Iai-america PSEP Instrukcja Użytkownika

DSEP ControllerASEP ControllerPSEP ControllerInstruction Manual Ninth Edition/

4/No.OperationDescriptionDescription4 Installation andStart(4) Safety MeasuresƔ:KHQWKHZRUNLVFDUULHGRXWZLWKRUPRUHSHUVRQVPDNHLWFOHDUZKR

94/4. AppendixActuatorseriesTypeFeedscrewMotoroutputNo. ofencoderpulsesLeadMountingdirectionMinimumspeedMaximum speedMaximum acceleration/deceleration

95/4. AppendixActuatorseriesTypeFeedscrewMotoroutputNo. ofencoderpulsesLeadMountingdirectionMinimumspeedMaximum speedMaximum acceleration/deceleration

96/4. AppendixActuatorseriesTypeFeedscrewMotoroutputNo. ofencoderpulsesLeadMountingdirectionMinimumspeedMaximum speedMaximum acceleration/deceleration

97/4. AppendixActuatorseriesTypeFeedscrewMotoroutputNo. ofencoderpulsesLeadMountingdirectionMinimumspeedMaximum speedMaximum acceleration/deceleration

98/4. AppendixActuatorseriesTypeFeedscrewMotoroutputNo. ofencoderpulsesLeadMountingdirectionMinimumspeedMaximum speedMaximum acceleration/deceleration

99/4. Appendix•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

100/4. AppendixRCP2 SeriesSRA4R/SRGS4R/SRGD4RSA5C/SA6C/SS7C Type SA7C TypeSA8C TypeRCP2 SeriesSlider TypePressing Force (N)Current Limit Value (Ratio

101/4. AppendixCurrent Limit Value (Ratio ) Current Limit Value (Ratio )Current Limit Value (Ratio )Current Limit Value (Ratio )Current Limit Valu

102/4. AppendixCurrent Limit Value (Ratio ) Current Limit Value (Ratio )Current Limit Value (Ratio ) Current Limit Value (Ratio )Three-finger Grip

103/4. AppendixCurrent Limit Value (Ratio )Pressing Force (N)Current Limit Value (Ratio )Pressing Force (N)Current Limit Value (Ratio )Pressing For

5/No.OperationDescriptionDescription6 Trial Operation Ɣ:KHQWKHZRUNLVFDUULHGRXWZLWKRUPRUHSHUVRQVPDNHLWFOHDUZKRLVto be the leader and

104/4. AppendixCurrent Limit Value (Ratio )Pressing Force (N)Current Limit Value (Ratio )Pressing Force (N)Current Limit Value (Ratio )Pressing For

105/4. AppendixCurrent Limit Value (Ratio )Pressing Force (N)Micro CylinderRCL SeriesUltra-small ROBO CylinderRCD SeriesRA1D TypePressing Force (N)Cu

106/5. Warranty5. Warranty5.1 Warranty PeriodOneofthefollowingperiods,whicheverisshorter:•18monthsaftershipmentfromourfactoryPRQWKVDIWHUGHOLYHU

107/5. Warranty5.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications(1) Ifourproductiscombinedwithanotherproduct

108/Change HistoryChange HistoryRevision Date Revision Description2010.112011.012011.042011.072011.102011.112011.122012.052013.01First EditionSecond E

Manual No.: ME0267-9A (January 2013)The information contained in this document is subject to change without notice for purposes ofproduct improvement.

6/No.OperationDescriptionDescription8 Maintenanceand InspectionƔ:KHQWKHZRUNLVFDUULHGRXWZLWKRUPRUHSHUVRQVPDNHLWFOHDUZKRLVto be the l

7/Alert IndicationThe safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to thewarning level, as follows, and d

8/ASEP/PSEP and DSEP comply with the following international standards:RoHS Directive CE Marking UL(Note)żżż(Note) The DSEP is not applicable to UL.In

9/CE MarkingIf a compliance with the CE Marking is required, please follow Overseas Standards ComplianceManual (ME0287) that is provided separately.

