b14 b13 b12 Completed...
Page 118 (3) I/O signal assignment (ON = Applicable bit is “1”, OFF = Applicable bit is “0”) Signal Type Symbol Description Details 32-bit signed integer indicating the current position Unit: 0.01mm Available range for Setting: -999999 to 999999 Set the target position with the value from the home Target 32 bits –...
Page 119 (ON = Applicable bit is “1”, OFF = Applicable bit is “0”) Signal Type Symbol Description Details 32-bit signed integer indicating the current position Unit: 0.01mm Current 32 bits – (Example) If +10.23mm, input 000003FF (1023mm 3.8.1 (21) Position in decimal system). (Note) Negative numbers are two’s implement.
Page 120: Control Signals For Direct Indication Mode
Zone signal output Parameters must be set. PIO pattern selection (1) PLC Address Composition (m is PLC input and output top word address for each axis number) MSEP (PLC Output) MSEP PLC (PLC Input) Target Position m to m+1 Current Position...
Page 121 (2) Input and Output Signal Assignment for each Axis The I/O signals for each axis consists of 8-word for each I/O bit register. The control signals and status signals are ON/OFF signals in units of bit. For the target position and current position, 2-word (32-bit) binary data is available and values from -999999 to +999999 (unit: 0.01mm) can be used.
Page 122 PLC Output (m is PLC output top word address for each axis number) 1 word = 16 bit Address m b15 b14 b13 b12 Target Position (Lower word) Address m+1 b15 b14 b13 b12 Target Position (Upper word) (Note) If the target position is a negative value, it is indicated by a two’s complement. Address m+2 b15 b14 b13 b12 Positioning Width...
Page 123 PLC Input (m is PLC input top word address for each axis number) 1 word = 16 bit Address m b15 b14 b13 b12 Current Position (Lower word) Address m+1 b15 b14 b13 b12 Current Position (Upper word) (Note) If the target position is a negative value, it is indicated by a two’s complement. Address m+2 b15 b14 b13 b12 Command...
Page 124 (3) I/O signal assignment (ON = Applicable bit is “1”, OFF = Applicable bit is “0”) Signal Type Symbol Description Details 32-bit signed integer indicating the current position Unit: 0.01mm Available range for Setting: -999999 to 999999 Target 32 bits Set the target position with the value from the home –...
Page 125 Signal Type Symbol Description Details Brake release BKRL 3.8.1 [15] ON: Brake release, OFF: Brake activated Absolute position commands are issued when this signal is OFF, and incremental position commands are issued 3.8.1 [13] when the signal is ON. Push direction specification ON: Movement against home position, OFF: Movement toward home position 3.8.1 [17]...
Page 126 (ON = Applicable bit is “1”, OFF = Applicable bit is “0”) Signal Type Symbol Description Details 32-bit signed integer indicating the current position Unit: 0.01mm Current bits – (Example) If 10.23mm, input 000003FF (1023mm in 3.8.1 (22) Position Data decimal system).
Page 127: Control Signals For Positioner 2 Mode
Zone signal output Zones are set using parameters. PIO pattern selection (1) PLC Address Composition (m is PLC input and output top word address for each axis number) MSEP (PLC Output) MSEP PLC (PLC Input) Completion Position No. Specified Position No.
Page 128 (2) Input and Output Signal Assignment for each Axis The I/O signals for each axis consists of 2-word for each I/O bit register. The control signals and status signals are ON/OFF signals in units of bit. For the indicated position number and complete position number, 1-word (16-bit) binary data is available and values from 0 to 255 can be used.
Page 129 (3) I/O signal assignment (ON = Applicable bit is “1”, OFF = Applicable bit is “0”) Signal Type Symbol Description Details 16-bit integer Available range for Setting: 0 to 255 To operate, it is necessary to have the position data that the operation conditions are already set in advance with a teaching tool such as the PC Specified...
Page 130 (ON = Applicable bit is “1”, OFF = Applicable bit is “0”) Signal Type Symbol Description Details 16-bit integer The positioning complete position number is output in a binary number once getting into the positioning width after moving to the target Completed position.
Page 131: Control Signals For Positioner 3 Mode
Pause Zone signal output Zones are set using parameters. (1) PLC Address Composition (m is PLC input and output top word address for each axis number) MSEP (PLC Output) MSEP PLC (PLC Input) Control Signal/ Status Signal/ Specified Position No.
Page 132 (2) Input and Output Signal Assignment for each Axis The I/O signals for each axis consists of 1-word for each I/O bit register. The control signals and status signals are ON/OFF signals in units of bit. Binary data of 8 bits for the specified position number and complete position number and values from 0 to 255 can be used.
Page 133 (3) I/O signal assignment (ON = Applicable bit is “1”, OFF = Applicable bit is “0”) Signal Type Symbol Description Details Brake release BKRL 3.8.1 [15] ON: Brake release, OFF: Brake activated – Cannot be used. – Servo ON command 3.8.1 [5] ON: Servo ON, OFF: Servo OFF Reset...
Page 134: Control Signals For Sep I/O Mode
3.4.8 Control Signals for SEP I/O Mode This is an operation mode same as when using PIO (24V input and output). Set the position data from a teaching tool such as the RC PC software. The number of movement points available in the operation depends on the operation pattern (PIO pattern) input in the initial setting.
Page 135 (1) PLC Address Composition (m is PLC input and output top word address for each axis number) MSEP (PLC Output) MSEP PLC (PLC Input) A2 to A17 B2 to B17 A18 to A33 B18 to B33 [Refer to Section 3.4.2 for the address maps for each Fieldbus.] (2) Input and Output Signal Assignment for each Axis The I/O signals for each axis consists of 1-word for each I/O bit register.
Page 136: About Commands (Position Data Read/Write And Alarm Axis Read)
• It is not necessary to use commands in Simple Direct Mode because no position data is to be used in it. Shown below is the table to indicate the assignment of each signal. (1) PLC Address Composition (n is PLC input and output top address.) MSEP (PLC Output) MSEP PLC (PLC Input) Demand Command Response Command...
Page 137 (3) Details of Commands The input and output signals are consist of 5-word for each input and output data register. The target position and current position are expressed using 2-word (32 bits) binary data. The figures from –999999 to +999999 (Unit: 0.01mm) can be set in PLC. Negative numbers are to be dealt with two’s complement.
Page 138 1) Demand command cleared PLC Output (Address n is the input and output top address for MSEP.) (Note) Response command does not return. 1 word = 16 bit Address b15 b14 b13 b12 b11 b10 Demand Command [0000h] Data 0...
Page 139 3) Writing of Pressing Width PLC Output (Address n is the input and output top address for MSEP.) (Note) If the writing is finished in normal condition, the same content as the demand command is returned to the response command. If an error is generated, an error response is returned.
Page 140 5) Writing of Acceleration PLC Output (Address n is the input and output top address for MSEP.) (Note) If the writing is finished in normal condition, the same content as the demand command is returned to the response command. If an error is generated, an error response is returned.
