IAI MSEL Instruction Manual

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MSEL Controller

Instruction Manual Fifth Edition

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This Instruction Manual describes all necessary information items to operate this product safely such as the operation procedure, structure and maintenance procedure.

To ensure the safe operation of this product, please read and fully understand this manual. The enclosed DVD in this product package includes the Instruction Manual for this product. For the operation of this product, print out the necessary sections in the Instruction Manual or display them using the personal computer.

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[Important]

 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

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Table of Contents

Safety Guide ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ1 Controller Model Codes and Applicable Actuators ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ8 Precautions in Operation ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ9 International Standards Compliances ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ12 Name for Each Parts and Their Functions ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13 Actuator Axesꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ17

Chapter 1

Specifications Checkꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 23

1.1 Product Checkꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 23

1.1.1 Parts (Excluding Options) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 23

1.1.2 Teaching Tool (Optional)ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 23

1.1.3 Instruction Manuals Related to this Product, which are Contained in the

Instruction Manual (DVD). ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 24

1.1.4 How to Read the Model Plateꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 24

1.1.5 How to Read the Model ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 24

1.2 Basic Specificationsꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 27

1.2.1 Selection of the Circuit Breakerꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 28

1.2.2 Selection of the Leakage Breakerꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 28

1.3 External Dimensions ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 29

1.4 Interfaces ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 30

1.4.1 Standard I/O ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 30

1.4.2 Extension I/Oꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 31

1.5 Absolute Battery Box (to be Connected for Simple Absolute Type) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 32

1.6 Installation and Storage Environmentꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 33

1.7 Noise Prevention and the Installationꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 34

Chapter 2 Wiring ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 37

2.1 Wiring (Example connection of devices) Diagram ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 37

2.2 Circuit Diagram (Example) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 39

2.2.1 Power Supply Circuit ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 39

2.2.2 Emergency Stop and Enable Circuit (PC/PCF/PCX Type)ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 40

2.2.3 Emergency Stop and Enable Circuit (PG/PGF/PGX Type) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 42

2.2.4 Motor Encoder Circuitꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 44

2.2.5 PIO Circuit ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 46

2.2.6 Connection to Absolute Battery Box (only for PC/PG/PCF/PGF Type Simple

Absolute) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 53

2.3 Wiring Method ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 54

2.3.1 Connection to AC Power Input Connector ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 54

2.3.2 Wiring the Emergency Stop Circuit (System I/O)ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 55

2.3.3 Wiring for Actuator ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 56

2.3.4 Wiring for Motor Driving Power Line Connector ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 57

2.3.5 Wiring to Single Absolute Battery Unit ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 57

2.3.6 Wiring for PIOꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 58

2.3.7 Wiring for the Teaching Tool (SIO Connector, USB Connector) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 59

Chapter 3 Operationꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 61

3.1 Types of Operationsꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 61

3.2 Receiving and Forwarding of I/O Signals Necessary for Operation ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 62

3.3 Starting the Controllerꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 65

3.3.1 Turning on the Power and Cutoffꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 65

3.3.2 Panel Window Display ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 66

3.3.3 Status LEDꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 68

3.3.4 Position Table and Program Creation and Writing ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 70

3.4 Program Operation ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 71

3.4.1 Auto Start upon Power Onꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 71

3.4.2 Starting a Program by Specifying its Program Numberꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 73

3.4.3 7-Segment Display SEL Programꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 74

Chapter 4 Home-Return / Absolute Reset ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 77

4.1 Home-Return Preparation (Incremental Type)ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 77

4.2 Absolute Reset Preparation (for Battery-less Absolute Type except for

SCARA Robot) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 78

4.3 Absolute Reset for SCARA Robot (Battery-less Absolute Type) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 81

4.3.1 Absolute Reset Preparation ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 82

4.4 Simple Absolute Type (PC/PG/PCF/PGF Type Dedicated)ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 90

4.4.1 Status LEDꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 90

4.4.2 Absolute Reset Preparation ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 90

4.4.3 Simple Absolute Typeꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 91

4.4.4 Absolute Encoder Backup Type ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 92

4.4.5 Charging Absolute Battery ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 92

4.4.6 Detection of Absolute Battery Voltage Drop ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 93

Chapter 5 I/O Parameter ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 95

5.1 I/O Parameters ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 97

5.2 All Axes Common Parametersꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 113

5.3 Axis-Specific Parameters ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 119

5.4 Driver Card Parameters ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 127

5.5 Encoder Parameters ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ130

5.6 I/O-Slot Card Parametersꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ131

5.7 Other Parametersꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ135

5.8 Parameters for Linear / Rotation Controls ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ139

5.9 Permission of SIO/PIO Program Startup with Password ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 142

5.10 Parameter Setting (Applied)ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 143

5.10.1 Want to Operate the System Tentatively Without Using I/Osꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 144

5.10.2 Want to Output an Auto Operation Determination Signal from the Controller ꞏꞏꞏ 144

5.10.3 Want to Retain Current Output Statuses Even during Emergency Stop ꞏꞏꞏꞏꞏꞏꞏ 144

5.10.4 Want to Start an Emergency Program ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ145

5.10.5 Want to Enable Auto Recovery (Restart) upon Cancellation of

Emergency Stopꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ145

5.10.6 Want to Enable Auto Recovery (Error Reset) upon Cancellation of

Emergency Stopꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ146

5.10.7 Want to Return to the Condition Immediately before Emergency Stop ꞏꞏꞏꞏꞏꞏꞏꞏ146

5.10.8 Want to Restart the Controller Externally ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ146

5.10.9 Want to Turn ON the Servo Externallyꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ146

5.10.10 Want to Make a Home-Return on Actuators Externally ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 147

5.10.11 Want to Execute the Controller Program Externally ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ147

5.10.12 Want to Execute a Program Externally by Making an Indication of

a Program Number in Binaryꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ147

5.10.13 Want to Pause Controller Externally during Automatic Operation ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ147

5.10.14 Want to Reset Errors Externally ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 148

5.10.15 Want to Change Input Port Assignmentsꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ148

5.10.16 Want to Change Output Port Assignments ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 149

5.10.17 Want to Output that Home-Return (Home Position) Operation is Complete

on All Actuators ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 149

5.10.18 Want to Output the Error Level ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ150

5.10.19 Want to Output the Emergency Stop Status ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ150

5.10.20 Want to Know the Current Operation Mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ150

Chapter 6 Troubleshooting ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 151

6.1 Action to Be Taken upon Occurrence of Problemꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 151

6.2 Error Level Control ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 152

6.3 Error List (MAIN Application)ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 154

Chapter 7 Appendix ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 197

7.1 Example of Safety Circuit for PG/PGF/PGX Type

(Conforming to Safety Category) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 197

7.2 Stopping method and Recoveryꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 201

7.2.1 Stopping method ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ201

7.2.2 Recovery ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 202

7.3 Extension SIO ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 203

7.3.1 Specificationꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 203

7.3.2 Functionsꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 203

7.3.3 Wiring ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ203

7.3.4 Status Displayꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ204

7.3.5 Parameter Settings ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 204

7.4 Cartesian Axis Coordinate Systemsꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 207

7.4.1 Coordinates for Coordinate System Definition Unitꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 207

7.4.2 Base Coordinate Systemꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 208

7.4.3 Work Coordinate Systemꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ209

7.4.4 Tool Coordinate System ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 213

7.4.5 Setting of Parametersꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ217

7.4.6 Caution Note ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ219

Chapter 8 Warrantyꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 221

8.1 Warranty Periodꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ221

8.2 Scope of the Warrantyꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ221

8.3 Honoring the Warranty ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 221

8.4 Limited Liability ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 221

8.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and

Applications ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ222

8.6 Other Items Excluded from Warranty ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 222

Change Historyꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 223

Starting Procedures

When using this product for the first time, make sure to check the safety guide in the next section, and then start working with care to avoid mistakes and incorrect wiring by referring to the procedure below.

Warning

: 

Make sure to put the brake release switch on the bottom side (NOM) before turning ON the power. If on the top side (RLS : Compulsory Release), the actuator may drop with its weight and pinch yourself or damage the work piece.



