Iai-america ACON-SE Bedienungsanleitung

ACON-SE ControllerSerial Communication TypeOperation Manual Thirteenth EditionIAI America Inc.

4.Description of Operating Functions...404.1 Description of Positio

905. Parameter Settings Speed loop integral gain (No. 32 VLPT)Parameter No. Unit Input range Default32 1 – 217270 Individual setting in accordanc

916. Troubleshooting6. Troubleshooting 6.1 Action to Be Taken upon Occurrence of Problem Upon occurrence of a problem, take an appropriate action in

926. Troubleshooting6.2 Alarm Level Classification Alarms are classified into the following two levels in accordance with the symptoms they represent

936. Troubleshooting6.3 Alarm Description and Cause/Action (1) Operation-cancellation level alarms Code Error name Cause/Action 080 Movement comma

946. TroubleshootingCode Error name Cause/Action 0B5 Phase-Z position error The position at which phase Z was detected during home return was outsi

956. TroubleshootingnoitcA/esuaCemanrorrEedoC0D2 Excessive motorpower-supply voltage0D8 Deviation overflow The position deviation counter has overflow

966. Troubleshooting0EF Absolute encoder error (3) Cause: When the power was cut off, the current value changed at a speed equal to or above the se

976. Troubleshooting(2) Cold-start level alarms Code Error name Cause/Action 0A1 Parameter data error Cause: The data input range in the parameter

986. TroubleshootingCode Error name Cause/Action 0CB Current sensor offset adjustment error The condition of the current detection sensor inside the

996. TroubleshootingCode Error name Cause/Action 0F6 Nonvolatile memory write timeoutThis alarm indicates that no response was made when data was wr

1Safety Guide When designing and manufacturing a robot system, ensure safety by following the safety guides provided below and taking the necessary me

1006. Troubleshooting6.4 Messages Displayed during Operation Using the Teaching Pendant or PC Software This section explains the warning messages tha

1016. TroubleshootingCode Message name Cause/Action 20C CSTR-ON during operation7KLVPHVVDJHLQGLFDWHVWKDWWKHVWDUWVLJQDO&675EHFDPH³´E\

1026. Troubleshooting6.5 Specific Problems Ɣ The ALM lamp illuminates in red when the power is input. (An alarm is present, or an emergency stop has

1036. TroubleshootingƔ Home return ends in mid-process in a vertical application.Cause: [1] The loading mass exceeds the rating.[2] The ball screw is

1046. TroubleshootingƔ A malfunction occurs when the servo turns ON after the power is input. Cause: Exciting-phase detection is not normally perform

1057. Operation Examples7. Operation Examples For operation examples of this product, refer to the following operation manuals: y- Device Net Gateway

106* AppendixAppendix* Appendix List of Specifications of Connectable Actuators The specifications included in this specification list are limited to

107* AppendixAppendixMotor outputLeadMinimumspeedMaximum speedMaximum acceleration/ decelerationMinimum push force Maximum pushforceRated push speedAc

108* AppendixAppendixMotor outputLeadMinimumspeedMaximum speedMaximum acceleration/ decelerationMinimum push force Maximum pushforceRated push speedAc

109* AppendixAppendixMotor outputLeadMinimumspeedMaximum speedMaximum acceleration/ decelerationMinimum push force Maximum pushforceRated push speedAc

2Requirements for Industrial Robots under Ordinance on Industrial Safety and Health Work area Work condition Cutoff of drive source Measure ArticleS

110* AppendixAppendixMotor outputLeadMinimumspeedMaximum speedMaximum acceleration/ decelerationMinimum push force Maximum pushforceRated push speedAc

111* AppendixAppendixMotor outputLeadMinimumspeedMaximum speedMaximum acceleration/ decelerationMinimum push force Maximum pushforceRated push speedAc

112* AppendixAppendixMotor outputLeadMinimumspeedMaximum speedMaximum acceleration/ decelerationMinimum push force Maximum pushforceRated push speedAc

113* AppendixAppendixMotor outputLeadMinimumspeedMaximum speedMaximum acceleration/ decelerationMinimum push force Maximum pushforceRated push speedAc

114* AppendixAppendixMotor outputLeadMinimumspeedMaximum speedMaximum acceleration/ decelerationMinimum push force Maximum pushforceRated push speedAc

115* AppendixAppendixMotor outputLeadMinimumspeedMaximum speedMaximum acceleration/ decelerationMinimum push force Maximum pushforceRated push speedAc

116* AppendixAppendixMotor outputLeadMinimumspeedMaximum speedMaximum acceleration/ decelerationMinimum push force Maximum pushforceRated push speedAc

117* AppendixAppendixMotor outputLeadMinimumspeedMaximum speedMaximum acceleration/ decelerationMinimum push force Maximum pushforceRated push speedAc