Page 141 7) Writing of Pressing Current Limit PLC Output (Address n is the input and output top address for MSEP.) (Note) If the writing is finished in normal condition, the same content as the demand command is returned to the response command. If an error is generated, an error response is returned.
Page 142 8) Reading of Target Position PLC Output (Address n is the input and output top address for MSEP.) 1 word = 16 bit b15 b14 b13 b12 b11 b10 Address Demand Command [1040h] Data 0 [Position No.] Data 1 Data 2 Data 3 [Axis No.]...
Page 143 9) Reading of Pressing Width PLC Output (Address n is the input and output top address for MSEP.) 1 word = 16 bit b15 b14 b13 b12 b11 b10 Address Demand Command [1041h] Data 0 [Position No.] Data 1 Data 2 Data 3 [Axis No.]...
Page 144 10) Reading of Speed PLC Output (Address n is the input and output top address for MSEP.) 1 word = 16 bit b15 b14 b13 b12 b11 b10 Address Demand Command [1042h] Data 0 [Position No.] Data 1 Data 2 Data 3 [Axis No.]...
Page 145 11) Reading of Acceleration PLC Output (Address n is the input and output top address for MSEP.) 1 word = 16 bit b15 b14 b13 b12 b11 b10 Address Demand Command [1045h] Data 0 [Position No.] Data 1 Data 2 Data 3 [Axis No.]...
Page 146 12) Reading of Deceleration PLC Output (Address n is the input and output top address for MSEP.) 1 word = 16 bit b15 b14 b13 b12 b11 b10 Address Demand Command [1046h] Data 0 [Position No.] Data 1 Data 2 Data 3 [Axis No.]...
Page 147 13) Reading of Pressing Current Limit PLC Output (Address n is the input and output top address for MSEP.) 1 word = 16 bit b15 b14 b13 b12 b11 b10 Address Demand Command [1047h] Data 0 [Position No.] Data 1...
Page 148 14) Reading of Alarm-issued Axis Number PLC Output (Address n is the input and output top address for MSEP.) (Note) If this command is sent, the response command updates with the latest information until the demand command clear is sent.
Page 149 15) Reading of Alarm Code PLC Output (Address n is the input and output top address for MSEP.) (Note) If this command is sent, the response command updates with the latest information until the demand command clear is sent. 1 word = 16 bit...
Page 150 16) Error Response Command PLC Input (Address n is the input and output top address for MSEP.) In the case that the command did not complete in normal condition, this error response command is returned. 1 word = 16 bit...
Page 151: Control Signals For Pio Operation
3.5 Control Signals for PIO Operation The contents of the signals for the input and output ports vary depending on the setting of the operation mode. Set the position data from a teaching tool such as the RC PC software. The number of movement points available in the operation depends on the operation pattern (PIO pattern) input in the initial setting.
Page 152 I/O signal assignment Operation Pattern (PIO pattern) Category 2-Input, 3-Input, Continuous Functions Point-to-Point Movement speed Target position Fieldbus 3-Point 3-Point reciprocating Movement setting change connection Movement Movement operation Number of positioning 2 points 2 points 2 points 3 points 3 points 2 points points Home return...
Page 153 Operation Pattern Category 2-Input, 3-Input, Continuous Functions Point-to-Point Movement speed Target position Fieldbus 3-Point 3-Point reciprocating Movement setting change connection Movement Movement operation Solenoid Single Double Single Double Single Double – Double – system – ASTR (Note 1) (Note 1) Input *STP *STP...
Page 154: Control Of Input Signal
3.6 Control of Input Signal 3.6.1 PIO Input Signal Process The input signal of this controller has the input time constant of 7ms considering the prevention of wrong operation by chattering and noise. (Note) Therefore, input each input signal for 7ms or more continuously.
Page 155: Input And Output Signal Process For Fieldbus Type
Filed Network Transmission Delay Time Xt : Slave Master Station Transmission Delay Time Mt = MSEP internal communication sending time (Ttx) + MSEP internal communication receiving time (Trx) Refer to the instruction manual of the mounted PLC for the master station...
Page 156 The procedures from 1) to 6) are repeated when continuously used. Demand Command Demand Command Area = 0000 PLC side and Data Gateway executes the reading of each axis and data following the demand command. MSEP Response Command Gateway side and Response Data Response Command Area = 0000...
Page 157: Power Supply
3.7 Power Supply Follow the steps below to turn ON the power to the controller. 1) Supply I/O power, control power and the drive (24V DC). 2) Cancel the emergency stop condition or make the motor drive power supply available to turn 3) If using the servo-on signal, input the signal from the host side.
Page 158: I/O Signal Controls And Function
Using the “SON” signal, the turning ON/OFF of the controller is available. While the “SV” signal is ON, the controller's servo-motor is turned “ON” and the operation becomes available. The relationship between the “SON” signal and “SV” signal is as follows. (PLC → MSEP) (MSEP → PLC)
Page 159 “OFF” or the “HOME” signal is input again. Even after the completion of the homing operation, when the “HOME” signal is turned “ON”, the homing operation can be performed. HOME (PLC → MSEP) HEND (MSEP → PLC) PEND (MSEP → PLC) MOVE (MSEP →...
Page 160 Turn “OFF” this signal after confirming that the Positioning Completion Signal (PEND) signal has been turned “OFF”. Target position (PLC → MSEP) CSTR (PLC → MSEP) PEND (MSEP →...
Page 161 (10) Pause (STP) PLC Output Signal When this signal is turned “ON”, the actuator movement is decelerated and stopped. When it is turned “OFF”, the actuator movement is restarted. The acceleration in the operation restart or the deceleration in stopping operation, is expressed as the value for the acceleration/deceleration for the position No.
Page 162 2) Inching operation The inching operation is available while the JISL signal is turned “ON”. Once it is turned “ON”, the actuator is moved as much as the inching distance. When the JOG+ is turned “ON”, the movement is to the opposite of the home and when the JOG- is turned “ON”, the movement is to the home.
Page 163 (15) Brake release (BKRL) PLC Output Signal Turning this signal “ON” can release the brake forcibly. (16) Push-motion specification (PUSH) PLC Output Signal When the movement command signal is output after this signal is turned ON, the pressing operation is performed. When this signal is set to “OFF”, the normal positioning operation is performed.
Page 164 (17) Push direction specification (DIR) PLC Output Signal This signal specifies the pressing direction. When this signal is turned “OFF”, the pressing operation is performed to the direction of the value determined by adding the positioning width to the target position. Pressing operation starts towards the position where the positioning width is added to the target position if this signal is turned ON.
Page 165 If the position data is written to the target position register (for Simple Direct Mode) or the target position is set in the position data of MSEP (for Positioner 1 Mode), the operation shall be made with other information, such as the speed, acceleration/deceleration, pressing width, pressing force, etc., set to the position data.
