Iai-america ERC2 Bedienungsanleitung Seite 1

Operation Manual Seventh EditionERC2Actuator with Integrated Controller(SIO Type)

Pre-1Safety Guide This “Safety Guide” is intended to ensure the correct use of this product and prevent dangers and property damage. Be sure to read

906. Parameter Settings81z Push speed (No.34 PSHV) This parameter defines the push speed to be applied after the actuator reaches the target position

916. Parameter Settings826.2.3 Parameters Relating to the External Interface z Output mode of position complete signal (No.39 FPIO) This parameter d

926. Parameter Settings83z Silent interval multiplication factor (No.45 SIVM) It is applied to controllers of RS485 serial communication type. If spe

936. Parameter Settings846.2.4 Servo Gain Adjustment Before the shipment, the servo has been adjusted in accordance with the standard specification o

946. Parameter Settings85z Speed loop integral gain (No.32 VLPT) Parameter No. Unit Input range Default 32 --- 1 ~ 217270Set individually in accor

957. Troubleshooting867. Troubleshooting 7.1 Action to Be Taken upon Occurrence of Problem Upon occurrence of a problem, take appropriate action acc

967. Troubleshooting877.2 Alarm Level Classification Alarms output from the controller are classified into two levels according to the symptoms they

977. Troubleshooting887.3 Alarm Description and Cause/Action (1) Operation-cancellation level alarms Code Error name Cause/Action 080 Movement co

987. Troubleshooting89Code Error name Cause/Action 0A1 Parameter data error Cause: The parameter data does not meet the specified input range.

997. Troubleshooting90Code Error name Cause/Action 0C9 Excessive motor supply voltage This alarm indicates that the motor supply voltage is excessi

Pre-1Safety Guide This “Safety Guide” is intended to ensure the correct use of this product and prevent dangers and property damage. Be sure to read

1007. Troubleshooting91(2) Cold-start level alarms Code Error name Cause/Action 0B8 Excitation detection errorThis controller detects excited phas

1017. Troubleshooting92Code Error name Cause/Action 0F5 Verification error of data written to nonvolatile memory When data was written to the non

1027. Troubleshooting937.4 Messages Displayed during Operation Using the Teaching Pendant or PC Software This section explains the warning messages t

1037. Troubleshooting94Code Error name Cause/Action 20C CSTR-ON during operationThis message indicates that the start signal (CSTR) was turned ON b

1047. Troubleshooting957.5 Specific Problems z The LED lamp does not illuminate after the power is input. Cause: [1] Reverse connection of the 24-V

1057. Troubleshooting96z The actuator overshoots when decelerated to a stop. Cause: The load inertia is high in view of the balance of loading mass a

1068. Maintenance and Inspection978. Maintenance and Inspection 8.1 Inspection Items and Schedule Perform maintenance and inspection per the schedul

1078. Maintenance and Inspection988.4 Internal Check (Slider Type) [1] With the SA6 and SA7, the screw cover and side covers can be removed using a h

1088. Maintenance and Inspection998.5 Internal Cleaning (Slider Type) x Wipe off dirt using a soft cloth, etc. x Do not blow compressed air at high

1098. Maintenance and Inspection100(2) Greasing method Grease the guide by following the procedure below: [1] Apply grease between the slider and bas

2Pre-2Requirements for Industrial Robots under Ordinance on Industrial Safety and HealthWork area Work condition Cutoff of drive source Measure Arti

1108. Maintenance and Inspection1018.7 Greasing the Ball Screw (Slider Type) (1) Applicable grease The following special grease is applied to the ba

1118. Maintenance and Inspection1028.8 Greasing the Rod Slide Surface (1) Applicable grease The following grease is applied to the rod slide surface

1128. Maintenance and Inspection1038.9 Motor Replacement Procedure Before replacing the motor, save the latest parameter and position data. Save the

1138. Maintenance and Inspection104x Installation [1] Place the coupling spacer in the coupling hub. [2] Insert the motor unit into the rear bracke

1149. Operation Examples1059. Operation Examples Refer to the operation manuals specified below for operation examples using this product: x Operati

115Appendix10.1 External Dimensions10.1.1 ERC2-SA6C10. Appendix50.92.549.12.337.52513.5118.580.630A50 B 50605 50 5993232S.E.M.E.L10Stroke 60595048.558

116Appendix10.1.2 ERC2-SA7C404951.522.516118.5118.51692.1A5050 BＭ.E.2.53L1049.8 75 55.2755 65 599 4734.566.56058.568324047.444.5F4.5F82.5422

117Appendix10.1.3 ERC2-RA6CStandstillmodeCommandmodeIncrementalRecorded date:Acceleration/decelerationmodeZone–[mm]Zone+[mm]Positioningband[mm]Thresho