Make sure to connect the robot with the manufacturing number indicated on the

controller. Connecting other than not indicated may cause a wrong operation.

No →

↓

No →

↓ Yes

No →

↓

Check Item

Is the panel window showing “ ”?

Connect the teaching tool such as PC to confirm the content of alarm and have an appropriate treatment.  It is necessary to supply I/O power for PIO type.

When I/O is not to be used, set I/O Parameter No. 10 = 0

 Connect to the upper master for fieldbus type

(Set I/O parameter No. 18 = 0 when not connecting to master)

Check Item

Confirm that “Servo-ON: SV” is turned on in a teaching tool such as PC.

Safety Circuit Check

Does the emergency stop circuit (drive cutoff circuit) work properly and turn the servo OFF?

Check the emergency stop circuit.

No →

↓ Yes

Operation check on actuator Check by JOG operation that operation of the full stroke can be performed with no abnormality.

If an alarm is generated, connect the PC or teaching pendant and check the content of the alarm to have the right treatment.

↓ Yes

↓

↓ Yes

Check of Packed Items

Are there all the delivered items?

Caution  To ensure safety, it is recommended that safety speed be enabled during initial movements.



When putting the brake release switch to “RLS” side on a robot installed vertically, pay

attention not to pinch fingers or damage a hand by the actuator dropped by its own weight.

Installation and Wiring [Refer to Chapter 1 and 2.1]

Perform the installation of and wiring for the actuator and controller.

Point Check Item

• Is frame ground (FG) and

protection earthing (PE) connected? • Has the noise countermeasure been taken?

Power Supply and Alarm Check

Connect a teaching tool such as PC, turn the operation mode setting switch to “MANU” side and turn the power ON for unit.

Servo ON

Turn the servo ON with the operation on the teaching tool such as PC.

Now, preparation for operation is complete. [Refer to Section 3 for how to operate]

Caution

Please perform this process with the actuator away from the mechanical end or interfering subjects as much as possible. Put the actuator away if it interferes with surroundings. It may generate an alarm if the actuator hit the mechanical end or interfering subjects when the servo is turned ON. The slider may get slightly dropped by self-weight if servo ON and OFF is repeatedly performed at the same position. Be careful not to pinch the hand or damage the work.

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.

No.

Operation

Description

1 Model

Selection

● This product has not been planned and designed for the application where high level of safety is required, so the guarantee of the protection of human life is impossible. Accordingly, do not use it in any of the following applications.

1) Medical equipment used to maintain, control or otherwise affect

human life or physical health.

2) Mechanisms and machinery designed for the purpose of moving or

transporting people (For vehicle, railway facility or air navigation facility)

3) Important safety parts of machinery (Safety device, etc.)

● Do not use the product outside the specifications. Failure to do so may considerably shorten the life of the product.

● Do not use it in any of the following environments.

1) Location where there is any inflammable gas, inflammable object or

explosive

2) Place with potential exposure to radiation

3) Location with the ambient temperature or relative humidity exceeding

the specification range

4) Location where radiant heat is added from direct sunlight or other

large heat source

5) Location where condensation occurs due to abrupt temperature

changes

6) Location where there is any corrosive gas (sulfuric acid or

hydrochloric acid)

7) Location exposed to significant amount of dust, salt or iron powder

8) Location subject to direct vibration or impact

● For an actuator used in vertical orientation, select a model which is equipped with a brake. If selecting a model with no brake, the moving part may drop when the power is turned OFF and may cause an accident such as an injury or damage on the work piece.

No.

Operation

Description

2 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.

● When in transportation, consider well about the positions to hold, weight and weight balance and pay special attention to the carried object so it would not get hit or dropped.

● Transport it using an appropriate transportation measure. The actuators available for transportation with a crane have eyebolts attached or there are tapped holes to attach bolts. Follow the instructions in the instruction manual for each model.

● Do not step or sit on the package.

● Do not put any heavy thing that can deform the package, on it.

● When using a crane capable of 1t or more of weight, have an operator who has qualifications for crane operation and sling work.

● When using a crane or equivalent equipments, make sure not to hang a load that weighs more than the equipment’s capability limit.

● Use a hook that is suitable for the load. Consider the safety factor of the hook in such factors as shear strength.

● Do not get on the load that is hung on a crane.

● Do not leave a load hung up with a crane.

● Do not stand under the load that is hung up with a crane.

3 Storage and

Preservation

● The storage and preservation environment conforms to the installation environment. However, especially give consideration to the prevention of condensation.

● Store the products with a consideration not to fall them over or drop due to an act of God such as earthquake.

4 Installation

and Start

(1) Installation of Robot Main Body and Controller, etc.

● Make sure to securely hold and fix the product (including the work part). A fall, drop or abnormal motion of the product may cause a damage or injury. Also, be equipped for a fall-over or drop due to an act of God such as earthquake.

● Do not get on or put anything on the product. Failure to do so may cause an accidental fall, injury or damage to the product due to a drop of anything, malfunction of the product, performance degradation, or shortening of its life.

● When using the product in any of the places specified below, provide a sufficient shield.

1) Location where electric noise is generated

2) Location where high electrical or magnetic field is present

3) Location with the mains or power lines passing nearby

4) Location where the product may come in contact with water, oil or

chemical droplets

No.

Operation

Description

(2) Cable Wiring

● 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. Do not insert it. Do not put any heavy thing on it. Failure to do so may cause a fire, electric shock or malfunction due to leakage or continuity error.

● Perform the wiring for the product, after turning OFF the power to the unit, so that there is no wiring error.

● When the direct current power (+24V) is connected, take the great care of the directions of positive and negative poles. If the connection direction is not correct, it might cause a fire, product breakdown or malfunction.

● Connect the cable connector securely so that there is no disconnection or looseness. Failure to do so may cause a fire, electric shock or malfunction of the product.

● Never cut and/or reconnect the cables supplied with the product for the purpose of extending or shortening the cable length. Failure to do so may cause the product to malfunction or cause fire.

4 Installation

and Start

(3) Grounding

● The grounding operation should be performed to prevent an electric shock or electrostatic charge, enhance the noise-resistance ability and control the unnecessary electromagnetic radiation.

● For the ground terminal on the AC power cable of the controller and the grounding plate in the control panel, make sure to use a twisted pair cable with wire thickness 0.5mm

(AWG20 or equivalent) or more for grounding work. For security grounding, it is necessary to select an appropriate wire thickness suitable for the load. Perform wiring that satisfies the specifications (electrical equipment technical standards).

● Perform Class D Grounding (former Class 3 Grounding with ground resistance 100 or below).

No.

Operation

Description

4 Installation

and Start

(4) Safety Measures

● 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. When the robot under operation is touched, it may result in death or serious injury.

● Make sure to install the emergency stop circuit so that the unit can be stopped immediately in an emergency during the unit operation.

● Take the safety measure not to start up the unit only with the power turning ON. Failure to do so may start up the machine suddenly and cause an injury or damage to the product.

● Take the safety measure not to start up the machine only with the emergency stop cancellation or recovery after the power failure. Failure to do so may result in an electric shock or injury due to unexpected power input.

● When the installation or adjustment operation is to be performed, give clear warnings such as “Under Operation; Do not turn ON the power!” etc. Sudden power input may cause an electric shock or injury.

● Take the measure so that the work part is not dropped in power failure or emergency stop.

● Wear protection gloves, goggle or safety shoes, as necessary, to secure safety.

● Do not insert a finger or object in the openings in the product. Failure to do so may cause an injury, electric shock, damage to the product or fire.

● When releasing the brake on a vertically oriented actuator, exercise precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity.

5 Teaching ● 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.

● Perform the teaching operation from outside the safety protection fence, if possible. In the case that the operation is to be performed unavoidably inside the safety protection fence, prepare the “Stipulations for the Operation” and make sure that all the workers acknowledge and understand them well.