Page 166 Target Position Data Setting (PLC → MSEP) Indicated Position Number (PLC → MSEP) twcsON twcsOFF Positioning Start CSTR (PLC → MSEP) tpdf 10ms or less Position Complete PEND (MSEP → PLC) Current Position (MSEP → PLC) 10ms or less 10ms or less...
Page 167 (22) Operation for Direct Indication Mode It is operated with the data set in the PLC's target position register, positioning width register, setup speed register, acceleration/deceleration register and pressing current limit setup register. Example of operation (Pressing operation) (Preparation) Set the axis numbers to be used in Direct Indication Mode with Gateway Parameter Setting Tool.
Page 168 Target Position Data Setting (PLC → MSEP) Positioning Width Data /Pressing Width Data (PLC → MSEP) Speed Data (PLC → MSEP) Acceleration/ Deceleration Data (PLC → MSEP) Pressing Current Limit (PLC → MSEP) Push-motion Specification PUSH (PLC → MSEP) Push Direction Specification (PLC →...
Page 169 (23) Operation Timings for Positioner 2 and Positioner 3 Modes The operation is to be made with the target position, speed, acceleration/deceleration, pressing width and pressing force set in the position data of MSEP. Example of operation (Positioning operation) (Preparation) Set the axis numbers to be used in Positioner 2 or Positioner 3 Mode with Gateway Parameter Setting Tool.
Page 170 Indicated Position Number (PLC → MSEP) 0ms or more twcsON twcsOFF Positioning Start CSTR (PLC → MSEP) tpdf Positioning Completion PEND (MSEP → PLC) 10ms or less 10ms or less Moving MOVE (MSEP → PLC) Positioning Width Actuator Movement...
Page 171: Sep I/O Mode And Pio Operation For Fieldbus Type
3.8.2 SEP I/O Mode and PIO Operation for Fieldbus Type [1] Servo ON (SON, SV) Input Output PIO Signal All Operation Patterns : Available, : Unavailable 1) Servo ON signal SON is the input signal making the servo motor of the actuator operable. 2) If the servo-on is performed to enable operation, the SV output signal is turned ON.
Page 172 [2] Alarm, Alarm Reset (*ALM, RES) Input Output PIO Signal *ALM All Operation Patterns : Available, : Unavailable 1) Alarm signal *ALM is set to ON in the normal status but turned OFF at the occurrence of an alarm at a level equal to or higher than the operation release level. 2) Turning reset signal RES ON under occurrence of an alarm at the operation release level (Note 1) allows the alarm...
Page 173 [4] Movement Command and Positioning Complete Signal (ST0 to ST2, PE0 to PE2) PIO Signal Operation Pattern 0 to 2 Operation Pattern 3 Operation Pattern 4 Operation Pattern 5 Control method 1) When start signal ST* is turned ON, the actuator starts acceleration based on the data in the specified position table for positioning to the target position.
Page 174 (Example) Repetition of ST1 … Insert timer t if necessary. Start signal (PLC Controller) Start signal (PLC Controller) Position sensing output (Controller PLC) Turned ON after entering into Position sensing output positioning width zone. (Controller PLC) Target position t: Time required to certainly reach the target position after the position sensing output LS1 or 2 is turned ON. [Example of stop position when the ST* signal is turned OFF by the LS* signal] If the positioning width is set at a position before the original deceleration start position, the actuator cannot reach the target position.
Page 175 [6] Home Return Home-return operation is performed when turning the movement signal 1 (ST0) on if the home return has not yet done since the power is turned ON. 1) If the operation pattern is “Point-to-Point Movement (Single Solenoid)” If the home return is not conducted on the operation panel yet, the first movement signal (ST0) will bring the actuator to the home position.
Page 176 [Operation of Slider Type/Rod-Type Actuator] Mechanical end Home 1) The actuator moves toward the mechanical end at the home return speed. The moving speed is 20mm/s for most actuators but less than 20mm/s for some actuators. Refer to the instruction manual of each actuator. 2) The actuator is turned at the mechanical end and stopped at the home position.
Page 177 (2) 360° Rotation Specification Home (Forward Rotation End) (Home Position Offset Movement Amount Side) Rotary Axis Datum Point for Offset (Center of 6), 7), 9) and 10)) (Opposite Side of Home Position) Home Sensor Detection Range 1) Once the home-return operation is started, the rotary part turns in CCW (counterclockwise) from the view of the load side.
Page 178 [7] Absolute Reset (conducted for Absolute Type) When the power to the machine is turned ON for the first time (actuator operation), perform the Absolute Reset. 1) Absolute Encoder Failure Detection Error is issued at the power-on. 2) Turn RES Signal (IN2) ON or reset the alarm in the alarm screen on a teaching tool such as the PC software.
Page 179 [9] Pause during Movement = Operation Timing for Operation Patterns 0 to 2 (1) Single Solenoid System: With the input of the pause signal (*STP), the actuator pauses its operation. Shown below is an example for the forward end position movement. Movement command (ST0) Pause signal (*STP) Forward end position detection output (LS1)
Page 180 (2) Double Solenoid System: With the movement speed change signal (SPDC) turned ON, the actuator is operated with the changed speed from the position set as the change position in the position data. Shown below is an example for the forward end position movement. Backward end movement signal (ST0) Forward end movement signal (ST1) Movement speed change signal (SPDC)
Page 181 [12] 3-Point Movement = Operation Timing for Operation Patterns 3 and 4 With the combination of ST0 and ST1, the actuator moves to the target position. Refer to the table Backward end movement signal (ST0) below for the c ombination of Forward end movement signal (ST1) movement signals Intermediate point movement signal (ST2)
Page 182 [13] 2-Point Repeated Back and Forth Operation = Operation Timing for Operation Patterns 5 While the repeated back and forth operation signal (ASTR) is ON, the actuator moves back and for the repeatedly between the forward end and the backward end. Once ASTR signal is turned OFF, the actuator positions at the current target position and stops.
Page 183: About Gateway Parameter Setting Tool
3.9.1 Startup of Tool 1) Boot the Gateway Parameter Setting Tool after the power to MSEP is turned ON, and the window shown below appears. Select “MSEP GW” if MSEP is connected and click OK. 2) Once MSEP is detected the detected unit numbers become available to select. Select the...
Page 184: Explanation Of Each Menu
3) The main window opens. The main window opens even when MSEP could not be detected. Click on the “Read” button in this window and the parameters start to be read from MSEP. Parameter transfer starts if the “Write” button is clicked. However, note that the transfer cannot be made if there is a blank like Address and Baud Rate in the figure below.
Page 185 : Set the clock retained in MSEP. [Refer to 3.9.3 4) Time Setting.] • Unit No.(U) : Set the unit number of MSEP and top axis number in that unit. [Refer to 3.9.3 5) Unit No..] • EherNet/IP Setting : For EtherNet/IP type, this menu is displayed. Set IP address etc.