118Appendix10.1.4 ERC2-RA7CC921 4049451.520118.5BL618.52A 118.520StrokeM10s1.5(300)SIO typeF45h7M.E.PIO type50 100 150 200 250 300LABC312.5194423

119Appendix10.1.5 ERC2-RGS6C106.5542ST 51.7 ST58.31354F10ST3.355823.72012.5105724322.53740712.59135854523020F34M.E.6-M550 100 150 200 250

3Pre-3Applicable Modes of IAI’s Industrial Robot Machines meeting the following conditions are not classified as industrial robots according to Notice

120Appendix10.1.7 ERC2-RGD6C51.723.720159134114STM.E.2ST58.3135454201451145453524230F34F10ST3.3558 4-M58-M550 100 150 200 250 300Guide Weight [kg]We

121AppendixStandstillmodeCommandmodeIncrementalRecorded date:Acceleration/decelerationmodeZone–[mm]Zone+[mm]Positioningband[mm]Threshold[%]Push[%]Dece

122Appendix107Standstill modeCommandmodeIncremental Recorded date: Acceleration/deceleration modeZone– [mm]Zone+ [mm]Positioningband [mm]Threshold [

123Appendix108Standstill modeCommandmodeIncremental Recorded date: Acceleration/deceleration modeZone– [mm]Zone+ [mm]Positioningband [mm]Threshold [

124Appendix10.3 Parameter RecordsRecorded date:Category: a: Parameter relating to the actuator stroke rangeb: Parameter relating to the actuator op

125Change History110Change HistoryRevision Date Description of RevisionJanuary 2011 Fifth editionAdded “Before Use.”Changed “Safety Precautions” to “S

Manual No.: ME0159-7A (March 2012)The information contained in this document is subject to change without notice for purposes ofproduct improvement.Co

4Pre-4Notes on Safety of Our Products Common items you should note when performing each task on any IAI robot are explained below. No. Task Note 1

5Pre-5No. Task Note (2) Wiring the cables z Use IAI’s genuine cables to connect the actuator and controller or connect a teaching tool, etc. z Do no

6Pre-6No. Task Note 5 Teaching z When releasing the brake of the vertically installed actuator, be careful not to let the actuator drop due to its

7Pre-7Indication of Cautionary Information The operation manual for each model denotes safety precautions under “Danger,” “Warning,” “Caution” and “No

8Pre-8Caution in Handling 1. Do not set speeds and accelerations/decelerations equal to or greater than the respective ratings. If the actuator is op

91. Overview11. Overview 1.1 Introduction Thank you for purchasing the Easy All-in-One ROBO Cylinder (hereinafter referred to as “ERC2-SE”). This pr

101. Overview21.2 Key Features and Functions (1) Input/output of control signals by means of RS485 serial communication (conforming to the Modbus pr

111. Overview31.3 Differences from Air Cylinder Control This section explains the key differences between an air cylinder and this controller for use

121. Overview4Item Air cylinder This controller Position check upon power on Determined using a reed switch or other external detection sensor. Imme

131. Overview51.4 Meaning of the Model Number <Series name> <Motor type> PM: Pulse motor <Options> Blank: No option B: With brake

141. Overview61.5 Specifications (Note 1) The figures in blank bands indicate the maximum speeds for respective strokes. The maximum speeds during v

151. Overview71.5.1 Correlation Diagrams of Speed and Payload Capacity – Slider Type (Note) In the above graphs, the number after each type name ind

161. Overview81.5.2 Correlation Diagrams of Speed and Payload Capacity – Rod Type (Note) In the above graphs, the number after each type name indica

171. Overview9Load Applied to the Actuator (1) Slider type x Keep the load applied to the slider below the value stated in the applicable specificat

181. Overview101.6 Warranty Period and Scope of Warranty The ERC2-SE you have purchased passed IAI’s shipping inspection implemented under the strict

191. Overview101.6 Warranty Period and Scope of Warranty The ERC2-SE you have purchased passed IAI’s shipping inspection implemented under the strict

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

201. Overview111.7 Transportation and Handling 1.7.1 Handling before Unpacking Exercise due caution when transporting or handling the box containing

211. Overview121.8 Installation Environment and Noise Elimination Pay due attention to the installation environment of the controller. 1.8.1 Install

221. Overview13Actuator with integrated controller OtherequipmentOtherequipmentActuator with integrated controller 1.8.3 Power Supply The control/mot

231. Overview14Diode (2) Noise sources and elimination Among the numerous noise sources, solenoid valves, magnet switches and relays are of particula

241. Overview151.9 Cabling x When storing a extension cable in a moving wiring duct, use a robot cable. x In an application where the cable cannot

251. Overview16Prohibitions/Notes on Handling Cables When designing an application system using this actuator, incorrect wiring or connection of each