10/Precautions in Operation1. Use the following teaching tools.Use the teaching tool such as the PC software stated in the next clause as the applicab

11/4. Operation cannot be performed unless there is an input of Servo-onSignal and Pause Signal.(1) Servo-on Signal (SON)Servo-on signal (SON) is sele

12/OutputProcessInputProcess6. Transference of PIO Signal between ControllersPlease note the following when conducting transference of PIO signal betw

13/7. PLC Timer SettingDo not have the PLC timer setting to be done with the minimum setting.Setting to “1” for 100msec timer turns on at the timing f

14/1) Battery Connector (It is not equipped for Incremental Type and DSEP) If Absolute Type actuator, it is the battery connector for absolute data re

15/Pin No. Signal Description5BKFor Brake Forced Release Power Supply (ASEP/PSEP)Keep DSEP disconnected.4 MP Motor Driving Power Supply3 24V Positive

16/Actuator AxesRefer to the pictures below for the actuator axes that can be controlled by ASEP/PSEP and DSEP.(There are some types that cannot be co

17/(5) Gripper Type000+++Finger Attachment(Note)00++Finger Attachment(Note) Note: Finger attachment is not included in the actuator package. Please pr

18/:KHQXVLQJWKLVSURGXFWIRUWKH¿UVWWLPHPDNHVXUHWRDYRLGPLVWDNHVDQGLQFRUUHFWZLULQJE\UHIHUULQJWRthe procedure below.Installation and Wi

19/6SHFL¿FDWLRQV&KHFN 6SHFL¿FDWLRQV&KHFN1.1 Product Check7KLVSURGXFWLVFRPSULVHGRIWKHIROORZLQJSDUWVLILWLVRIVWDQGDUGFRQ¿JXU

20/6SHFL¿FDWLRQV&KHFN1.1.3 Instruction manuals related to this product, which are contained in theinstruction manual (CD/DVD).No Name Manual N

21/6SHFL¿FDWLRQV&KHFN<Detail of Connected Axis>[Motor Type][Encoder Type]I : Incremental * It is not the absolute type.<Identifica

22/6SHFL¿FDWLRQV&KHFN %DVLF6SHFL¿FDWLRQV6SHFL¿FDWLRQVItem ASEP PSEP DSEPNumber of controlled axes 1-axisPower-supply voltage 24V DC ±10%C

23/6SHFL¿FDWLRQV&KHFNItem ASEP PSEP DSEPForcibly releasing ofelectromagnetic brake switchNoneSupply 24V DC 150mA to BK on power connector when

/[Important]x This Instruction Manual is original.x 7KHSURGXFWFDQQRWEHRSHUDWHGLQDQ\ZD\XQOHVVH[SUHVVO\VSHFL¿HGLQWKLV,QVWUXFWLRQ0DQXDO,

24/6SHFL¿FDWLRQV&KHFN1.3 External Dimensions110mm30mm 72.2mmFront View Side ViewBottom View[ASEP/PSEP/DSEP-C]105mm30mm 72.2mmFront ViewSide Vi

25/6SHFL¿FDWLRQV&KHFN ,26SHFL¿FDWLRQV1.4.1 PIO Input and Output InterfaceInput Section Output Section6SHFL¿cationInput Voltage 24V DCr1

26/6SHFL¿FDWLRQV&KHFN1.5 Installation EnvironmentThis product is capable for use in the environment of pollution degree 2*1or equivalent.*1 Po

27/6SHFL¿FDWLRQV&KHFN1.6 Installation and Noise Elimination(1) Noise Elimination Grounding (Frame Ground)Connect it using an earth cablemade o

28/6SHFL¿FDWLRQV&KHFN(4) Heat Radiation and InstallationConduct design and manufacture in consideration of the control box size, controller la

29/2. Wiring2. Wiring2.1 Wiring Diagram (Connection of construction devices)SIO ConnectorTouch Panel Teaching(to be purchased separately)PC softwareFl

30/2. Wiring2.2 PIO Pattern Selection and PIO Signal(1) Operation PatternThe 6 operation patterns (For PIO Pattern). Each of these 6 patterns is descr

31/2. WiringOperation Pattern ContentsExample for Electric CylinderConnectionExample for Air CylinderConnection (Reference)Single Solenoid System(Poin