Page 186: Description Of Functions
3.9.3 Description of Functions 1) GW-Param • Latch in ERR_T/C : Select whether to continue the error even in recoverable condition after ERRT and ERRC are issued. • SERVO-OFF in ERR_C : Select whether to turn the servo OFF on the connected axes when ERRC is occurred.
Page 187 : Select the pressing method from SEP and CON methods 3)-1 BYTE swap : Swap the upper and lower in the sent and received data in byte unit. Set this considering the connected host system if necessary. = ON, = OFF MSEP Input register ON/OFF Hexadecimal data...
Page 188 3)-2 WORD swap in D-WORD Data : Swap the upper and lower in the W-word sized sent and received data in word unit. Set this considering the connected host system if necessary. = ON, = OFF MSEP Input register ON/OFF Hexadecimal data...
Page 189 4) TimeSetting By selecting Time on PC, the current time on the PC is acquired and set to MSEP. If Set Manually is selected, desired time set in the clock edit in the window can be set in MSEP. Click “Write”, and the time setting is transferred to MSEP and the data is written in.
Page 190 6) EtherNet/IP Setting (Setting to be established for EtherNet/IP type) • IP Address : Set IP address for MSEP • Subnet Mask : Set subnet mask • Default Gateway : Set default gateway...
Page 191 7) I/O Monitor Data Reading Display SYNC Scroll Frequency Switchover In this register monitor window, shows the data that Gateway Unit has received from the host (master) and the data sent back to the host (master). • Data Reading Frequency : Select the frequency of displayed data update from 100 to 500ms •...
Page 192 Click on the “Update” button and the alarm list is read again from MSEP. Click on the “Clear” button and the alarm list retained in MSEP are all deleted. Refer to Chapter 6. Troubleshooting for the details of the alarms.
Page 193: Operation Mode Setting
Note 1 SEP I/O Mode cannot be set together with other modes. Note 2 MSEP is to be set in two axes in unit (for each slot) as the basis. If the number of used axes is an odd number, make it inactivated in Final Parameter No.33 Inactivated Axis...
Page 194: Status Led
3.10 Status LED 1) For PIO Type T.ERR MODE : Illuminating, ×: OFF Lamp Symbol Color Description Condition Green Ready Orange Alarm generated (System Status) × – Power is OFF or in initializing Emergency stop (Emergency Stop Status) × – Normal Green AUTO Mode...
Page 195 – Normal communication status) Green Online (Normal) Online (Even though the network is established Green normally, the master does not identify as MSEP) Orange An error occurs. Orange No response returned from another slave device Green/Orange In self-checking process. (Blink by turn)
Page 196 3) For Fieldbus Type CC-Link EMG MODE T C ERR RUN ERR : Illuminating, ×: OFF, : Flashing Lamp Symbol Color Description Condition Green Ready Orange Alarm generated (System status) × – Power is OFF or in initializing Emergency stop (Emergency stop ×...
Page 197 Normal communication status) Green Online (Normal) Online (Even though the network is established Green normally, the master does not identify as MSEP) An error occurs. (Parameter error or initializing Orange error) Green Initializing is completed. Initializing completed and in self-checking...
Page 198 Normal communication status) Green Online (Normal) Online (Even though the network is established Green normally, awaiting for being identified as MSEP by master) Node address duplication error, slave address Orange wrongly established Orange No response returned from another slave device Power is OFF, under reset operation, under ×...
Page 199 Normal status) Green Online (Communication in normal condition) Online (Even though the network is established Green normally, the master does not identify as MSEP) Communication error (such as IP address Orange duplication) Communication error (Communication timeout Orange has been detected) ×...
Page 200 7) For Fieldbus Type MECHATROLINK EMG MODE T C ERR : Illuminating, ×: OFF Lamp Symbol Color Description Condition Green Ready Orange Alarm generated (System status) × – Power is OFF or in initializing Alarm generated (Emergency stop × – Normal status) Green...
Page 201 8) For Fieldbus Type EtherCAT EMG MODE T C ERR ERR RUN : Illuminating, ×: OFF, : Flashing Lamp Symbol Color Description Condition Green Ready Orange Alarm generated (System status) × – Power is OFF or in initializing Alarm generated (Emergency stop Normal ×...
Page 202 • Timing of LED flashing (Note 1) blinking (Note 2) single flash (Note 3) double flash...
Page 203: Chapter 4 Absolute Reset And Absolute Battery
Chapter 4 Absolute Reset and Absolute Battery 4.1 Absolute Reset The controller for Simple Absolute Type retains the encoder position information with the battery backup. It is not necessary to perform the home-return operation every time the power is turned ON. In order to hold the encoder position information, absolute reset is required.
Page 204 The absolute reset is to be done with using a teaching tool such as the PC software. Shown below are the steps. [2] Absolute reset procedure from teaching tool 1) Connect the controller with the actuator. [Refer to Chapters 1 and 2.] 2) Connect the absolute battery box to the controller with using the dedicated cable.
Page 205 (2) For CON-PTA/PDA/PGA Press Reset Alm. Press Trial Operation on the Menu 1 screen. Press Jog_Inching on Trial screen. Press Home on Job/Inching screen.
Page 206: Absolute Battery
(Axis No.0) 2nd Axis Battery (Axis No.1) 3rd Axis Battery (Axis No.2) 4th Axis Battery (Axis No.3) Connector to connect with MSEP 1st Axis Battery 4th Axis Battery (Axis No.0) (Axis No.3) 3rd Axis Battery 2nd Axis Battery Connector Connector (Axis No.2)
Page 207: Absolute Encoder Backup Specifications
4.2.1 Absolute encoder backup specifications Item Specifications Battery model AB-7 Quantity 1 pc/axis (8 units max. / 8 axes) Battery voltage 3.6V Current capacity 3300mAH (Note 1) Reference for battery replacing timing Approx. 3 years (It varies significantly by the effects of the usage condition) (Note 1) Replace the battery regularly.
Page 208: Absolute Battery Voltage Drop Detection
4.2.3 Absolute Battery Voltage Drop Detection If the voltage of the absolute battery is dropped, the error detection responding to the voltage is held. Voltage PIO Signals Alarm (Note 1) 2.5V ±8% or less Alarm signal *ALM 0EE Absolute Encoder Error Detection 2 0EF Absolute Encoder Error Detection 3...
Page 209: Chapter 5 I/O Parameter
Chapter 5 I/O Parameter Parameters are the data to set up considering the system and application. When a change is required to the parameters, make sure to back up the data before the change so the settings can be returned anytime. With using PC software, it is able to store the backup to the PC.
Page 210: I/O Parameter List
5.1 I/O Parameter List The categories in the table below indicate whether parameters should be set or not. There are five categories as follows: A : Check the settings before use. B : Use parameters of this category depending on their uses. C : Use parameters of this category with the settings at shipments leaving unchanged as a rule.
Page 211 Relevant (Note 1) Name Symbol Unit Input Range Default factory setting sections -9999.99 to Actual stroke on + Zone 1+ ZNM1 5.2 [21] (Note 2) 9999.99 side -9999.99 to Actual stroke on - Zone 1- ZNL1 5.2 [21] (Note 2) 9999.99 side -9999.99 to...