261. Overview17</59 </39Cable Cable track Power lineSignal lines (flat cable, etc.) Duct7. Notes on use of cable tracks z Do not let the

272. Installation18LEDNon-motor end Motor endRightLeftCoupling boltFront bracket Rear bracketMotor bracket Motor cover Cable RodFrameRod end bracket

282. Installation192.1.3 (1) Rod Type with a Single Guide (RGS6C/RGS7C) (2) Rod Type with Double Guides (RGD6C/RGD7C) Non-motor end Coupling bolt Rig

292. Installation202.2 Installation 2.2.1 Slider Type z Installing the actuator The actuator-mounting surface must be a machined surface or have an

CAUTION1. Using Multiple 24-V Power Supplies If multiple 24-V power supplies are used, always connect the 0-V lines of all power supplies. If not, da

302. Installation21Hex cap bolt Hole in flange 2.2.2 Rod Type A rod-type actuator can be installed in the following two ways: z Affixing with a flan

312. Installation22z Affixing with foot brackets (optional) If optional foot brackets are used, install the foot brackets using hex cap bolts. Foot-b

322. Installation232.2.3 Installing the Load z Slider Type Four tapped holes are provided in the slider, so affix the load using these holes (indica

332. Installation24z Rod Type A bolt is attached on the rod end bracket, so use this bolt to affix the load. (Use the supplied nut, if necessary.) Ro

343. Electrical Specifications253. Electrical Specifications 3.1 Controller Specification item Description Number of controlled axes 1 axis/unit S

353. Electrical Specifications263.2 Input/Output Interfaces Connector pin No. Signal name Description 1 SGA 2 SGB 3 5V 4 GND RS485 serial commu

363. Electrical Specifications27OrangeBlueBrownGreenRedGray YellowBlackShieldSignal name Wire color Wire Control powerBrakeShieldShielded wireBlueYe

373. Electrical Specifications283.3 SIO Converter (Optional) Model number: RCB-TU-SIO-A (Vertical installation) RCB-TU-SIO-B (Horizontal installatio

383. Electrical Specifications29SignalSignalD-sub 9-pin, female D-sub 9-pin PC: Female PLC: Male [4] D-sub, 9-pin connector (RS232C) A connection p

394. Wiring304. Wiring 4.1 Basic Configuration with SIO Converter Connect a teaching pendant, PC or PLC using a SIO converter (for RS232C/RS485 conv

CAUTION2. PC Software and Teaching Pendant Models This product offers new functions not available in the conventional ERC series. To support these ne

404. Wiring31z Connection diagram An example of serial communication connection, including an emergency stop circuit, is shown below. Emergency stop

414. Wiring324.1.1 SIO Communication Connection Using a Relay Terminal Block * The emergency stop circuit is the same as illustrated on the previous

424. Wiring334.1.2 SIO Communication Connection Using a 4-Way Junction (Note 1) If the total length of the communication cable is 10 m or longer and

434. Wiring344.1.3 Address Assignment If multiple axes are connected, a slave number must be assigned to each axis so that the host can recognize the

444. Wiring354.2 Configuration Using a Gateway Unit 4.2.1 SIO Communication Connection Using a Relay Terminal Block (Note 1) If the total length of

454. Wiring364.2.2 SIO Communication Connection Using a 4-Way Junction (Note 1) If the total length of the communication cable is 10 m or longer and

464. Wiring374.2.3 Connecting an Emergency Stop Circuit, Etc. Emergency stop is actuated by means of cutting off the motor drive power. *1 The wire

475. Explanation of Operating Functions385. Explanation of Operating Functions ERC2-SE actuators support two operation modes: [1] “position number sp

485. Explanation of Operating Functions39Position Speed Acceleration Deceleration Push ThresholdPositioningband Zone+ Zone– Acceleration/decelerat

495. Explanation of Operating Functions40(4) Acceleration/Deceleration x Enter the acceleration/deceleration at which the actuator will be moved, in

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

505. Explanation of Operating Functions41“Push & hold operation” The set value defines the maximum distance the actuator will push the work part i

515. Explanation of Operating Functions42(9) Acceleration/deceleration modex This field is not used for this controller. The factory setting is “0.”