● When the operation is to be performed inside the safety protection fence, the worker should have an emergency stop switch at hand with him so that the unit can be stopped any time in an emergency.

● When the operation is to be performed inside the safety protection fence, in addition to the workers, arrange a watchman so that the machine can be stopped any time in an emergency. Also, keep watch on the operation so that any third person can not operate the switches carelessly.

● Place a sign “Under Operation” at the position easy to see.

● When releasing the brake on a vertically oriented actuator, exercise precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity.

* Safety protection Fence : In the case that there is no safety protection

fence, the movable range should be indicated.

No.

Operation

Description

6 Trial

Operation

● 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.

● After the teaching or programming operation, perform the check operation one step by one step and then shift to the automatic operation.

● When the check operation is to be performed inside the safety protection fence, perform the check operation using the previously specified work procedure like the teaching operation.

● Make sure to perform the programmed operation check at the safety speed. Failure to do so may result in an accident due to unexpected motion caused by a program error, etc.

● Do not touch the terminal block or any of the various setting switches in the power ON mode. Failure to do so may result in an electric shock or malfunction.

7 Automatic

Operation

● Check before starting the automatic operation or rebooting after operation stop that there is nobody in the safety protection fence.

● Before starting automatic operation, make sure that all peripheral equipment is in an automatic-operation-ready state and there is no alarm indication.

● Make sure to operate automatic operation start from outside of the safety protection fence.

● In the case that there is any abnormal heating, smoke, offensive smell, or abnormal noise in the product, immediately stop the machine and turn OFF the power switch. Failure to do so may result in a fire or damage to the product.

● When a power failure occurs, turn OFF the power switch. Failure to do so may cause an injury or damage to the product, due to a sudden motion of the product in the recovery operation from the power failure.

No.

Operation

Description

8 Maintenance

and Inspection

● 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.

● Perform the work out of the safety protection fence, if possible. In the case that the operation is to be performed unavoidably inside the safety protection fence, prepare the “Stipulations for the Operation” and make sure that all the workers acknowledge and understand them well.

● When the work is to be performed inside the safety protection fence, basically turn OFF the power switch.

● Place a sign “Under Operation” at the position easy to see.

● For the grease for the guide or ball screw, use appropriate grease according to the Instruction Manual for each model.

● Do not perform the dielectric strength test. Failure to do so may result in a damage to the product.

● When releasing the brake on a vertically oriented actuator, exercise precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity.

● The slider or rod may get misaligned OFF the stop position if the servo is turned OFF. Be careful not to get injured or damaged due to an unnecessary operation.

● Pay attention not to lose the cover or untightened screws, and make sure to put the product back to the original condition after maintenance and inspection works. Use in incomplete condition may cause damage to the product or an injury.

* Safety protection Fence : In the case that there is no safety protection

fence, the movable range should be indicated.

9 Modification

and Dismantle

● Do not modify, disassemble, assemble or use of maintenance parts not specified based at your own discretion.

10 Disposal ● When the product becomes no longer usable or necessary, dispose of it

properly as an industrial waste.

● When removing the actuator for disposal, pay attention to drop of components when detaching screws.

● Do not put the product in a fire when disposing of it. The product may burst or generate toxic gases.

11 Other ● Do not come close to the product or the harnesses if you are a person

who requires a support of medical devices such as a pacemaker. Doing so may affect the performance of your medical device.

● See Overseas Specifications Compliance Manual to check whether complies if necessary.

● For the handling of actuators and controllers, follow the dedicated instruction manual of each unit to ensure the safety.

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

Danger

This indicates an imminently hazardous situation which, if the product is not handled correctly, will result in death or serious injury.

Danger

Warning

This indicates a potentially hazardous situation which, if the product is not handled correctly, could result in death or serious injury.

Warning

Caution

This indicates a potentially hazardous situation which, if the product is not handled correctly, may result in minor injury or property damage.

Caution

Notice

This indicates lower possibility for the injury, but should be kept to use this product properly.

Notice

Controller Model Codes and Applicable Actuators

The controllable actuator differs depending on the model code for this controller.

No. Model Type Controllable Actuator

1 MSEL-PCX3 Standard specification 2 MSEL-PGX3 Safety category compliant specification

Power-con SCARA robot

3 MSEL-PCX4 Standard specification 4 MSEL-PGX4 Safety category compliant specification

Power-con SCARA robot + additional axis within 1 axis

5 MSEL-PC Standard specification

6 MSEL-PG Safety category compliant specification

Multi-Axis 4 axes or less*1 (With no connection of high-thrust axis)

7 MSEL-PCF High-thrust specification

8 MSEL-PGF

High-thrust safety category compliant specification

Multi-Axis 4 axes or less

(With high-thrust axis connected

to 1

axis or 1st and 2nd axes)

*1 Robo cylinder RCP2/RCP3/RCP4/RCP5/RCP6 *2 Category B to 3

Precautions in Operation

1. Make sure to follow the usage condition, environment and specification range of the product.

In case it is not secured, it may cause a drop in performance or malfunction of the product.

2. Wait for 5 seconds or more before rebooting the power.

For the reason of controller circuit structure, startup may not be conducted in normal condition if the time to turn the power ON after turning it OFF (rebooting) is too short.

3. Use a dedicated teaching tool.

Check in 1.1.2 Teaching Tool for the PC software and the teaching pendant applicable for this controller.

4. Backup the data to secure for breakdown.

Such data as the position data, programs, parameters and so on registered to this controller is maintained by being written to the non-volatile memory. Therefore, you will not usually lose the data even if the power is shut down. However, make sure to save the latest data so a quick recovery action can be taken in case when the controller is broken and needs to be replaced with another one.

How to Save Data (1) Save the data to external memory or hard disk with using the PC software (2) Hard-copy the information of position tables and parameters on paper

5. Clock Setting in Calendar Function

There may be a case that “Error Code 228 Calendar Data Lost Error (RTC Vibration Generated Stop Detected)” occurs at the first startup after delivery. In the case this happens, set the current time with a teaching tool. [Refer to Teaching Tool Instruction Manual described in 1.1.2 Teaching Tool (Option)] If the battery is fully charged, the clock data is retained for approximately 10 days after the power is turned off. Even though the time setting is conducted before the product is shipped out, the battery is not fully charged. Therefore, there may be a case that the clock data is lost even with fewer days than described above passed since the product is shipped out.

6. Transference of PIO Signal between Controllers

Please note the following when conducting transference of PIO signal between controllers. To certainly transfer the signal between controllers with different scan time, it is necessary to have longer scan time than the one longer than the other controller. To ensure to end the process safely, it is recommended to have the timer setting more than twice as long as the longer scan time at least.

● Operation Image

Also, if one tries to read the signal that is being re-written by the other, the signal may be read wrongly. Make sure to read the signal after the rewriting is complete. (It is recommended to have more than 2 scan periods to wait.) Make sure not to have the output side to change the output until the other side completes the reading. Also, a setting is made on the input area not to receive the signal less than a certain time to prevent a wrong reading of noise. This duration also needs to be considered.

Note 1 Because this controller performs two or more processing works including program

execution and error processing, in addition to I/O processing, the scan time in not fixed.

7. PLC Timer Setting (Reference)

Do not have the PLC timer setting to be done with the minimum setting. Setting to “1” for 100msec timer turns ON at the timing from 0 to 100msec while 10msec timer from 0 to 10msec for some PLC. Therefore, the same process as when the timer is not set is held and may cause a failure. Set “2” as the minimum value for the setting of 10msec timer and when setting to 100msec, use 10msec timer and set to “10”.

As shown in the diagram, the input and output timings of two devices that have different scan time do not match, of course, when transferring a signal. There is no guarantee that PLC would read the signal as soon as this controller signal turns on. In such a case, make the setting to read the signal after a certain time that is longer than the longer scan time to ensure the reading process to succeed on the PLC side. It is the same in the case this controller side reads the signal. In such a case, it is recommended to ensure 2 to 4 times of the scan time for the timer setting margin. It is risky to have the setting below the scan time since the timer is also processed in the scan process. In the diagram, PLC can only read the input once in 20msec even though this controller output once in some msec. Because PLC only conducts output process once in 20msec, this controller identifies the same output status for that while.