Page 212: Detail Explanation Of Parameters
5.2 Detail Explanation of Parameters Caution: • If parameters are changed, provide software reset or reconnect the power to reflect the setting values. • The unit [deg] is for rotary actuator and lever type gripper. Pay attention that it is displayed in [mm] in the teaching tools. Positioning width (in-position) (Parameter No.1) Default factory Name...
Page 213 Servo gain number (Parameter No.3) Default factory Name Symbol Unit Input Range setting For servo motor 0 to 15 In accordance Servo gain number PLGO – For pulse motor with actuator 0 to 31 The servo gain is also called position loop gain or position control system proportion gain. The parameter defines the response when a position control loop is used.
Page 214 Speed loop proportional gain (Parameter No.5) Default factory Name Symbol Unit Input Range setting In accordance Speed loop proportional gain VLPG – 1 to 27661 with actuator This parameter determines the response of the speed control loop. When the set value is increased, the follow-up ability to the speed command becomes better (the servo-motor rigidity is enhanced).
Page 215 Press speed (Parameter No.7) Default factory Name Symbol Unit Input Range setting mm/s 1 to actuator's max. In accordance Press speed PSHV [deg/s] pressing speed with actuator This is the parameter to set the speed in pressing operation. The setting is done considering the actuator type when the product is delivered. [Refer to List of Connectable Actuator Specifications in the last pages.] If a change to the setting is required, make sure to have the setting below the maximum pressing speed of the actuator.
Page 216 When the value is increased, the stop holding torque is increased. Even though it is generally unnecessary to change this setting, setting the value larger is necessary in the case a large external force is applied during stop. Please contact IAI.
Page 217 Please contact IAI. [14] Automatic Positioning Execution Waiting Time (Parameter No.14)
Page 218 Offset. Normal excitation detection cannot be performed, and there may be a risk of generating the excitation detection error or causing abnormal noise. In case the there is a necessity of setting a value less than the initial setting, contact IAI. [17] Home return direction (Parameter No.17) Default factory...
Page 219 [19] Absolute battery retention time (Parameter No.19) Default factory Name Symbol Unit Input Range setting 0: 20 dayes 1: 15 dayes Absolute battery retention time days 2: 10 dayes 3: 5 dayes For simple absolute type, set how long the encoder position information is to be retained after the power to the controller is turned OFF.
Page 220 [21] Zone 1+, Zone 1- (Parameter No.21, No.22) Zone 2+, Zone 2- (Parameter No.23, No.24) Default factory Name Symbol Unit Input Range setting Actual stroke on Zone 1+ ZONM -9999.99 to 9999.99 [deg] + side Actual stroke on Zone 1- ZONL1 -9999.99 to 9999.99 [deg]...
Page 221 [23] Total movement count threshold (Parameter No.26) Default factory Name Symbol Unit Input Range setting Total movement count threshold TMCT times 0 to 99999999 0 (Disabled) An alarm is generated when the total movement count exceeds the value set to this parameter.
Page 222 [28] Default movement direction for excitation-phase signal detection (Parameter No.34) Default factory Name Symbol Unit Input Range setting Default movement direction for 0: Reverse In accordance PHSP – excitation-phase signal detection 1: Forward with actuator (Note) Excitation detection starts when the servo is turned ON for the first time after the power is supplied.
Page 223: Servo Adjustment
Take sufficient note on the setting. Record settings during servo adjustment so that prior settings can always be recovered. When a problem arises and the solution cannot be found, please contact IAI. Situation that requires How to Adjust adjustment Takes time to finish Increase the value of Parameter No.3 “Servo gain number”.
Page 224 Situation that requires How to Adjust adjustment Abnormal noise is Input the Parameter No.4 “Torque Filter Time Constant”. Try to generated. increase by 50 as a reference for the setting. If the setting is too Especially, when stopped large, it may cause a loss of control system stability and lead the state and operation in low generation of vibration.
Page 225: Chapter 6 Troubleshooting
Chapter 6 Troubleshooting 6.1 Action to Be Taken upon Occurrence of Problem Upon occurrence of a problem, take an appropriate action according to the procedure below in order to ensure quick recovery and prevent recurrence of the problem. 1) Status LEDs and PIO Check on Controller Status of PIO Operation status Output Signal...
Page 226: Fault Diagnosis
6.2 Fault Diagnosis This section describes faults largely divided into three types as follows: (1) Impossible operation of controller (2) Positioning and speed of poor precision (incorrect operation) (3) Generation of noise and/or vibration (4) Communication not established 6.2.1 Impossible operation of controller Situation Possible cause Check/Treatment...
Page 227: Positioning And Speed Of Poor Precision (Incorrect Operation)
Instruction installed on the actuator. Manual. 2) It is touched to interference in the way 4) Please contact IAI. of the run. 3) Torsion stress is applied to guide due to improper fixing method of the actuator or uneven fastening of bolts.
Page 228: Generation Of Noise And/Or Vibration
6.2.3 Generation of noise and/or vibration Situation Possible cause Check/Treatment Generation of noise Noise and vibration are generated by Servo adjustment may improve the and/or vibration from many causes including the status of situation. actuator itself load, the installation of the actuator, and [Refer to 5.3 Servo Adjustment.] the rigidity of the unit on which the actuator is installed.
Page 229: Alarm Level
Caution: Reset each alarm after identifying and removing the cause. If the cause of the alarm cannot be removed or when the alarm cannot be reset after removing the cause, please contact IAI. If the same error occurs again after resetting the alarm, it means that the cause of...
Page 230: Alarm List
Treatment : Have the clock setting done from the Gateway Parameter Setting Tool again. Real Time Clock Access Cause : It is an internal error of MSEP. The clock data failed to be Error acquired internally. Treatment : Turn the power OFF and reboot. If the same error occurs again, please contact IAI.
Page 231 Cause/Treatment Code Parameter Check Sum Cause : There is a possibility that the memory data inside MSEP Error has destroyed. Treatment : Establish all the settings again on Gateway Parameter Setting Tool or write the backup data if it exists.
Page 232 Alarm Alarm Name Cause/Treatment Code Continuous Regenerative Cause : The regenerative electric power exceeded what can be Excessive Discharge dealt with the regenerative resistor. Treatment : Decrease the acceleration/deceleration speed, revise the operation interval or connect an external optional regenerative resistor (RER-1). Power-on Log It is the log at the power being on (it is not an error).
