Iai-america E-Con Bedienungsanleitung

Operation Manual Fifteenth Edition E-Con Controller

Pre.-4 Notes on Safety of Our Products Common items you should note when performing each task on any IAI robot are explained below. No. Task No

86 * Appendix Specification List of Supported Actuators Model Stroke (mm), maximum speed (mm/

87 Model Stroke (mm), maximum speed (mm/sec) (Note 1) Loading capacity (Note 2) Rated accele

88 Model Stroke (mm), maximum speed (mm/sec) (Note 1) Loading capacity (Note 2) Rated accel

89 Appendix Example of Basic E-Con Positioning Sequence An example of basic sequence is gi

90 Appendix Position 2 positioning start request (Position 2 positioning circuit) Position 2

91 Appendix Position 3 set signal Position 5 set signal Position 3 set signal P

92 Appendix Position Table Record (1/2) Recorded date: No. Position [mm] Speed [mm/sec] Acceleration/ deceleration [G]Push [%] Positioning ban

93 Appendix Position Table Record (2/2) Recorded date: No. Position [mm] Speed [mm/sec] Acceleration/ deceleration [G]Push [%] Positioning ban

94 Appendix Parameter Record Recorded date: Type a: Parameter relating to actuator stroke range b: Parameter relating to actuator operatin

95 Change History Revision Date Description of Revision February 2004 April 2004 August 2004 June 2010 First edition Tenth

Pre.-5 (2) Wiring the cables  Use IAI’s genuine cables to connect the actuator and controller or connect a teaching tool, etc.  Do not damage, fo

Catalog No.: ME0122-15A Head Office: 2690 W. 237th Street, Torrance, CA 90505 TEL (310) 891-6015 FAX (310) 891-0815 C

Pre.-6 6 Confirmation operation  After teaching or programming, carry out step-by-step confirmation operation before switching to automatic operat

Pre.-7 Indication of Cautionary Information The operation manual for each model denotes safety guides under “Danger,” “Warning,” “Caution” and “

Pre.-8

1 1. Overview 1-1 Forward Thank you very much for purchasing the E-Con Controller. This manual explains the features of this machine and its oper

2 1-2 How to Read Model Number <Series> <Encoder type> I: Incremental A: Absolute

3  Controller Version A “SERIAL No.” label is attached on the right side face of the controller. The last two characters (alphabet and number) in

4 1-4 Warranty Period and Scope of Warranty The E-Con Controller undergoes stringent testing before it is shipped from our factory. IAI provides

5 1-5 Setting Environment and Noise Measures Please be careful for controller setting environment 1-5-1 Installation Environment This controller

6 (2) Noise Elimination Grounding You will need to set noise compliance and grounding whether AC 100 or 200 V. 1. Directly screw the main body t

7 (3) Noise Source and Noise Suppression When using electrical components such as electromagnets, solenoid valve, magnet switch or relays which c

8 1-6 Heat Dissipation and Mounting The size of the controller panel, controller position and cooling method should all be designed so that the c

9 2. Specifications 2-1 Basic Specifications Item Specification Motor Capacity: 20 to 200 W Single phase AC 90 to 125 V Power Voltage 20 to 75

10 2.1.1 Backup Battery (Absolute Specification) (1) Battery Specifications Item Description Model Number AB-1 Type Lithium battery Manufacture

11 If the battery was replaced when the controller power was off, the retention condition of position information (absolute data) will vary as fol

12 2-2 Name of Parts and Functions 2-2-1 Names 2-2-2 Functions (1) Emergency Stop Connector EMG: This is a te

13 (5) Power Terminal L · N: This is the connection from the AC Power source. PE: This is contact for safety (D Type contact work) (6) Battery C

14 (14) Piano switch 1 (SW1) Piano Switch 1~4: Axis number setting switch When connecting more than 2 axes onto the SIO Connector, serial reorga

15 (15) Brake Release Switch (BK) Effective when only break option is selected. RLS: Release position turns the brake OFF. NOM: Normal positi

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

16 2-2-3 Signal Tables for Connectors and Terminal Blocks  SIO Connector Pin. No Signal Name Function 1 (+5 V) (5 VDC Power Output) or (Res

17  Encoder · Brake Connector (D-Sub DE-15 Type) Pin. No Signal Name Connection Line 1 EN A+ Encoder A+ 2 EN A- Encoder A- 3 EN B+ Encod

18 2-3 External Dimensional Diagram 2-3-1 Standard Specifications

19 2-3-2 Absolute Specification

20 PC Software <RCB-101-MW> option 2-4 Connection Method 2-4-1 Standard Item Note: Alw

21 2-4-2 Absolute Specifications Battery holder Battery connector

22 2-5 Supplied Cables 2-5-1 I/O Flat Cable * Accessory I/O Connector (40P) No. Signal Name Color No. Signal Name Color No. Sig