118* AppendixAppendixMotor outputLeadMinimumspeedMaximum speedMaximum acceleration/ decelerationMinimum push force Maximum pushforceRated push speedAc

119* AppendixAppendixRecording of Position-Data Table Recorded date: No.Position[mm]Speed [mm/s]Acceleration [G]Deceleration[G]P

3Applicable Models of IAI’s Industrial RobotsMachines meeting the following conditions are not classified as industrial robots according to Notice of

120* AppendixAppendixNo.Position[mm]Speed [mm/s]Acceleration [G]Deceleration[G]Push[%]Threshold [%] Positioningband [mm] Zone + [mm]=RQH±[mm]Acceler

121* AppendixAppendixNo.Position[mm]Speed [mm/s]Acceleration [G]Deceleration[G]Push[%]Threshold[%]Positioningband [mm] Zone + [mm]=RQH±[mm]Accelerat

122* AppendixRecording of Parameters Recorded date: a: Parameter relating to the actuator stroke range b: Parameter relating to the actuator operati

123* AppendixNo. Category Symbol Name Unit Default factory setting 78 b ATYP Axis operation type - 79 b ATYP Rotation axis mode selection -

124Change HistoryChange History Revision Date Description of Revision August 2007 August 2008 March 2009 First edition 2nd edition x Added the descr

125Change HistoryDescription of RevisionRevision DateOctober 2009 February 2010 April 2010 July 2010 5th edition Added the slim compact type on the n

Manual No.: ME0171-13A (December 2012)The information contained in this document is subject to change without notice for purposes ofproduct improvemen

4Notes on Safety of Our ProductsCommon items you should note when performing each task on any IAI robot are explained below. No. Task Note 1 Model se

5No. Task Note (2) Wiring the cables z8VH,$,¶VJHQXLQHFDEOHVWRFRQQHFWWKHDFWXDWRUDQGFRQWUROOHURUFRQQHFWDWHDFKLQJtool, etc. z'RQRW

66 Confirmation operationz After teaching or programming, carry out step-by-step confirmation operation before switching to automatic operation. z Whe

7Indication of Cautionary Information 7KHRSHUDWLRQPDQXDOIRUHDFKPRGHOGHQRWHVVDIHW\JXLGHVXQGHU³'DQJHU´³:DUQLQJ´³&DXWLRQ´DQG³1RW

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91. Overview1. Overview 1.1 Introduction The ACON Series controllers are specifically designed for the RCA, RCA2 and RCL actuators, and adopt new func

101. Overview1.2 Main Features and Functions (1) Control signals are input/output via serial communication RS485 (compatible with Modbus protocol).

111. Overview1.3 Model Number<Series name><Connection with host side>SE: For serial communication only<Actuator characteristics>[Mot

121. Overview1.4 System Configuration (1) When the gateway unit is used (supporting field network) Caution: (1) If the actuator is not equipped wit

131. Overview(2) When the SIO converter is used (RS232C serial communication) Connect the teaching pendant, PC or PLC using the SIO converter (RS232C

141. Overview1.5 Procedure from Unpacking to Trial Run Adjustment When using this product for the first time, pursue work while paying attention to a

151. Overview6.Safety Speed SettingThe default value of the safety speed is 100 mm/s or less. Change it if necessary. (Limited to 250 mm/s or less) o

161. Overview1.6 Warranty1.6.1 Warranty Period1.6.2 Scope of WarrantyOne of the following periods, whichever is shorter:18 months after shipment from

171. Overview1.6.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications(1) If our product is combined with another

186SHFL¿FDWLRQV2. Specifications 2.1 Basic Specifications Specification item Description Model ACON-SE Number of controlled axes 1 axis per unit

196SHFL¿FDWLRQV2.2 Name and Function of Each Part of the Controller BKTerminal for connecting the brake release switch to forcibly release the bra

Please Read Before Use Thank you for purchasing our product. This Operation Manual explains the handling methods, structure and maintenance of this pr

206SHFL¿FDWLRQV52.3 External Dimensions An external view and dimensions of the product are shown below. 3568.1120112 5

216SHFL¿FDWLRQV2.4 SIO Converter (Option) Model: RCB-TU-SIO-A (vertical installation) RCB-TU-SIO-B (horizontal installation) This unit is a RS232C

226SHFL¿FDWLRQV[4] D-sub, 9-pin connector (RS232C) $FRQQHFWLRQSRUWZLWKWKH3/&¶VFRPPXQLFDWLRQPRGXOH$3&FDQDOVREHFRQQHFWHGWRWK

233. Installation and Wiring3. Installation and Wiring3.2 Supplied VoltageThe power supply specification is 24 VDC±10%.For the power-supply capacity,

243. Installation and Wiring[2] Precautions regarding wiring method(2) Noise sources and elimination[1] AC solenoid valves, magnet switches and relays