Page 233: Simple Alarm Code
6.4.2 Simple Alarm Code Simple alarm codes are read into the complete position register (PM8 to PC1) in Position 1/ Simple Direct Modes when an alarm is generated. : ON : OFF ALM8 ALM4 ALM2 ALM1 *ALM Binary Code Description: Alarm code is shown in ( ). (PM8) (PM4) (PM2)
Page 234 : ON : OFF ALM8 ALM4 ALM2 ALM1 *ALM Binary Code Description: Alarm code is shown in ( ). (PM8) (PM4) (PM2) (PM1) Actual speed excessive (0C0) Overcurrent (0C8) Overheat (0CA) Drive source error (0D4) Deviation overflow (0D8) Software stroke limit exceeded (0D9) Pressing motion range over error (0DC) Electric angling mismatching (0B4) Servo error (0C1)
Page 235: Alarm Codes For Driver Board (Each Axis)
Maintenance Cause : The maintenance information (total movement information data error count, total operated distance) is lost. Treatment : Please contact IAI. Move command in servo Cause : A move command was issued when the servo is OFF. Treatment : Issue a movement command after confirming the servo is ON (servo ON signal (SV) or position complete signal (PEND) is ON).
Page 236 If the error occurs even when the servo is ON, the connected cable breakage or disconnection is considered. Check the cable connection. Please contact IAI if there is no failure in the cable and connector connections. Z-phase position error The point where Z-phase was detected in home-return operation was out of the specified area.
Page 237 If the actuator itself is suspected to be the cause, please contact IAI. Magnetic pole Cause : It shows the magnetic pole phase could not be...
Page 238 Treatment : If there is no interference of the work piece confirmed with the peripherals, 2) or 3) can be considered as a cause. Please contact IAI. Home return timeout Cause : Home return does not complete after elapse of a certain period after the start of home return.
Page 239 2) An error in the offset adjustment is supposed. connected Treatment : A work (PC board) change or offset adjustment is required. Please contact IAI. (*1) Pulse motor : RCP2, RCP3, RCP4 Series (*2) Servo motor : RCA, RCA2, RCL Series...
Page 240 Operation motor Treatment : If this error occurs often, there is a concern of a cancellation Only controller malfunction. Please contact IAI. when connected Drive source error Cause : 1) Motor power input voltage (input to MPI...
Page 241 Take proper measures against noise. 3) It is necessary to replace the actuator (motor part) or controller. If the cause cannot be specified, please contact IAI. A-, B- and Z-phase wire Cause : Encoder signals cannot be detected correctly.
Page 242 : There is a possibility of mismatch between the actuator and controller. Check the model codes. Treatment : Should this error occur, please contact IAI. (*1) Pulse motor : RCP2, RCP3, RCP4 Series (*2) Servo motor : RCA, RCA2, RCL Series...
Page 243 Cause : Faulty nonvolatile memory. Treatment : When the error is caused even when the power is re-input, please contact IAI. Nonvolatile memory There is no response in the specified time duration during the write timeout data writing to the non-volatile memory.
Page 245: Chapter 7 Appendix
Chapter 7 Appendix 7.1 Fan Replacement If an error is detected on the fan, replace the fan unit by following the process stated below. Note 1: When there is an error on the fan, an alarm code will be output to the gateway status signal or the gateway parameter setting tool.
Page 246: List Of Specifications Of Connectable Actuators
7.2 List of Specifications of Connectable Actuators The specifications included in this 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. 7.2.1 Specifications for Servo Motor Type Actuator Rated Motor No.
Page 247 Rated Motor No. of Minimum Maximum acceleration/ Minimum Maximum Lead Maximum speed push Actuator Feed Mounting Type output encoder speed deceleration push force push force series screw direction speed pulses [mm] [mm/s] [mm/s] [mm/s] Horizontal – – – 12.5 /vertical –...
Page 248 Rated Motor No. of Minimum Maximum acceleration/ Minimum Maximum Lead Maximum speed push Actuator Feed Mounting Type output encoder speed deceleration push force push force series screw direction speed pulses [mm] [mm/s] [mm/s] [mm/s] Horizontal – – – /vertical – –...
Page 249 Rated Motor No. of Minimum Maximum acceleration/ Minimum Maximum Lead Maximum speed push Actuator Feed Mounting Type output encoder speed deceleration push force push force series screw direction speed pulses [mm] [mm/s] [mm/s] [mm/s] Horizontal – – – /vertical – –...
Page 250 Rated Motor No. of Minimum Maximum acceleration/ Minimum Maximum Lead Maximum speed push Actuator Feed Mounting Type output encoder speed deceleration push force push force series screw direction speed pulses [mm] [mm/s] [mm/s] [mm/s] 1300 (at 50 to 500st) Horizontal 1160 (at 550st) Energy-saving spec.: 0.3 –...
Page 251 Rated Motor No. of Minimum Maximum acceleration/ Minimum Maximum Lead Maximum speed push Actuator Feed Mounting Type output encoder speed deceleration push force push force series screw direction speed pulses [mm] [mm/s] [mm/s] [mm/s] 800 (at 50 to 450st) Horizontal 760 (at 500st) –...
Page 252 Rated Motor No. of Minimum Maximum acceleration/ Minimum Maximum Lead Maximum speed push Actuator Feed Mounting Type output encoder speed deceleration push force push force series screw direction speed pulses [mm] [mm/s] [mm/s] [mm/s] Horizontal – – – 5.72 Vertical –...
Page 253 Rated Motor No. of Minimum Maximum acceleration/ Minimum Maximum Lead Maximum speed push Actuator Feed Mounting Type output encoder speed deceleration push force push force series screw direction speed pulses [mm] [mm/s] [mm/s] [mm/s] Horizontal – – – Vertical – –...
Page 254 Rated Motor No. of Minimum Maximum acceleration/ Minimum Maximum Lead Maximum speed push Actuator Feed Mounting Type output encoder speed deceleration push force push force series screw direction speed pulses [mm] [mm/s] [mm/s] [mm/s] 380 (at 50st) 540 (at 100st) 660 (at 150st) 770 (at 200st) 860 (at 250st)
Page 255 Rated Motor No. of Minimum Maximum acceleration/ Minimum Maximum Lead Maximum speed push Actuator Feed Mounting Type output encoder speed deceleration push force push force series screw direction speed pulses [mm] [mm/s] [mm/s] [mm/s] 380 (at 50st) 540 (at 100st) 660 (at 150st) 770 (at 200st) 860 (at 250st)
Page 256 Rated Motor No. of Minimum Maximum acceleration/ Minimum Maximum Lead Maximum speed push Actuator Feed Mounting Type output encoder speed deceleration push force push force series screw direction speed pulses [mm] [mm/s] [mm/s] [mm/s] 3.81 Lead Horizontal TC3N 1048 – –...
Page 257 Rated Motor No. of Minimum Maximum acceleration/ Minimum Maximum Lead Maximum speed push Actuator Feed Mounting Type output encoder speed deceleration push force push force series screw direction speed pulses [mm] [mm/s] [mm/s] [mm/s] Horizontal – – – Vertical – –...
Page 258: Specifications For Pulse Motor Type Actuator
7.2.2 Specifications for Pulse Motor Type Actuator Caution: • The push force is based on the rated push speed (factory setting) indicated in the list, and provides only a guideline. • Make sure the actual push force is equal to or greater than the minimum push force.