23 2-5-2 Motor Extension Cable Controller end Actuator end 2-5-3 Encoder Extension Cable (Single-axis Robot Type) Controller

24 2-5-4 Encoder Extension Cable (ROBO Cylinder Type) Controller end Actuator end 2-5-5 Limit Switch Extension Ca

25 2-6 Wiring 2-6-1 Wiring for Power • Emergency Stop * The two EMG terminals are emergency-stop switch contact terminals

CAUTION (1) Hold · Servo ON Signal When operating the E-Con Controller, you will need to turn ON the Hold & Servo ON signal Input Signal of P

26 2-6-2 External Connection Diagram (Note) *Hold, *alarm, *emergency stop and *battery a

27 2-6-3 PIO Interface PIO Interface list for controllers with NPN I/O is indicated as below: In addition, the PIO cable end is cut off on the e

28 (1) COMOA Power for input port (2) COMOB Power for input port Connect a DC24 V potential across COMOA & COMOB, for output functionalit

29 (10) Complete Position Turns OFF simultaneously as timing once positioning complete turns OFF. All will turn OFF during emergency stop or direc

30 2-6-4 External I/O Specifications Input Area Column Specifications Number of inputs 10 points Input Voltage 24 VDC 20% Input Current 7 mA/1

31 Output Area 100 mA output circuit according to Power M O S F E T Column Specifications Number of outputs 12 points Rated Load Voltage 24 VDC/

32 3. Data Input (Basic) Since this controller does not have any commands, there is no need to write any programs. In order to make the actuator

33 3-1 Position Data Table (1) No.  Indicates the position number. To input the relative transfer load, type the Minus Key. When using the teac

34 (5) Push  Selects either the Positioning Mode or Push Mode. The initial value is set as 0. 0: Positioning Mode (=normal operation) Other

35 (7) Acceleration only MAX  Selects either the assigned acceleration or the maximum acceleration. Inputs are either 1 or 0. The initial value i

Table of Contents Safety Guide 1 1. Overview 1 1-1 Forward...

36 3-1-1 Push Force at Standstill To operate the actuator in the push mode, enter a current limit value (%) in the “Push” field of the position d

37 3-2 Mode Explanation 3-2-1 Positioning Mode Push=0 (1) From the position, the positioning complete output turns ON prior to the positionin

38 (2) When push fails (blank shot) (1) Upon reaching the position, the actuator moves forward at a low rate speed. When the servo motor curre

39 (4) When the input value of positioning band is wrong When a mistake is made in the code for the positioning band data, as the left diagram

40 3-2-5 Hold Input This is used for temporary stop. The actuator will hold according to the external input signal (Hold) during moving. Based on

41 3-2-7 Homing During power-up or upon alarm release, you will need to home. After selecting the position number and starting, homing is execute

42 3-4 Items to Note on Gripper (RCS-G20) (1) Finger Operation [1] Definition of position The stroke in the specification table indicates a su

43 4. Using the Controller <Practice> 4-1 Power-Up (Standard Specification) (For Absolute specification, please refer to 4-2. Absolute Res

44 4-1-1 Movement Capable Status (1) Servo will turn ON at the same time the power is turned ON. Once Power-Up is complete, the positioning compl

45 4-2 Absolute Reset Procedure (Absolute Specifications) Caution) With the absolute type, 0E5 (Encoder Reception Error) will be displayed unde

4. Using the Controller <Practice> 43 4-1 Power-Up (Standard Specification)...

46 Absolute Reset Procedure for Controller Version E* or Earlier (1) Connect the motor · brake cable and encoder cable to the controller (Note 1)

47 4-3 Move After Power-Up (Standard) Operation application example: After Power-Up, move to point 150 mm from home at a speed of 200 mm/sec. Pos

48 After Power-Up and operation preparation is ready, positioning complete output will turn ON. (If servo ON input is OFF

49 4-4 Positioning Mode (2 point space reciprocation) Movement example) Reciprocate 2 positions. Assign the position 1 at 250 mm from home, and

50 Position Data Table (Columns with the thick lines indicate the input insert) No. Position Speed Acc/Dec Push Positioning Band Acc. only Ma

51 4-5 Push Mode Movement Example) Use via Push Mode and Positioning Mode. Assign Position 1 to 280 mm from home and Position 2 to 40 mm from hom

52 Position Data Table (Columns with the thick lines indicate the input insert) No. Position Speed Acc/Dec Push Positioning Band Acc. only Ma