253. Installation and Wiring3.4 Heat Radiation and Installation Design the control panel size, controller layout and cooling method in such a way tha

263. Installation and Wiring3.5 External Connection Diagram An example of standard wiring is shown below. (Note) When encoder relay cables are of the

273. Installation and WiringBrake release switch to forcibly release the brakePower supply terminalblockInput power supply: 24 VDC: 3.6 Wiring the Po

283. Installation and Wiring3.8 Wiring the Emergency Stop Circuit 3.8.1 Drive Signal Shutdown (Standard) The motor drive is stopped by the controlle

293. Installation and Wiring(2) When the gateway unit is used Caution: (1) The input current to the EMG terminal of ACON-SE is 5 mA. When connectin

303. Installation and Wiring3.8.2 Cutting off the Motor Drive Power Supply If the safety category of the entire equipment requires motor drive power

313. Installation and Wiring(2) When the gateway unit is used Caution: [1] The input current to the EMG terminal of ACON-SE is 5 mA. When connectin

323. Installation and WiringCable color Signal name Pin No. Pin No. Housing: DF1E-3S-2.5C (Hirose) Contact: DF1E-2022SC (Hirose) (or DF1B-2022SC) Hou

333. Installation and WiringRedYellowBlackCable name Pin No. Pin No. HousingContactCable namePin No. DescriptionHousing: PHDR-18VR (J.S.T. Mfg.) Conta

343. Installation and Wiring3.10 Connecting the SIO Communication 3.10.1 Connecting the RS232C Serial Communication (1) Basic information Connect th

353. Installation and Wiring(2) Connecting the multiple axes Item Description Maximum number of units that can be connected 16 axes max. (depending o

363. Installation and WiringPC (USB port) Conversion unit (RCB-CV-USB)SIO isolator RS485communicationInsulation The isolator communication cable CB-RC

373. Installation and WiringApply pressure. Locking tabCable tubeDouble shielded twisted-pair shieldedSolderShieldedwires Vinyl wiree-CON connector䕔

383. Installation and Wiringe-CON connector pin numbers Always insert a terminal resistor (220 :, 1/4 W) at the end of the communication trunk (betw

393. Installation and Wiring3.10.2 Connection to Field Network The gateway unit is used to connect the controllers to the field network of DeviceNet,

CAUTION1. Use EnvironmentACON controllers can be used in an environment of pollution degree 2 or equivalent.2. Models of Teaching Pendants and PC Soft

404. Description of Operating Functions4. Description of Operating Functions The ACON-SE is a dedicated serial communication controller supporting 64

414. Description of Operating FunctionsList of ACON-SE Functions ż: Direct control U: Indirect control ×: InvalidOperation by position number specif

424. Description of Operating Functions4.1 Description of Position Table A position table is created by using the PC software or teaching pendant. Fo

434. Description of Operating Functions(4) Acceleration/deceleration: y Enter the acceleration/deceleration at which the actuator will be moved, in

444. Description of Operating Functions[Push & hold operation] It defines the maximum push amount from the target position in the push & hold

454. Description of Operating Functions(9) Acceleration/deceleration mode: y It defines the acceleration/deceleration characteristics. The default va

464. Description of Operating FunctionsFirst-order lag filter More gradual acceleration/deceleration curves are drawn than the linear acceleration/dec

474. Description of Operating Functions4.2 Setting Data in Numeric Specification Mode If operation is performed in the numeric specification mode, th

484. Description of Operating Functions4.3 Control Signals, Control Data In order to operate ACON-SE via serial communication, it is required to writ

494. Description of Operating Functions(PLC o Controller) Register BitaddressBitposition SignalsymbolSignal name Description  ± 043AH 5 PC3

x Changing the zone function Application versions: V0015 or later Now, zone signal settings that meet the relationshLS³=RQHVHWWLQJ=RQHVHWW

504. Description of Operating Functions(PLC o Controller) Register Address Description 9900H b15 b8 b7 b0 High order PCMDP

514. Description of Operating Functions(PLCo Controller) Register Address Description 9907H b15 b8 b7 b0  PPOWCurrent-limi

524. Description of Operating Functions(2) Controller output signals (Controller o PLC) Register BitaddressBitposition SignalsymbolSignal name Descr

534. Description of Operating Functions(Controller o PLC) Register BitaddressBitposition SignalsymbolSignal name Description  ± 0147H 8 P

544. Description of Operating Functions4.4 Operation Timings 4.4.1 Timing after Power ON After conforming that the slider or rod is not contacting th

554. Description of Operating FunctionsWarning: A pulse motor is used as the drive motor, so the excited phase is detected when the servo is turned o

564. Description of Operating Functions4.4.2 Home Return Operation Since this controller adopts the incremental position detector (encoder), mechanic