32/2. WiringOperation Pattern ContentsExample for Electric CylinderConnectionExample for Air CylinderConnection (Reference)PIO Pattern 5(ContinuousRec

33/2. Wiring(2) PIO Pattern and Signal AssignmentPattern 0 1 2 3 4 5Point-to-PointMovement(Standard)Point-to-PointMovement(MovementSpeed Setting)Point

/

34/2. Wiring(3) List of PIO Signal FunctionsSignalTypeSymbol Signal Name FunctionPowerInput24V I/O Power SupplyIt is the common power source for I/O

35/2. Wiring2.3 Circuit Diagram (Example)[1] Power/Emergency Stop CircuitCRCRCRBrake Power SopplyMotor Power SopplyASEP/PSEP/DSEPEmergencyStop Release

36/2. Wiring[3] Pattern 1 : Point-to-Point Movement (Movement Speed Change)1) Single Solenoid SystemASEP/PSEP/DSEPPIO ConnectorMovement SignalPause Si

37/2. Wiring[4] Pattern 2 : Point-to-Point Movement (Target Position Change)1) Single Solenoid SystemASEP/PSEP/DSEPPIO ConnectorMovement SignalPause S

38/2. Wiring[5] Pattern 3 : 3-Point Movement (2-Input)ASEP/PSEP/DSEPPIO ConnectorMovement Signal 1Movement Signal 2(Reset Signal)Servo ON Signal0V (NP

39/2. Wiring[8] Input Emergency Stop to Multiple Controllers+24V0VExternal EMGReset SwitchExternalEMGSwitchTouch PanelTeachingSIO ConverterEMGBEMGAEMG

40/2. Wiring[9] Motor • Encoder ConnectorASEP/PSEP/DSEPMOT PG(Motor · Encoder Cable Connector)Motor · Encoder Connector Integrated Cable(Note)(Note) M

41/2. Wiring2.4 Wiring Method2.4.1 Wiring Layout of Power Supply ConnectorThe wires of the power supply and the emergency stop circuit are to be conne

42/2. Wiring2.4.2 Wiring Layout of FG Terminal BlockFG is to be connected to a screwless terminal block.Strip the sheath of the applicable wires for 1

43/2. Wiring2.4.3 Connection to ActuatorConnect the cables to the motor • encoder connectors.Note:For Simple Absolute applicable type, remove the abso

//Table of ContentsSafety Guide ...

44/2. Wiring2.4.4 Connection of PIOConduct the connection of I/O to the controller is to be carried out using the dedicated I/O cable. Thecable length

45/2. Wiring2.4.5 SIO Connector ConnectionSIO connectors can be used not only for the connection of teaching tool, but also for theconnection of the h

46/2. Wiring2.4.6 Battery Connector Connection (For Simple Absolute Type)The absolute battery unit is to be connected to the battery connector.Connect

47/2. WiringBatteryName NiMH battery (SANYO Electric Co., Ltd.)Model AB-7Rated 3.6V 3300mAhBattery Life (reference) Approximately 3 years (It may vary

48/3. Operation3. Operation3.1 Setting3.1.1 Initial SettingConduct the following initial settings on the PC software or Touch Panel Teaching.Refer to

49/3. OperationNo. Setting ItemsSetting Range(Set in delivery)ContentsPIO Pattern0123458 Output SignalTypeLimit Switch/Positioning(Limit Switch)The ac

50/3. Operation3.1.2 Position Data SettingSet the following items in the position data editing window of the PC software menu or by selecting“Position

51/3. OperationNote:Regarding to Acceleration/Deceleration Speed Setting 'RQRWKDYHWKHVHWWLQJWRH[FHHGWKHUDWHGDFFHOHUDWLRQGHFHOHUDWLR

52/3. Operation[Pressing towards Backward Position or Intermediate Position Pulling Action]VelocityTimePressing Complete(Positioning completesignal ou

53/3. Operationx When the position data is to be changed for the Operation Pattern (PIO Pattern) No. 2, in additionto the position data items for the

/3. Operation...483.1 Setting...