This controller

(scan time some msec)

(Note 1)

PLC

(e.g. scan time is 20msec)

Output Process

Input Process

8. Regarding Battery-less Absolute Type Actuator at the Excluding of the SCARA

Axis

The battery-less absolute type actuator can have the setting switched over between the absolute type and incremental type with the parameters.  Parameter No.38 Encoder ABS/INC Type

Set to 0 = Incremental Type Set to 2 = Absolute Type

9. Regarding Battery-less Absolute Type Actuator

1) For the first time to turn the servo on after turning on the power, it will have slight position

adjustment due to the characteristics of the stepping motor.

At that time, the current position displayed on the teaching tool before turning the servo on is the coordinates before adjustment operation. Shown below is the maximum amount of movement.

Linear Drive Axis

: Actuator Lead Length × 0.025 [mm]

SCARA Axis : J1, J2 Axis 4.9[mm] ꞏ ꞏ Arm Length 350mm Type

4.3[mm] ꞏ ꞏ

Arm Length 450mm Type Vertical Axis 0.2[mm] Rotary Axis 2.7deg

After the first time the servo is tuned on after the power has been supplied, the home-return complete signal and the limit switch output signal (LS) are output.

When the first servo-on is conducted out of the soft limit range, an error would not be output. Soft limit monitoring starts after it is moved into the range.

International Standards Compliances

MSEL comply with the following international standards: Refer to Overseas Standard Compliance Manual (ME0287) for more detailed information.

RoHS Directive CE Marking UL



 (except for PCX) To be scheduled

Name for Each Parts and Their Functions

[1] PC/PG/PCF/PGF Type (Cartesian, Single-Axis Robot Control Type)

1) AC Power input connector

2) Absolute battery connector (when simple absolute type is used)

6) Simple absolute status LED lamps for each axis

10) System I/O connector

5) Panel window

9) USB connector

7) Operation mode setting switch

12) Status LED for extension I/O

13) Extension I/O connector

14) Motor drive power supply line connector

8) SIO connector

4) Brake release switch

11) Standard I/O connector

3) Actuator connection connector

y MPG1：1st axis y MPG2：2nd axis y MPG3：3rd axis y MPG4：4th axis

[2] PCX/PGX Type (IXP Series SCARA Robot Control Type)

1) AC power input connector Supply the main power source, single-phase 100V to 230V AC.

Warning :

Do not attempt to touch this connector or wires while the power is on as it may cause electric shock.

Make sure to ground the protection earthing “PE” terminal to prevent

electric shock.

2) Absolute battery connector (PC/PG/PCF/PGF type dedicated) It is mounted for Simple Absolute Type. A battery box placed separately is to be connected with one cable for four axes. It is not to be mounted for Incremental Type and Battery-less Absolute Type.

3) Actuator connection connector [MPG1 to MPG4] Connect the motor encoder cable of the actuator. Connect the 1

axis (J1) to “MPG1”, and connection made up to “MPG4” = 4th axis (J4) in

order.

3) Actuator connection connector (SCARA Robot)

y MPG1：J1 axis y MPG2：J2 axis y MPG3：J3 axis y MPG4：J4 axis

1) AC Power input connector

2) Extension connectors

(Not equipped / Not to use)

6) Extension LED

(Not to use)

10) System I/O connector

5) Panel window

9) USB connector

7) Operation mode setting switch

12) Status LED for extension I/O

13) Extension I/O connector

14) Motor drive power supply line connector

8) SIO connector

4) Brake release switch (This may not be equipped.)

11) Standard I/O connector

4) Brake release switch (each axis of 1 to 4) It is the switch to release the brake compulsorily (excitation release) for the actuator equipped with a brake. When it is desired to move an actuator manually in such cases as to set up the equipment, in teaching and in an error, the brake can be compulsorily released by putting the switch to RLS side after turning the power on. Keep the switch set on NOM side unless necessary.

Switch position Function

RLS (Brake release) Top side Brake is released compulsorily.

NOM (Automatic

mode)

Bottom

side

Brake gets controlled automatically by controller. Servo ON : Brake release Servo OFF : Brake effective

Warning : After conducting the brake compulsory release, make sure to set the

switch back to NOM (automatic mode) so the controller can perform the automatic control on the brake. In RLS (brake release), it is very dangerous as the brake would not work when emergency stop is occurred or servo is turned OFF. For vertically mounted actuators, the slider or rod can drop and it may cause a critical accident.

5) Panel window It shows the controller status with the 4-digit 7-segment display and 5 LED lamps.

6) Simple Absolute Status LED Lamps for Each Axis (PC/PG type dedicated) This displays the status of simple absolute. This status display is not equipped for Incremental Type and Battery-less Absolute Type. [Refer to 3.3.3 Status LED]

7) Operation mode setting switch It is a switch to indicate the operation mode of the controller.

Switch position Function

MANU

(Operation mode)

Left side Teaching tool is activated.

AUTO

(Automatic mode)

Right side

Teaching tool is inactivated. (Note) Apply the enclosed dummy plug (DP-4S)

to SIO connector for PG / PGX types. Emergency stop cannot be cancelled if it is not plugged.

8) SIO connector It is the connector dedicated for the connection of a teaching tool.

9) USB connector It is a connector to plug in a USB. It is used to connect a teaching tool by USB connection.

Caution :

USB connector and SIO connector cannot be used at the same time.

USB connection is prioritized.

When using the USB ports, connect the controllers to use one by one,

and install the USB driver stored in the XSEL PC software CD-ROM. See the instruction manual of XSEL PC software for how to install.

Apply the enclosed dummy plug (DP-4S) to SIO connector when using

the USB ports.

10) System I/O connector It is the input and output connectors to manage the safety control on the controller. For PG / PGX types (safety category complied), it is available to comply with up to category 3 by connecting an external safety circuit to this controller.

11) Standard I/O connector It is the connector to apply PIO signals of 16 points each of general-purposed input and output.

12) Status LED for extension I/O It shows the status of PIO or fieldbus plugged to the extension I/O connector. [Refer to Status LED in Section 3.3.3]

13) Extension I/O connector It is equipped when PIO or fieldbus is selected as the extension I/O. It is a connector for the general-purposed I/O signal for PIO type and for connection of each fieldbus for fieldbus type.

14) Motor drive power supply line connector It is generally used by short-circuiting MPI and MPO. When supply / cut off the motor driving power externally to construct the safety circuit, connect a contact point between MPI and MPO.

Actuator Axes

Refer to the pictures below for the actuator axes that can be controlled 0 defines the home position, and items in ( ) are for the home-reversed type (option).

(1) Rod Type

(2) Slider Type

(3) Table Type

(4) Rotary Type

(330° rotation specification) (Multi rotation specification)

For multiple rotation type with the origin reversed type, the directions of + and - are the other way around.

Caution: There are some actuators that are not applicable to the origin reversed type.

Check further on the catalog or the Instruction Manual of the actuator.

0°

330°

(0)

(+)

(0)

(+)

(5) Gripper Type

(3-finger gripper)

Note Finger attachment is not included in the actuator package. Please prepare separately.

(6) Cartesian Robot (dedicated for combination with indicated controller P1 in IK2/IK3 Series)

There are three types of coordinate systems, base coordinate system, work coordinate system and tool coordinate system. [Refer to 7.4 Cartesian Axis Coordinate Systems for detail]

Finger attachment (Note)

axis (Z-axis)

(AXIS3)

axis (Y-axis)

(AXIS2)

axis (X-axis)

(AXIS1)

axis (X-axis)

(AXIS1)

axis (Z-axis)

(AXIS3)

axis (Y-axis)

(AXIS2)

0 (Home)

(7) Horizontal Articulated (SCARA) Robot ⋅ ⋅ IXP Type Dedicated

There are three types of coordinate systems, base coordinate system, work coordinate system and tool coordinate system.