574. Description of Operating FunctionsŶ Home return command (HOME) When the rise edge (0o1) of this signal is detected, home return operation starts

584. Description of Operating Functions4.4.3 Positioning Operation )LUVWWXUQRQWKH9'&SRZHUVXSSO\DQGFRQILUPWKDWWKHSRVLWLRQFRPSO

594. Description of Operating FunctionsOperational Description [1] If operation becomes ready after the power is turned on, the operation ready (SV)

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

604. Description of Operating FunctionsŶ Positioning start (CSTR) Upon detecting a rise edge (0o1) of this signal, the controller will read the target

614. Description of Operating FunctionsŶ Position Complete (PEND) This signal indicates that the target position has been reached, and turns ON in th

624. Description of Operating Functions4.4.4 Push & Hold Operation The actuator can continue to hold work in position while the rod end is pushin

634. Description of Operating Functions[1] Push & hold mode y 6HWDQXPHULFYDOXHRWKHUWKDQLQWKH³3XVK´ILHOGRIWKHSRVLWLRQWDEOH&

644. Description of Operating Functions(2) Work is not contacted (missed) If work is not contacted even though the actuator has moved the distance by

654. Description of Operating Functions(4) Positioning band is entered with an incorrect sign If the positioning band is entered with an incorrect si

664. Description of Operating Functions4.4.5 PauseThe actuator will decelerate to a stop by setting the pause command (STP) to “1” during its operatio

674. Description of Operating Functions4.4.6 Speed Change during Movement Speed control involving multiple speed levels is possible in a single operat

684. Description of Operating Functions(Note) If the pause command is output during home return operation, the movement command will be retained when

694. Description of Operating Functions4.4.7 Operation at Different Acceleration and Deceleration Settings (1) If the operation by position number s

704. Description of Operating Functions4.4.8 Zone Signal 7KLVVLJQDOLVRXWSXWEHFRPHV³´ZKHQWKHFXUUHQWSRVLWLRQRIWKHDFWXDWRULVLQVLGHWKHV

714. Description of Operating Functions4.4.9 Pitch Feeding by Relative Coordinate Specification For the target position in the position table, relati

724. Description of Operating Functions* T1: Set T1 to 6 msec or more in consideration of the scan time of the host controller. [Operational descripti

734. Description of Operating Functions(2) Notes on positioning operation Selecting/entering a position number using relative coordinates during posi

744. Description of Operating Functions(3) Notes on push & hold operation If the start signal is input with a position number using relative coor

755. Parameter Settings5. Parameter Settings 5.1 Parameter Table Parameters are classified into four types according to their content. a: Parameter r

765. Parameter SettingsNo. Category Symbol Name Unit Default factory setting 56 b SCRV S-shaped motion ratio setting % 0 71 b PLFG Position feed

775. Parameter SettingsError detection rangeSoftware limit marginSoft limit StrokeSoftware limitSoftware limit marginError detection range5.2 Paramete

785. Parameter SettingsƔ Home return offset (No. 22 OFST) The controller is shipped from the factory with an optimal value set in parameter No. 22, s

795. Parameter Settings5.2.2 Parameters Relating to the Actuator Operating CharacteristicsƔ Default speed (No. 8 VCMD)The factory setting is the rated

Table of ContentsSafety Guide ...

805. Parameter SettingsƔ Default movement direction for excitation-phase signal detection (No. 28 PHSP1) Excitation-phase detection is performed at t

815. Parameter SettingsƔ Safety speed (No. 35 SAFV) Define the feed speed for manual operation. The speed is individually set in accordance with the

825. Parameter SettingsƔ Push speed (No. 34 PSHV) This meter defines the speed after the target position has been reached during push & hold oper

835. Parameter SettingsƔ Enable function (No. 42 FPIO4) In ANSI-compliant teaching pendants, parameter No. 42 defines whether the deadman switch func

845. Parameter SettingsƔ Position command primary filter time constant (No. 55 PLPF) Parameter No. 55 defines the degree of delay if 1 [primary GHOD\

855. Parameter SettingsƔ Position feed forward gain (No. 71 PLFG) Parameter No. Unit Settingrange Default71± 6HWLQGLYLGXDOO\LQDFFRUGDQFH

865. Parameter SettingsPoint No. 1 Point No. 2 Point No. 3 Point No. 3 Point No. 2 Point No. 4 Point No. 4 Point No. 1 Point No. 1 Point No. 2 Point N

875. Parameter Settings5.2.3 Parameters Relating to the External Interface Ɣ Position complete signal output method (No. 39 FPIO) Parameter No. 39 d

885. Parameter SettingsƔ Silent interval magnification (No. 45 SIVM) This parameter applies to commands via RS485 serial communication. It defines th

895. Parameter Settings5.2.4 Servo Gain Adjustment Since servo adjustment is made in accordance with the standard specification of the actuator before