Page 259 Maximum Minimum Maximum Rated No. of Minimum Lead Maximum speed acceleration/ push push push Actuator Feed Mounting Type encoder speed series screw direction deceleration force force speed pulses [mm] [mm/s] [mm/s] [mm/s] Horizontal 458 (at to 250st) 12.5 /vertical 350 (at 300st) 250 (at 50 to 200st) Horizontal 6.25...
Page 260 Maximum Minimum Maximum Rated No. of Minimum Lead Maximum speed acceleration/ push push push Actuator Feed Mounting Type encoder speed series screw direction deceleration force force speed pulses [mm] [mm/s] [mm/s] [mm/s] 380 (at 50st) 540 (at 100st) 660 (at 150st) 770 (at 200st) 860 (at 250st) 940 (at 300st)
Page 261 Maximum Minimum Maximum Rated No. of Minimum Lead Maximum speed acceleration/ push push push Actuator Feed Mounting Type encoder speed series screw direction deceleration force force speed pulses [mm] [mm/s] [mm/s] [mm/s] 380 (at 50st) 540 (at 100st) 660 (at 150st) 770 (at 200st) 860 (at 250st) 940 (at 300st)
Page 262 Maximum Minimum Maximum Rated No. of Minimum Lead Maximum speed acceleration/ push push push Actuator Feed Mounting Type encoder speed series screw direction deceleration force force speed pulses [mm] [mm/s] [mm/s] [mm/s] 380 (at 50st) Horizontal 470 (at 100st) 533 (at 150 to 750st) Vertical 480 (at 800st) Ball...
Page 263 Maximum Minimum Maximum Rated No. of Minimum Lead Maximum speed acceleration/ push push push Actuator Feed Mounting Type encoder speed series screw direction deceleration force force speed pulses [mm] [mm/s] [mm/s] [mm/s] 600 (at 50 to 800st) Horizontal 600 (at to 900st) 515 (at to 1000st) –...
Page 264 Maximum Minimum Maximum Rated No. of Minimum Lead Maximum speed acceleration/ push push push Actuator Feed Mounting Type encoder speed series screw direction deceleration force force speed pulses [mm] [mm/s] [mm/s] [mm/s] Gear ratio: – – 15 (deg/s) 400 (deg/s) –...
Page 265 Maximum Minimum Maximum Rated No. of Minimum Lead Maximum speed acceleration/ push push push Actuator Feed Mounting Type encoder speed series screw direction deceleration force force speed pulses [mm] [mm/s] [mm/s] [mm/s] 180 (at 25st) 16.1 200 (at 50 to 100st) Lead Horizontal screw...
Page 266 Maximum Minimum Maximum Rated No. of Minimum Lead Maximum speed acceleration/ push push push Actuator Feed Mounting Type encoder speed series screw direction deceleration force force speed pulses [mm] [mm/s] [mm/s] [mm/s] 180 (at 25st) 200 (at 50 to 100st) Lead SA2AC Horizontal...
Page 267 Maximum Minimum Maximum Rated No. of Minimum Lead Maximum speed acceleration/ push push push Actuator Feed Mounting Type encoder speed series screw direction deceleration force force speed pulses [mm] [mm/s] [mm/s] [mm/s] 380 (at 50st) 540 (at 100st) 660 (at 150st) 770 (at 200st) 860 (at 250st) Horizontal...
Page 268 Maximum Minimum Maximum Rated No. of Minimum Lead Maximum speed acceleration/ push push push Actuator Feed Mounting Type encoder speed series screw direction deceleration force force speed pulses [mm] [mm/s] [mm/s] [mm/s] 380 (at 50st) 540 (at 100st) 660 (at 150st) 770 (at 200st) 860 (at 250st) Horizontal...
Page 269 Maximum Minimum Maximum Rated No. of Minimum Lead Maximum speed acceleration/ push push push Actuator Feed Mounting Type encoder speed series screw direction deceleration force force speed pulses [mm] [mm/s] [mm/s] [mm/s] Horizontal Vertical Ball Horizontal TA3C screw Vertical Horizontal 16.8 Vertical Horizontal...
Page 270 Maximum Minimum Maximum Rated No. of Minimum Lead Maximum speed acceleration/ push push push Actuator Feed Mounting Type encoder speed series screw direction deceleration force force speed pulses [mm] [mm/s] [mm/s] [mm/s] Horizontal Vertical Ball Horizontal TA7C screw Vertical Horizontal 3.75 RCP3 Vertical...
Page 271 Maximum Minimum Maximum Rated No. of Minimum Lead Maximum speed acceleration/ push push push Actuator Feed Mounting Type encoder speed series screw direction deceleration force force speed pulses [mm] [mm/s] [mm/s] [mm/s] (Note) It is the value when high–thrust function is ineffective. 960 (at 50 to 600st) 1230 (at550st) Horizontal...
Page 272 Maximum Minimum Maximum Rated No. of Minimum Lead Maximum speed acceleration/ push push push Actuator Feed Mounting Type encoder speed series screw direction deceleration force force speed pulses [mm] [mm/s] [mm/s] [mm/s] (Note) It is the value when high–thrust function is ineffective. Horizontal 1000 (at 50 to 700st) 890 (at 750st)
Page 273 Correlation diagram of speed and loading capacity for the RCP2 slider type Horizontal installation Vertical installation SA7C-16 SA7C-16 SS7C-12 SA6C-12 SA6C-12 SA5C-12 SA5C-12 Speed (mm/sec) Speed (mm/sec) SS8C-10 SS8C-10 SA7C-8 SS7C-6 SA6C-6 SA6C-6 SA5C-6 SA5C-6 Speed (mm/sec) Speed (mm/sec) SS8C-5 SA7C-4 SS7C-3 SS7C-3...
Page 274 Correlation diagram of speed and loading capacity for the RCP2 slider type (motor-reversing type) Horizontal installation Vertical installation SA7R-16 SA7R-16 SS7R-12 SS7R-12 SS8R-20 SA6R-12 SA6R-12 SA5R-12 SA5R-12 Speed (mm/sec) Speed (mm/sec) SA7R-8 SA7R-8 SS8R-10 SS7R-6 SS7R-6 SA6R-6 SA6R-6 SA5R-6 SA5R-6 Speed (mm/sec) Speed (mm/sec) SS8R-5...
Page 275 Correlation diagram of speed and loading capacity for the standard RCP2 rod type Horizontal installation Vertical installation (Note 1) RA6C-16 RA4C-10 RA6C-16 RA4C-10 Speed (mm/sec) Speed (mm/sec) RA6C-8 RA4C-5 RA6C-8 RA4C-5 RA3C-5 RA3C-5 Speed (mm/sec) Speed (mm/sec) RA6C-4 RA6C-4 RA4C-2.5 RA4C-2.5 RA3C-2.5 RA3C-2.5...