54/3. Operation3.1.3 Absolute Reset(This function is effective only when the controller and actuator are theabsolute type).:KHQWKHSRZHUWRWKHPDFKL

55/3. Operation3.2 Power-up and PIO Control3.2.1 Control of Input SignalThe input signal of this controller has the input time constant of 7msec consi

56/3. Operation3.2.2 Power Input1) Releasetheemergencystopstatusorenablethemotordrivingpowersupply.2) Supply24VDCfortheI/O.3) Supply24VDCforthecontrol

57/3. Operation3.2.3 Home-returnHome-return operation is performed when turning the Movement Signal 1 (ST0) on if the home returnhas not yet done sinc

58/3. Operation3.3 Timing Chart[1] Point-to-Point Movement (For Single Solenoid System) ••• PIO Pattern 0 to 2 When the ST0 is turned “ON”, the positi

59/3. Operation[3] Pause during Movement (For Single Solenoid System) ••• PIO Pattern 0 to 2*InputtingtheSTPsignalpausestheactuatormotion.Aforwardposi

60/3. Operation[6]Speed Change during the Movement (For Double Solenoid System)••• PIO Pattern 1Themovementspeedischangedduringtheactuator’smovementto

61/3. Operation[9] 3-Point Movement (For Single Solenoid System) ••• PIO Pattern 3With the combination of ST0 and ST1, the actuator is moved to the ta

62/3. Operation[10] Reciprocating Operation between 2 Points ••• PIO Pattern 5Reciprocating operation is performed continuously between the forward a

63/3. Operation3.4 User ParametersNo Name Initial Value Setting Range Remarks1Positioning Width [mm]Dependent onActuator0.01 toDependent onActuatorSet

1/Safety Precautions for Our ProductsThe common safety precautions for the use of any of our robots in each operation.No.OperationDescriptionDescripti

64/3. OperationNo Name Initial Value Setting Range Remarks19Absolute Battery RetentionTime2 0 to 3Set the standard for the absolute data storage time.

65/3. Operation3.5 Servo AdjustmentThe parameters are preset at the factory before shipment to perform a stable operation in response tothe position c

66/3. Operation3.5.2 Adjustment for DSEPNo.Situation that RequiresAdjustmentHow to Adjust1 Hunching occurs duringthe positioning stopSet the parameter

67/3. OperationNo.Situation that RequiresAdjustmentHow to Adjust3 Abnormal noise isgenerated/Especially,when stop andoperation in low speed(less than

68/3. Operation3.5.3 Servo Parameter• User Parameter No. 3 Servo-Motor Gain NumberThis parameter decides the responsibility to the position control lo

69/3. Operation3.6 Alarm3.6.1 Alarm Level7KHDODUPVDUHFODVVL¿HGWRW\SHVRIOHYHOVE\WKHFRQWHQWRIWKHHUURUAlarm Level Status LampCondition in

70/3. Operation3.6.2 Alarm Codes and Trouble ShootingErrorLevelCode Alarm Name Cause/TreatmentOperationCancellation080Movement Command inServo-Motor O

71/3. OperationErrorLevelCode Alarm Name Cause/TreatmentCold Start0B7Magnetic PoleIndeterminate)RUWKLVFRQWUROOHUZKHQWKHVHUYRPRWRULVWXUQHG21

72/3. OperationErrorLevelCode Alarm Name Cause/TreatmentOperationCancellation0C1 Servo-Motor ErrorThe motor operation is not available for 2 seconds o

73/3. OperationErrorLevelCode Alarm Name Cause/TreatmentOperationCancellation0D9Software Stroke Limit-Over ErrorCause : (1) In the case that the actu

2/No.OperationDescriptionDescription2 Transportation Ɣ:KHQFDUU\LQJDKHDY\REMHFWGRWKHZRUNZLWKWZRRUPRUHSHUVRQVRUutilize equipment such as

74/3. OperationErrorLevelCode Alarm Name Cause/TreatmentOperationCancellation0EFAbsolute Encoder ErrorDetection 3&DXVH 7KHFXUUHQWYDOXHLVLQ