[Base Coordinate System (= Work Coordinate System No. 0)]

It is the 3-dimensional orthogonal coordinates + rotation axis coordinate (dedicated for 4-axis type) defined in the robot at delivery. Work coordinate system No. 0 (work coordinate system offset 0) = Base coordinate system.

The origin of X and Y axes is the center of the base (rotation center of the 1

arm). The origin of Z axis is the upper end of the effective stroke on the Z axis. The origin of R axis is the position that the D-cut surface faces –Xb direction. X axis of base coordinate system is described as Xb, Y axis as Yb, Z axis as Zb and R axis as Rb.

Top view of J2 axis

Rb (For 4

-axis specification)

+Zb

Stroke

Z-axis position

Zb=0

-Zb

-Xb

+Rb

-Rb

Center of tool attachment face

D-cut surface on

otational axis

[Work Coordinate System]

It is 32 types of the 3-dimensional orthogonal coordinates + rotation axis coordinate defined by the offset to base coordinate system. Work coordinate system No. 0 is reserved as base coordinates (= work coordinate system offset = 0) by the system.

Zofwn

Xwn

Zwn

Ywn

Yofwn

Rofwn

Rwn

Xofwn

Xofwn : X Work coordinate system offset Yofwn : Y Work coordinate system offset Zofwn : Z Work coordinate system offset Rofwn : R Work coordinate system offset

Xwn : Work coordinate system X axis Ywn : Work coordinate system Y axis Zwn : Work coordinate system Z axis Rwn : Work coordinate system R axis

(n is the work coordinate system number)

[Tool Coordinate System]

It is 128 types of the 3-dimensional orthogonal coordinates + rotation axis coordinate defined by the tool (such as hand) dimension (offset) attached to the tool attachment surface. Work coordinate system No. 0 is reserved as offset 0 of tool coordinates by the system. If the defined tool coordinate system number is selected, the tool tip is used as the reach point at the positioning, not the center of the tool attachment surface.

Select the defined tool coordinate system and operate the R axis with JOG operation, and such movement as shown in the figure below can be performed.

Xoftn : X Tool coordinate system offset Yoftn : Y Tool coordinate system offset Zoftn : Z Tool coordinate system offset Roftn : R Tool coordinate system offset

Xtn : Tool coordinate system X axis Ytn : Tool coordinate system Y axis Ztn : Tool coordinate system Z axis Rtn : Tool coordinate system R axis

(n is the toof coordinate system number)

Tool

R-axis

Tool ti

Chapter 1 Specications Check

Chapter 1 Specifications Check

1.1 Product Check

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.

1.1.1 Parts (Excluding Options)

No. Part Name Model

Quantity

1 Controller Main Body

Refer to “How to read the model plate”, “How to read the model”. [Refer to 1.1.4 or 1.1.5.]

Accessories

2 System I/O Plug DFMC1.5/6-ST-3.5 (Supplier: PHOENIX CONTACT) 1

3 AC Power Plug

MSTB2.5/3-STF-5.08 (SK: N-PE) (Supplier: PHOENIX CONTACT)

Motor Drive Power Line Connector

FKIC2.5HC/2-ST-5.08 (Supplier: PHOENIX CONTACT) 1

5 Dummy Plug DP-4S (Enclosed in PG, PGF or PGX) 1

6 I/O Flat Cable

CB-PAC-PIO□□□ □□□ shows the cable length

(Example) □□□ : 020 = 2m (In common for both standard I/O and extension I/O (PIO type))

1 or 2 (for number of mounted PIO)

Model CC: MSTB2.5/5-STF-5.08AU

(Supplier: PHOENIX CONTACT)

7 CC-Link Connector

Model CC2: TMSTBP2.5/5-STF-5.08 AUBD-FG

(Supplier: PHOENIX CONTACT)

Model DV: MSTB2.5/5-STF-5.08AUM

(Supplier: PHOENIX CONTACT)

8 DeviceNet Connector

Model DV2: TMSTBP2.5/5-STF-5.08 AUM

(Supplier: PHOENIX CONTACT)

9 First Step Guide 1

Instruction Manual (DVD)

11 Safety Guide 1

1.1.2 Teaching Tool (Optional)

A teaching tool such as PC software is necessary when performing the setup for creating a program, position setting and parameter setting, etc. that can only be done on the teaching tool. Please prepare either of the following teaching tools.

No. Part Name Model

PC Software (with RS232C Cable + Connector Conversion Cable ･ with Emergency Stop Box)

IA-101-X-MW-JS

2 PC Software (with USB Cable (CB-SEL-USB030) + Dummy Plug (DP-4S)) IA-101-X-USBS

3 Teaching Pendant TB-02

4 Teaching Pendant TB-01

Chapter 1 Specications Check

1.1.3 Instruction Manuals Related to this Product, which are Contained in the Instruction Manual (DVD).

No. Name Manual No.

1 SEL Language Programming Manual ME0224

PC Software IA-101-X-MW-JS/IA-101-X-USBS Instruction Manual

ME0154

3 Touch Panel Teaching TB-01/TB-01D Instruction Manual ME0325 4 Touch Panel Teaching TB-02 Instruction Manual ME0356 5 DeviceNet Instruction Manual ME0124 6 CC-Link Instruction Manual ME0123 7 PROFIBUS-DP Instruction Manual ME0153 8 Ethernet Instruction Manual ME0140 9 EtherNet/IP Instruction Manual ME0308

10 EtherCAT Instruction Manual ME0309 11 PROFINET IO Instruction Manual ME0361

1.1.4 How to Read the Model Plate

1.1.5 How to Read the Model

[1-1] Single-Axis and Cartesian Type Controllers



Connected Axis Content



Series



Controller

type



Axis

No.

Pulse motor

type

Encoder

type

(Note 3)

Optional



Standard

I/O content



Extension I/O content



I/O

cable length

 Power supply

voltage



Absolute

Battery

(Note 2)



Mount

specification



WAI

(Note 3)

(battery-

less

absolute/

incremental)

Not

specified

(Note 1)

(homeposition

check

sensor)

(brake)

Not specified

(battery-

less absolute/

incremental)

20P

(20 frame)

20SP

(20 frame)

28P

(28 frame)

28SP

(28 frame)

35P

(35 frame)

42P

(42 frame)

42SP

(42 frame)

56P

(56 frame)

(Note 2, Note 3)

(simple

absolute)

(brake)

MSEL

(standard

type)

(safety

category

compliant

type)

(

1 axis

)

(2 axes

)

(

3 axes

)

(

4 axes

)

WUS

(Note 4)

WUM

(NPN PIO

connect)

(PNP PIO

connect)

E : Not for use

DV : (DeviceNet

connect)

CC : (

CC-Link connect

)

PR : (PROFIBUS-DP

connect)

EP : (EtherNet/IP

connect)

NP : (

NPN PIO connect

)

EC : (EtherCAT

connect)

PRT : (PROFINET IO

connect)

DV2 : (DeviceNet

connect Connector for multidrop enclosed)

CC2 : (CC-Link connect

Connector for multidrop enclosed)

SE1 : (RS232C

connect)

SE2 : (RS485 connect)

IA : (IA net connect)

(no cable)

(2m:

standard)

(3m)

(5m)

4 (100 AC to 230V

input)

ABB

(Note 2)

Simple

absolute

(with battery

box)

ABBN

(Note2)

Simple

absolute

(without

battery box)

Not specified

(screw

mounting)

(DIN

rail mounting)

*1 Safety Category Complied Type: This is a type that enables to construct a safety protection circuit Note 1 It is available to select when the actuator is “Incremental Type”. Note 2 When “Simple Absolute Type” has been selected, select “ABB” or “ABBN”. Note 3 “Battery-less Absolute / Incremental Type” and “Simple Absolute Type” cannot be used together. Note 4 WUS and WUM occupy two axes. It is not necessary to describe an encoder type or option.