53 4-6 Speed Change Movement During Transfer Movement Example) During movement, speed decreases when approaching a given location. Assign Positi

54 Position Data Table (Columns with the thick lines indicate the input insert) No. Position Speed Acc/Dec Push Positioning Band Acc. only Ma

55 4-7 Movement Using Different Acceleration Value • Deceleration Value Movement Example) Perform positioning at a speed of 200 mm/sec to a locat

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

56 Position Data Table (Columns with the thick lines indicate the input insert) No. Position Speed Acc/Dec Push Positioning Band Acc. only Ma

57 4-8 Hold Movement Example) Temporary stops the movement of the actuator. Method) Uses the Hold Input. E-Con Controller

58 T1: Over 6 msec Time from Command Position Select Input to Start Signal ON (However, please consider the scan time of the u

59 4-9 Zone Signal Output Movement example) During motion, the Zone Signal output will turn ON from 40 mm from home to position 120 mm from home

60 T1: Over 6 msec Time from command position select input to start input ON (However, please consider the scan time of t

61 4-10 Transfer to Home Movement Example) Homing alone cannot be performed using PIO. You cannot home using the position data table (position 0

62 T1: Over 6 msec Time from command position select input to start input ON (However, please consider the scan time of the

63 4-11 Incremental Movement in Relative Coordinate Movement example) Move to position 30 mm from home, and from there, move the actuator in incr

64 Position Data Table (Columns with the thick lines indicate the input insert) No. Position Speed Acc/Dec Push Positioning Band Acc. only Ma

65 4-12 Caution Regarding Relative Coordinate Assign (1) Caution During Positioning Movement When an incremental coordinate position number is

Pre.-2 Requirements for Industrial Robots under Ordinance on Industrial Safety and Health Work area Work condition Cutoff of drive source Measu

66 Example: The Start Input Position 2 is executed during movement towards Position 1 during Push Mode and the actuator moves to a position that i

67 5. Parameters 5-1 Parameter Classification The parameters are classified into the following four types depending on their function: Types: a:

68 5-3 Parameter Settings If you have changed any parameter, be sure to restart the controller via a software reset or reconnect the controller po

69  Home offset Parameter No. 22 has been set to an optimal value at the factory so that the distance from the mechanical end to home will remain

70  Push & hold recognition time This parameter is used as a condition for determining if the actuator has contacted the work part and compl

71  Movement flag during stop This parameter defines whether to enable or disable the dynamic brake while the actuator is stopped. It has been se

72 5-3-3 Parameters Relating to External Interface ● Hold input disable selection Parameter No. 15 sets whether to enable or disable the hold i

73 6. Troubleshooting 6-1 What to Do When A Problem Occurs If you encountered a problem, follow the steps below to conduct the specified checks

74 6-2 Alarm Level Classification The alarms are classified into three levels based on the corresponding symptoms. Alarm level ALM lamp *Alarm

75 6-4 Alarms, Causes and Actions (1) Message Alarms Code Error Cause/action 040 Emergency stop Cause: An emergency stop status was detected.

Pre.-3 Applicable Models of IAI’s Industrial Robots Machines meeting the following conditions are not classified as industrial robots according t

76 (2) Operation Cancellation Alarms Code Error Cause/action 0B0 Bank 30 data error Cause: Out-of-range or invalid data is included in the par

77 Code Error Cause/action 0CA Overheat The surrounding air temperature of the power transistor in the controller rose excessively (to 95C or

78 (3) Cold Start Alarms Code Error Cause/action 0BA Home sensor not yet detected The mechanical end was reached before a home sensor was detec

79 Code Error Cause/action 0C8 Overcurrent Cause: The output current from the power circuit became abnormally high. This alarm does not occu

80 Code Error Cause/action 0E5 Encoder receive error The controller and encoder exchange position data via serial communication. This error occ

81 Code Error Cause/action 0E7 Phase A/B/Z open Encoder signal cannot be detected properly. Cause: [1] Open encoder extension cable or supplie

82 6-5 Messages Displayed during Operations Using Teaching Pendant or PC Software The warning messages that may be displayed during operations usi

83 Code Message Description 20C CSTR-ON during operation The start signal (CSTR) was turned ON by the PLC while the actuator was moving. As a

84 7. Regenerative Resistance Unit (Optional) A regenerative resistance unit is required only when the actuator is used as a vertical axis. It is

85 7-3 Circuit Diagram RB INRBRB＋RB－PE－PE－RB OUT40W 470Ω40W 470ΩE-ConRB＋RB－RB＋RB－RB INRB