Page 276 Correlation diagram of speed and loading capacity for RCP2 single-guide type Horizontal installation Vertical installation R G S 6C -16 R G S 6C -16 R G S 4C -10 R G S 4C -10 Speed (mm/sec) Speed (mm/sec) R G S 6C -8 R G S 6C -8 R G S 4C -5 R G S 4C -5...
Page 277 Correlation diagram of speed and loading capacity for the RCP2 double-guide type Horizontal installation Vertical installation RGD6C-16 RGD6C-16 RGD4C-10 RGD4C-10 Speed (mm/sec) Speed (mm/sec) RGD6C-8 RGD6C-8 RGD4C-5 RGD4C-5 RGD3C-5 RGD3C-5 Speed (mm/sec) Speed (mm/sec) RGD4C-2.5 RGD6C-4 RGD6C-4 RGD4C-2.5 RGD3C-2.5 RGD3C-2.5 Speed (mm/sec) Speed (mm/sec) (Note)
Page 278 Correlation diagram of speed and loading capacity for the RCP2 dustproof/ splash-proof type Horizontal installation Vertical installation (Note 1) (Note 2) RA6C-16 RA4C-10 RA6C-16 RA4C-10 Speed (mm/sec) Speed (mm/sec) RA6C-8 RA4C-5 RA6C-8 RA4C-5 Speed (mm/sec) Speed (mm/sec) RA6C-4 RA6C-4 RA4C-2.5 RA4C-2.5 Speed (mm/sec) Speed (mm/sec)
Page 279 Correlation diagram of speed and loading capacity for the RCP3 slider type Horizontal installation Vertical installation Lead 2 Lead 4 Lead 2 Lead 6 Lead 4 Lead 6 Speed (mm/sec) Speed (mm/sec) Lead 2.5 Lead 5 Lead 2.5 Lead 10 Lead 5 Lead 10 Speed (mm/sec)
Page 280 Correlation diagram of speed and loading capacity for the RCP3 table type Horizontal installation Vertical installation Lead 2.5 Lead 2.5 Lead 5 Lead 5 Lead 10 Lead 10 Speed (mm/sec) Speed (mm/sec) Lead 3 Lead 12 Lead 6 Lead 3 Lead 6 Lead 12 Speed (mm/sec)
Page 281 Correlation diagram of speed and loading capacity for the RCP4 slider type Horizontal installation Vertical installation The values for Lead 3/6/12 are when The values for Lead 3/6/12 are when The values for Lead 3/6/12 are when The values for Lead 3/6/12 are when Lead 3 operated with 0.3G.
Page 282 Correlation diagram of speed and loading capacity for the RCP4 rod type Horizontal installation Vertical installation The values for Lead 3/6/12 are when The values shown below are when The values shown below are when Lead 3 operated with 0.2 G. operated with 0.2G.
Page 283 Pressing Force and Current Limit Value Caution • The correlation of the pressing force and the current limit value is the rated pressing speed (in the setting at the delivery) and is a reference value. • Use the actuator with the setting above the minimum pressing force value. The pressing force will be unstable if it is below the minimum pressing force value.
Page 284 RCP2 Series Short Type SRA4R/SRGS4R/SRGD4R Lead 2.5 Lead 5 5 Current-limiting value (ratio, %) RCP2 Series Slider Type SA5C/SA6C/SA7C Type SA7C Type Current-limiting value (ratio, %) Current-limiting value (ratio, %) SS8C Type Current-limiting value (ratio, %)
Page 285 RCP2 Series Gripper GRSS GRLS Current-limiting value (ratio, %) Current-limiting value (ratio, %) Current-limiting value (ratio, %) Current-limiting value (ratio, %) GRST Standard type High-speed type Current-limiting value (ratio, %)
Page 286 3-finger Gripper RCP2 Series GR3LS GR3LM Current-limiting value (ratio, %) Current-limiting value (ratio, %) GR3SS GR3SM Current-limiting value (ratio, %) Current-limiting value (ratio, %)
Page 287 Slim, Compact Rod Type RCP3 Series * Inside the red box is the specification value RA2BC/RA2BR Lead 2 RA2AC/RA2AR Lead 1 Current-limiting value (ratio, %) Current-limiting value (ratio, %) RA2BC/RA2BR Lead 4 RA2AC/RA2AR Lead 2 Current-limiting value (ratio, %) Current-limiting value (ratio, %) RA2AC/RA2AR Lead 4 RA2BC/RA2BR Lead 6 Current-limiting value (ratio, %)
Page 288 Slider Type RCP3 Series SA3C Type SA4C Type Current-limiting value (ratio, %) Current-limiting value (ratio, %) SA5C/SA6C Type Current-limiting value (ratio, %) RCP3 Series Slim, Compact Table Type TA3C/TA3R Type TA4C/TA4R Type Current-limiting value (ratio, %) Current-limiting value (ratio, %) RCP3 Series Table Type TA5C Type...
Page 289 RCP4 Series Slider Type SA5C/SA6C Type SA7C Type Lead 3 Lead 4 Lead 8 Lead 6 Lead 12 Lead 16 Lead 20 Lead 24 Current-limiting value (ratio, %) Current-limiting value (ratio, %) RCP4 Series Rod Type RA5C Type RA6C Type 1200 1000 Lead 4...
Page 291: Chapter 8 Warranty
Chapter 8 Warranty 8.1 Warranty Period One of the following periods, whichever is shorter: 18 months after shipment from our company 12 months after delivery to the specified location 8.2 Scope of the Warranty Our products are covered by warranty when all of the following conditions are met. Faulty products covered by warranty will be replaced or repaired free of charge: (1) The breakdown or problem in question pertains to our product as delivered by us or our authorized dealer.
Page 292: Conditions Of Conformance With Applicable Standards/Regulations
8.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications (1) If our product is combined with another product or any system, device, etc., used by the customer, the customer must first check the applicable standards, regulations and/or rules. The customer is also responsible for confirming that such combination with our product conforms to the applicable standards, etc.
Page 293: Change History
Change History Revision Date Revision Description 2012.02 First Edition 2012.03 Second Edition Note corrected 2012.04 Third Edition Complied with CompoNet, MECHATROLINK, EtherCAT and EtherNet/IP. 2012.10 Fourth Edition Command availability in MECHATROLINK added and corrections made...
Page 296 SHANGHAI JIAHUA BUSINESS CENTER A8-303, 808, Hongqiao Rd. Shanghai 200030, China TEL 021-6448-4753 FAX 021-6448-3992 website: www.iai-robot.com The information contained in this document is subject to change without notice for purposes of product improvement. Copyright © 2012. Oct. IAI Corporation. All rights reserved. 12.10.000...

IAI Msep Instruction Manual

Chapter 1 Specifications Check

Chapter 2 Wiring

Chapter 3 Operation

Chapter 4 Absolute Reset and Absolute Battery

Chapter 5 I/O Parameter

Chapter 6 Troubleshooting

Chapter 7 Appendix

Chapter 8 Warranty

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