Model

Serial numbe

MODEL MSEL-PCX4-3N4515WAI-56PWAI-NP-CC-2-4-DN-**

SERIAL No.200198765 MADE IN JAPAN

Chapter 1 Specications Check

[1-2] Single-Axis and Cartesian Type Controllers (High-Thrust Specification)



Connected Axis Content



Series



Controller

type



Axis

No.

Pulse motor

type

Encoder

type

(Note 3)

Optional



Standard

I/O content



Extension I/O content



I/O

cable length

 Power supply

voltage



Absolute

Battery

(Note 2)



Mount

specification



WAI

(Note 4)

(battery-less

absolute/

incremental)

Not

specified

(Note1)

(

home-

position

check

sensor

)

(

brake

)

Not specified (battery-less

absolute/

incremental)

MSEL

PCF

(high-thrust

type)

PGF

(high-thrust

safety

category

compliant

type)

(1 axis)

(2 axis)

(3 axis)

(4 axis)

and 2nd

axes

56SP

(56 frame)

60P

(60 frame)

86P

(86 frame)

to 4th

axes

20P

(20 frame)

20SP

(20 frame)

28P

(28 frame)

28SP

(28 frame)

35P

(35 frame)

42P

(42 frame)

42SP

(42 frame)

56P

(56 frame)

(Note 3, Note 5)

(Note2 to Note 4)

(simple

absolute)

(

brake

)

(NPN PIO

connect)

(PNP PIO

connect)

E : Not for use

DV : (DeviceNet

connect)

CC : (CC-Link

connect)

PR : (PROFIBUS-DP

connect)

EP : (EtherNet/IP

connect)

NP : (NPN PIO

connect)

EC : (EtherCAT

connect)

PRT : (PROFINET-IO

connect)

DV2 : (DeviceNet

connect Connector for multidrop enclosed)

CC2 : (CC-Link connect

Connector for multidrop enclosed)

SE1 : (RS232C

connect)

SE2 : (RS485 connect)

IA : (IA net connect)

(no cable)

(2m:

standard)

(3m)

(5m)

(AC100

to 230V

input)

ABB

(Note 2)

Simple

absolute

(with battery

box)

ABBN

(Note 2)

Simple

absolute

(without

battery box)

Not specified

(screw

mounting)

(DIN rail

mounting)

*1 Safety Category Complied Type: This is a type that enables to construct a safety protection circuit

Note 1 It is available to select when the actuator is “Incremental Type”.

Note 2 When “Simple Absolute Type” has been selected, select “ABB” or “ABBN”.

Note 3 Simple Absolute cannot be selected in the high-thrust type (56SP, 60P and 86P motors).

Note 4 “Battery-less Absolute/Incremental Type” and “Simple Absolute Type” cannot be used together on

the 3

and 4th axes. 2nd, 3rd and 4th axes can be existed together.

Note 5 For the 2

axis, the type can be selected at the order from the standard type (20P to 56P motor) and the high-thrust type (56SP, 60P or 86P motor). (Driver board is different.)

Chapter 1 Specications Check

[2] SCARA Robot Controller



Added axis content



Power-con SCARA model



Series



Controller

type

Following type

symbols come in □

N : Standard

C : Cleanroom

W : Dust Proof/Splash

Proof

Optional

Pulse

motor type

Encoder

type

Optional



Standard

I/O content



Extension I/O

content



I/O

cable

length

 Power supply

voltage



Mount

specification

PCX3

(3 axes

standard

type)

PGX3

(3 axes safety

category

compliant

type)

(3 axes type)

3N1808WAI

3N2508WAI

3�3515WAI

3�4515WAI

3�5520WAI

3�6520WAI

(Note2)

(Brake)

(3 axes type)

3N1808WAI

3N2508WAI

3�3515WAI

3�4515WAI

3�5520WAI

3�6520WAI

(Note2)

(Brake)

20P

(20 frame)

20SP

(20 frame)

28P

(28 frame)

28SP

(28 frame)

35P

(35 frame)

42P

(42 frame)

42SP

(42 frame)

56P

(56 frame)

WAI

(Battery-

less

absolute/

Incremental)

Not

specified

(Note 1)

(home-

position

check

sensor)

(brake)

MSEL

PCX4

(4 axes

standard

type)

PGX4

(4 axes safety

category

compliant

type)

(4 axes type)

4N1808WAI

4N2508WAI

4�3515WAI

4�4515WAI

4�5520WAI

4�6520WAI

(3 axes type＋

Gripper mounted)

3N1808GMWAI

3N2508GMWAI

3N3515GMWAI

3N4515GMWAI

3N3510GLWAI

3N4510GLWAI

3N5515GLWAI

3N6515GLWAI

3N5515GWWAI

3N6515GWWAI

(Note2)

(Brake)

(NPN PIO

connect)

(PNP PIO

connect)

E : (not for

use)

DV : (DeviceNet

connect)

CC : (

CC-Link connect

)

PR :

(PROFIBUS-DP

connect)

EP :

(EtherNet/IP

connect)

NP : (

NPN PIO connect

)

EC : (EtherCAT

connect)

PRT : (PROFINET

IO connect)

DV2 : (DeviceNet

connect Connector for multidrop enclosed)

CC2 : (CC-Link

connect Connector for multidrop enclosed)

SE1 : (RS232C

connect)

SE2 : (RS485

connect)

IA : (IA net

connect)

(No

cable)

(2m:

standard)

(3m)

(5m)

4 (100 AC to 230V

input)

Not

specified

(Screw

mounting)

(DIN

Rail mounting)

*1 Safety Category Complied Type: This is a type that enables to construct a safety protection circuit Note 1 It is available to select when the actuator is “Incremental Type”. Note 2

When SCARA Robot is with the arm length 550mm or 650mm, it can be selected for Z-axis.

Chapter 1 Specications Check

1.2 Basic Specifications

Specification Item

Number of Controlled Axes 1 axis to 4 axes (Total of RC axis or SCARA axis + RC axis is four axes max.) Power Supply Voltage Single-phase 100V AC to 230V±10% Power Current (typ value) 2.9A (100V AC), 1.4A (200V AC), 1.2A (230V) Power Supply Frequency 50Hz/60Hz±5%

Rush Current (typ value)

(Note 1)

15A(100V AC), 30A(200V AC) (Ambient Temp. 25degC, Measurement in one time of turn-ON: when no repeating of ON/OFF)

Leakage Current

(Note 2)

0.75mA or less Transient Power Cutoff Durability 20ms or more Heat Generation 40W (100V AC), 35.2W (200V AC), 30.4W (230V AC) PIO Power Supply

(Note 3)

DC24V±10% (Supplied from external equipment) Motor Control System Weak field-magnet vector control Applicable Encoder

(The resolution differs depending on the actuator type)

Battery-less absolute encoder or Incremental encoder resolution 800pulse/rev or 8192pulse/rev

Actuator Cable Length MAX. 20m (when simple absolute type is used Max.10m) Serial Communication Interface (SIO port

or USB port)

Teaching tool dedicated connector (SIO ports and USB ports excluded) (XSEL serial communication protocol (Format B))

(Standard / extension) PIO

24V DC general-purposed signal I/O (NPN / PNP selection) Input 32 points max., output 32 points max. (Total of standard and extension) Cable length MAX.10m

External Interface

(Extension dedicated) Fieldbus

DeviceNet, CC-Link, PROFIBUS-DP, EtherNet/IP

(Note 4)

, EtherCAT,

PROFINET IO, RS232C, RS485 Data Setting and Input PC software or teaching pendant Program Specification SEL Language Max. Number of Program Steps 9999 steps Max. Number of Positions 30000 position Max. Number of Programs 255 program Max. Number of Multitask Programs 16 program Data Retention Memory Flash ROM and FeRAM

Clock Function

Retaining time after power turned OFF: approximately 10 days

Time for battery charge after the clock data is lost: approximately 100 hours System I/O Emergency stop input, safety gate input