525. Explanation of Operating Functions435.1.1 Relationship of Push Force at Standstill and Current-Limiting Value When performing operation in the p

535. Explanation of Operating Functions44z Rod type (1) RA6C type (2) RA7C type Low-speed type Low-speed type (Lead: 3 mm) (Lead: 4 mm) Medium-s

545. Explanation of Operating Functions455.2 Data Set in the Numerical Specification Mode When the actuator is operated in the numerical specificatio

555. Explanation of Operating Functions46ERC2-SE Function List {: Direct control, ': Indirect control, X: Not availablePosition number specificat

565. Explanation of Operating Functions475.3.1 Control Signals and Control Data To operate the actuator via serial communication, the internal 16-bit

575. Explanation of Operating Functions48(PLC o Controller) Register BitaddressBitposition SignalsymbolSignal name Description 15to6- - - 043AH 5

585. Explanation of Operating Functions49(PLC o Controller) Register Address Description PCMDPositiondataspecification[Numerical specification] INPPo

595. Explanation of Operating Functions50(PLC o Controller) (Note) Set in a range of 20% to 70% (33H to B3H) if the actuator imposes limitations. Reg

Table of ContentsSafety Guide...

605. Explanation of Operating Functions51(2) Controller output signals (Controller o PLC) Register BitaddressBitposition SignalsymbolSignal name Des

615. Explanation of Operating Functions52(Controller o PLC) Register BitaddressBitposition SignalsymbolSignal name Description 15to9- - - 0147H 8

625. Explanation of Operating Functions535.3.2 Timings after Power On Follow the procedure below to turn on the power after confirming that the slide

635. Explanation of Operating Functions54Warning: Since a pulse motor is used as the driving motor, the excited phase will be detected when the servo

645. Explanation of Operating Functions551 msec max. Home return command (HOME) Home return completion (HEND) Position complete (PEND)Moving (MOVE) Ac

655. Explanation of Operating Functions56 Home return command (HOME) Home return operation will start upon detection of the “0” o “1” edge of this s

665. Explanation of Operating Functions575.3.4 Positioning Operation First, change the position complete (PEND) signal bit to “1” by turning on the 2

675. Explanation of Operating Functions58Explanation of operation [1] When the servo becomes ready after the supply voltage has been turned on, the se

685. Explanation of Operating Functions59 Positioning start (CSTR) Upon detecting the “0” o “1” leading edge of this signal bit, the controller will

695. Explanation of Operating Functions60 Position complete (PEND) This signal indicates that the target position has been reached, and turns ON onl

4.2.3 Connecting an Emergency Stop Circuit, Etc... 465. Explanation of Operating Functio

705. Explanation of Operating Functions615.3.5 Push & Hold Operation Just like with an air cylinder, the end of the rod can be pressed against a

715. Explanation of Operating Functions62[1] Specification of push & hold mode x Set a value (current-limiting value) “other than 0” in the “Push

725. Explanation of Operating Functions63SpeedTarget positionPositioning band (Maximum push amount) Push & hold operation was determined complete

735. Explanation of Operating Functions64(4) The push direction is set incorrectly Exercise caution when setting the push direction, because if the d

745. Explanation of Operating Functions65SpeedCommand position Positioning start (CSTR) Position complete (PEND)Completed position Pause command (STP)

755. Explanation of Operating Functions66Position command Positioning start (CSTR) Position complete (PEND)Completed position Moving (MOVE) Actuatormo

765. Explanation of Operating Functions67(Note) If a pause command is issued while home return is in progress, the movement command will be held if t

775. Explanation of Operating Functions68Position command Acceleration/ deceleration command Position complete (PEND)Completed position Moving (MOVE)

785. Explanation of Operating Functions69Zone signal Actuator operation HomeZone setting- Zone setting++ direction 5.3.9 Zone Signal This signal is o

795. Explanation of Operating Functions70Position 1 50-mmpitchTo front endLast load Zone output signal The coordinate of the load immediately before t

... ... ... ... ... ... 11710.1.3 ERC2-RA6C...

805. Explanation of Operating Functions71*T1: Set to T1 t 0 (ms) by considering the scan time of the host controller. [Explanation of operation] [1] P

815. Explanation of Operating Functions72Command position StartPosition complete Completed position MovingActuator movement Position 1 Position 2 Pos

825. Explanation of Operating Functions73Command position StartPosition complete Completed position Actuator movement Position 1 Position 2 Position

835. Explanation of Operating Functions745.3.11 Power-Saving Mode at Standby Positions One general feature of pulse motors is that their holding curr

846. Parameter Settings756. Parameter Settings 6.1 Parameter Table Parameters are classified into four types according to their content. Category:

856. Parameter Settings766.2 Detailed Explanation of Parameters If a parameter has been changed, always restart the controller using a software reset

866. Parameter Settings77(Home)z Home return offset (No.22 OFST) The controller is shipped from the factory with an optimal value set in parameter No

876. Parameter Settings786.2.2 Parameters Relating to the Actuator Operating Characteristics z Default speed (No.8 VCMD) The factory setting is the

886. Parameter Settings79z Default direction of excited-phase signal detection (No.28 PHSP1) When the servo is turned on for the first time after a p

896. Parameter Settings80z Default standstill mode (No.53 CTLF) This parameter defines the power-saving mode to be applied when the actuator stands b