75/4. Appendix4. Appendix /LVWRI6SHFL¿FDWLRQVRI&RQQHFWDEOH$FWXDWRUV7KHVSHFL¿FDWLRQVLQFOXGHGLQWKLVVSHFL¿FDWLRQOLVWDUHOLPLWHGWRWK

76/4. AppendixActuatorseriesTypeFeedscrewNo. ofencoderpulsesLeadMountingdirectionMinimumspeedMaximum speedMaximumacceleration/decelerationMinimumpushf

77/4. AppendixActuatorseriesTypeFeedscrewNo. ofencoderpulsesLeadMountingdirectionMinimumspeedMaximum speedMaximumacceleration/decelerationMinimumpushf

78/4. AppendixActuatorseriesTypeFeedscrewNo. ofencoderpulsesLeadMountingdirectionMinimumspeedMaximum speedMaximumacceleration/decelerationMinimumpushf

79/4. AppendixActuatorseriesTypeFeedscrewNo. ofencoderpulsesLeadMountingdirectionMinimumspeedMaximum speedMaximumacceleration/decelerationMinimumpushf

80/4. AppendixActuatorseriesTypeFeedscrewNo. ofencoderpulsesLeadMountingdirectionMinimumspeedMaximum speedMaximumacceleration/decelerationMinimumpushf

81/4. AppendixActuatorseriesTypeFeedscrewNo. ofencoderpulsesLeadMountingdirectionMinimumspeedMaximum speedMaximumacceleration/decelerationMinimumpushf

82/4. AppendixActuatorseriesTypeFeedscrewNo. ofencoderpulsesLeadMountingdirectionMinimumspeedMaximum speedMaximumacceleration/decelerationMinimumpushf

83/4. AppendixActuatorseriesTypeFeedscrewNo. ofencoderpulsesLeadMountingdirectionMinimumspeedMaximum speedMaximumacceleration/decelerationMinimumpushf

3/No.OperationDescriptionDescription4 Installation andStart(2) Cable WiringƔ8VHRXUFRPSDQ\¶VJHQXLQHFDEOHVIRUFRQQHFWLQJEHWZHHQWKHDFWXDWRUand

84/4. AppendixActuatorseriesTypeFeedscrewNo. ofencoderpulsesLeadMountingdirectionMinimumspeedMaximum speedMaximumacceleration/decelerationMinimumpushf

85/4. AppendixActuatorseriesTypeFeedscrewNo. ofencoderpulsesLeadMountingdirectionMinimumspeedMaximum speedMaximumacceleration/decelerationMinimumpushf

86/4. AppendixActuatorseriesTypeFeedscrewNo. ofencoderpulsesLeadMountingdirectionMinimumspeedMaximum speedMaximumacceleration/decelerationMinimumpushf

87/4. Appendix[2] ASEPActuatorseriesTypeFeedscrewMotoroutputNo. ofencoderpulsesLeadMountingdirectionMinimumspeedMaximum speedMaximum acceleration/dece

88/4. AppendixActuatorseriesTypeFeedscrewMotoroutputNo. ofencoderpulsesLeadMountingdirectionMinimumspeedMaximum speedMaximum acceleration/deceleration

89/4. AppendixActuatorseriesTypeFeedscrewMotoroutputNo. ofencoderpulsesLeadMountingdirectionMinimumspeedMaximum speedMaximum acceleration/deceleration

90/4. AppendixActuatorseriesTypeFeedscrewMotoroutputNo. ofencoderpulsesLeadMountingdirectionMinimumspeedMaximum speedMaximum acceleration/deceleration

91/4. AppendixActuatorseriesTypeFeedscrewMotoroutputNo. ofencoderpulsesLeadMountingdirectionMinimumspeedMaximum speedMaximum acceleration/deceleration

92/4. AppendixActuatorseriesTypeFeedscrewMotoroutputNo. ofencoderpulsesLeadMountingdirectionMinimumspeedMaximum speedMaximum acceleration/deceleration

93/4. AppendixActuatorseriesTypeFeedscrewMotoroutputNo. ofencoderpulsesLeadMountingdirectionMinimumspeedMaximum speedMaximum acceleration/deceleration