Drive-source cutoff method

Contact point for semiconductor (connect externally such as driving source cutoff

relay when required to comply with safety categories for PG/PGF/PGX types)

Emergency-stop input

b contact (normally closed) Input (internal power supply)

Safety Circuit Configuration

Enable input

b contact (normally closed) Input (internal power supply)

Protective Functions

Motor over current, overload, encoder open circuit detection, soft limit over,

system abnormality, battery abnormality Absolute Battery (when simple absolute

type is used)

AB-7

Protection Function Against Electric Shock

Class I In case grounding conducted on ground terminal in addition to basic

insulation for electric shock proof. Overvoltage Category Category II Voltage durability 2500V at less than 300V AC for input rating

Insulation Resistance

10MΩ or more (between power terminal and I/O terminal and also all external

terminals and case at the power supply of DC500V)

Insulation Strength

1500V AC for 1 min (between primary and PE)

3000V AC for 1 min (between primary and secondary) Protection Conduction 10A 1.0V or less (for 10sec) Cooling Method Forced air-cooling

Surrounding air temperature 0 to +40°C Surrounding humidity

85% RH or less (non-condensing)

Surrounding environment

(Refer to the Item for the 1.6 Installation Environment).

Surrounding storage temperature

-20 to 70C (Note) 0 to 40C for absolute battery

Surrounding storage humidity

85% RH or less (non-condensing)

Maximum operation height 1000m

Vibration resistance

10 to 57 Hz in XYZ directions Swing width: 0.075mm

57 to 150Hz Acceleration: 9.8m/s

Protection class IP20

Environment

Pollution degree Pollution degree 2 External Dimensions [Refer to the 1.3 External Dimensions] Mass

Approx. 1.4kg

Chapter 1 Specications Check

Note 1 Rush current at the power connection continues for 5 msec. Note that the value of in-rush current

differs depending on the impedance of the power supply line.

Note 2 Leak current varies depending on the capacity of connected motor, cable length and the surrounding

environment. Measure the leak current at the point where a ground fault circuit interrupter is to be installed when leakage protection is conducted. Regarding the leakage breaker, it is necessary to have a clear purpose for selection such as a fire

protection or protection of human body. Note 3 Power supply is not necessary if PIO is not to be used. Note 4 EtherNet/IP can also communicate (teletype procedure communication) with EtherNet.

1.2.1 Selection of the Circuit Breaker

For the selection of the circuit breaker, perform it according to the following items.

 Select the breaker that does not trip with the rush current. (Refer to the Operation

Characteristic Curve described in the catalogue of each manufacturer.)

 For the rated breaking current, select the current value which can break the current even

when a short circuit occurs. Rated Interrupting Current > Short Circuit Current = Power Source Current [Refer to 1.2 Basic Specifications]

 Consider margin for the rated current on the circuit breaker.

Circuit Breaker Rated Current > Power Source Current [A] × Safety Margin (Reference 1.2 to 1.4)

1.2.2 Selection of the Leakage Breaker

 Regarding the leakage breaker, it is necessary to have a clear purpose for selection such

as a fire protection or protection of human body.

 Leak current varies depending on the capacity of connected motor, cable length and the

surrounding environment. Measure the leak current at the point where a ground fault circuit interrupter is to be installed when leakage protection is conducted.

Chapter 1 Specications Check

116

185

4-4.5

130

(10.9)

125

(75mm from DIN Rail center)

1.3 External Dimensions

1) Main Body

2) Absolute Battery Box (Simple Absolute Type)

(59mm from DIN Rail center)

5

111

123

10.5

108

115

(4)

5

Chapter 1 Specications Check

1.4 Interfaces

Standard I/O can be equipped with PIO (NPN or PNP).

1.4.1 Standard I/O

Input Output

Input Voltage 24V DC ±10%

Load Voltage

24V DC ±10%

Input Current 7mA / 1 Circuit

Min. 16V DC

ON/OFF Voltage

OFF

Max. 5V DC

Load Current 100mA / 1 Circuit, 400mA / 8 Port

Specification

Insulation Type

Photocoupler Insulation

Insulation Type

Photocoupler Insulation

NPN PNP

Note 1 The total of lead current reaches max. 400mA every 8 ports from output port No. 300.

NPN specification PNP specification

Caution:



If a non-contact circuit is connected externally, malfunction may result from

leakage current. Use a circuit in which leakage current in a OFF state does not exceed 1mA.



At the default settings, the system recognizes the ON/OFF durations of input

signals if they are continuous approx. 4 msec or longer. The ON/OFF duration settings can also be changed using I/O parameter No. 20 (input filtering frequency).

MSEL

560Ω

3.3kΩ

Input Terminal

560Ω

Output Terminal

10Ω

Load

Output Terminal

10Ω

Load

MSEL

3.3kΩ

External Power Source 24V DC ±10%

MSEL

Internal circuit

Chapter 1 Specications Check

1.4.2 Extension I/O

For extension I/O, selection can be made from PIO (NPN or PNP) and six types of fieldbus (CC-Link, DeviceNet, FROFIBUS-DP, EtherNet/IP, EtherCAT or PROFINET-IO) to be equipped with.

[1] PIO Interfaces

Input Output

Input Voltage 24V DC ±10%

Load Voltage

24V DC ±10%

Input Current 4mA / 1 Circuit

Min. 18V DC

ON/OFF Voltage

OFF

Max. 6V DC

Load Current 50mA / 1 Circuit

Specificatio

Insulation Type

Photocoupler Insulation

Insulation Type

Photocoupler Insulation

NPN PNP

NPN type PNP type

Caution:



If a non-contact circuit is connected externally, malfunction may result from

leakage current. Use a circuit in which leakage current in a OFF state does not exceed 1mA.



At the default settings, the system recognizes the ON/OFF durations of input

signals if they are continuous approx. 4 msec or longer. The ON/OFF duration settings can also be changed using I/O parameter No. 20 (input filtering frequency).

MSEL

5.6kΩ

Input Terminal

logic circuit

Input Terminal

5.6kΩ

logic circuit

Output Terminal

15Ω

Load

Output Terminal

15Ω

Load

MSEL

External Power Source 24V DC ±10%

MSEL

Internal circuit

Chapter 1 Specications Check

[2] Fieldbus

Following fieldbus can be selected. For details, refer to each instruction manual provided separately.

Type Overview Details

DeviceNet DeviceNet Field Network Board

This board communicates the I/O data as the remote I/O terminal.

Refer to the separate. (ME0124)

CC-Link CC-Link Field Network Board

This board communicates the I/O data as the Ver1.10 remote device station.

Refer to the separate. (ME0123)

PROFIBUS-DP PROFIBUS-DP Field Network Board

This board communicates the I/O data as the slave station.

Refer to the separate. (ME0153)

PROFINET-IO PROFINET-IO Field Network Board

This board communicates the I/O data as the slave station.

Refer to the separate. (ME0361)

EtherCAT EtherCAT Field Network Board

This board communicates the I/O data as the slave station.

Refer to the separate. (ME0309)

EtherNet/IP Network Connecting Communication Board I/O data communication also can be executed.

Refer to the separate. (ME0308)

EtherNet/IP

Communication is established with Ethernet Communication (teletype procedure communication).

Refer to the separate. (ME0140)

1.5 Absolute Battery Box (to be Connected for Simple Absolute Type)

The dedicated absolute battery box is to be used for simple absolute type. The battery is to be mounted only to the absolute type axes in the places for 1st to 4th axes in the figure below. Connection to MSEL controller is to be conducted with a dedicated cable (CB-MSEL-AB005). (Note) Cable length 0.5m

Front View with Cover on

AX3

AX7

AX1

AX4AX5AX6AX7

AX3AX2 AX1AX0

AX4

AX6

AX0

AX2

AX5

Not to use

battery

(Axis No.0)

battery

(Axis No.2)

Connector for connection to MSEL (Note) Do not attempt to plug in

or take off the cable with force in the tilted direction to the connector.

Front View after Cover Removed

Not to use

battery

(Axis No.1)

4th battery

(Axis No.3)

Chapter 1 Specications Check

1.6 Installation and Storage Environment

This product is capable for use in the environment of pollution degree 2*1 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:

 Location where the surrounding air temperature exceeds the range of 0 to 40°C  Location where condensation occurs due to abrupt temperature changes  Location where relative humidity exceeds 85%RH  Location exposed to corrosive gases or combustible gases  Location exposed to significant amount of dust, salt or iron powder  Location subject to direct vibration or impact  Location exposed to direct sunlight  Location where the product may come in contact with water, oil or chemical droplets  Environment that blocks the air vent [1.7 Noise Prevention and the Installation]

When using the product in any of the locations specified below, provide a sufficient shield.

 Location subject to electrostatic noise  Location where high electrical or magnetic field is present  Location with the mains or power lines passing nearby

[2] Storage and Preservation Environment

 Storage and preservation environment follows the installation environment. However, the

ambient temperature should be from -20 to 70°C (0 to 40°C for absolute battery) and the relative humidity to be 85%RH at maximum. Especially in a long-term storage, consider to avoid condensation of surrounding air. Unless specially specified, moisture absorbency protection is not included in the package when the machine is delivered. In the case that the machine is to be stored and preserved in an environment where dew condensation is anticipated, take the condensation preventive measures from outside of the entire package, or directly after opening the package.

Chapter 1 Specications Check

1.7 Noise Prevention and the Installation

(1) Protective Grounding

For grounding, conduct a protective grounding using a strand or annealed copper wire with the diameter 1.25mm

(AWG16) or more.

Controller

Other

equipment

Controller

Other

equipment

Other

equipment

(2) Precautions Regarding Wiring Method

1) Use a twisted cable for connection to the power supply.

2) To reduce the interference to each other, have the I/O line, communication and encoder lines, power and driving supply lines separate from each other.

(3) Noise Sources and Elimination

Carry out noise elimination measures for power devices on the same power path and in the same equipment. The following are examples of measures to eliminate noise sources:

1) AC solenoid valves, magnet switches and relays [Measure] Install a Surge Absorber parallel with

the coil.

2) DC solenoid valves, magnet switches and relays [Measure] Install a diode parallel with the coil.

Use a DC relay with a built-in diode.

Do not share the ground wire with or connect to other equipment. Ground each controller.

AC power supply

Protective grounding (PE)

Strand or annealed copper wire [1.25mm

(AWG16)]

+24V

0V +24V

Surge Absorber

Relay coil

Chapter 1 Specications Check

(4) Heat Radiation and Installation

Conuct design and manufacture in consideration of the control box size, controller layout and cooling in such a way that the temperature around the controller will be 40C or less. In case of layout with multiple controllers aligned vertically, consider not to have exhaust of bottom side controllers flow directly to the inlet of the upper controllers. Especially around the battery, the performance may drop in both low and high temperature. Keep it in ambient temperature as much as possible. (Approximately 20C is the recommended temperature.)

Direction Vertical installation (Exhaust on top)

Installation

Method Screw attachment or DIN rail attachment

Ceiling

100mm or more

300mm or more

200mm or more

50mm or more

30mm or more

ir flow

150mm or more

Air outlet

Air inlet

Air flow

Fan

Chapter 1 Specications Check

Chapter 2 Wiring

2.1 Wiring (Example connection of devices) Diagram

[1] PC/PG/PCF/PGF Controller (Single and Cartesian Axes Type)

[2] PCX/PGX Controller (IXP Series SCARA Robot Control Type)

ctuator (IXP)

ctuator

(RCP

series)

Power Supply (Single-phase 100~230V AC)

Contact for Cutoff

(Note 1)

(when supplying / cutting off power source externally)

Host Device

(Note

)

PIO

Fieldbus

Emergency Stop

(Note 1)

Safety Circuit

(Note 1)

(Enable)

Teaching Tool (Option)

ctuator (RCP)

bsolute Battery Box

Contact for Cutoff

(Note 1)

(when supplying / cutting off power source externally)

Host Device

(Note

)

PIO

Emergency Stop

(Note 1)

Safety Circuit

(Note 1)

(Enable)

Teaching Tool (Option)

Fieldbus

Power Supply (Single-phase 100~230V AC)

Note 1 Please prepare separately.

Chapter 2 Wiring

Caution: Make sure to turn the power to the controller OFF when inserting or removing

the connector that connects the PC software or teaching pendant to the controller. Inserting or removing the connector while the power is turned ON causes a controller failure.

Caution: A number is shown on the cable for SCARA Robot.

Connect it according to the controller connector number. For the actuator regarded as that for single-axis robot, the connector Nos. are not indicated. In such case, give a number to each connector to avoid any mistake. If the cable is not correctly connected, it might cause a damage to or malfunction of the motor or PCB board.

Chapter 2 Wiring

2.2 Circuit Diagram (Example)

2.2.1 Power Supply Circuit

Caution: Leakage current varies depending on the capacity of the motor to be connected,

cable length and surrounding environment. Therefore, when protective measures from the leakage are taken, measure the leakage current at the locations where the leakage breaker is installed. Regarding the leakage breaker, it is necessary to have a clear purpose for selection such as a fire protection or protection of human body.

L N

MSEL AC Power Supply Input Connector

Circuit Breaker

Leakage Breaker

L N PE

Protective Grounding

Chapter 2 Wiring

2.2.2 Emergency Stop and Enable Circuit (PC/PCF/PCX Type)

The following diagram shows the case when the teaching pendants emergency stop switch is reflected on the machine’s emergency stop circuit design.

Caution: For PC/PCF/PCX type, the dead man’s switch on the teaching pendant is valid

in MANU Mode. The Emergency Stop Switch is always enabled regardless of MANU/AUTO mode.

Teaching pendant

24V

System I/O Connector

Motor driving power supply line connector

SIO Connector

CR1

CR2

Safety gate

CR1

MC1

Emergency stop reset switch

CR2

MC1

Emergency stop switch

CR1

CR2

MC1CR1

Teaching pendant connected 2-3 and 6-7 short-circuited Teaching pendant disconnected 3-4 and 5-6 short-circuited

MANU mode

2-3 and 6-7

short-circuited

AUTO mode

3-4 and 5-6

short-circuited

(Note 1)

(Note 2)

(Note 4)

(Note 3)

(Note 4)

(Note 5)

Motor driving

circuit

ENB

Status

detection

EMB

Status

detection

Chapter 2 Wiring

Note 1: EMGS1+ and EMGS1- make short-circuit inside the controller if a teaching pendant is

not connected.

Note 2: In AUTO mode, short-circuit is made between ENBS1+ and ENBS1- inside the

controller.

Note 3: When it is necessary to cut off the motor power source externally for such reason as

to comply with safety category, connect a contact such as a connector on the wire between MPO and MPI terminals on the motor driving power line connector.

Shown below is table for the power specifications between MPO and MPI terminals. Specifications Voltage 24V DC (Built-in power supply)

Type PC/PCX

PCF

Numbers in brackets ( ) are in

case of high-thrust axis

1-axis type 2A 1.5A 2-axis type 4A 3.5A (3.0A) 3-axis type 6A 5.5A (5.0A)

Rated current

4-axis type 8A 7.5A (7.0A) 1-axis type 4A 6A 2-axis type 8A 10A (12A) 3-axis type 12A 14A (16A)

Maximum current

4-axis type 16A 18A (20A)

Note 4: The ratings for the emergency stop signal (EMGIN) that turns ON/OFF at the contact

CR1 and the enable signal (ENBIN) that turns on/off at the contact CR2 are 24V DC and 10mA or less. The emergency stop output (EMGOUT) and the enable output (ENBOUT) are available for connection to 30V DC and 0.5A or less.

Note 5: For CR1 and CR2, select the one with coil current 0.1A or less.

Chapter 2 Wiring

2.2.3 Emergency Stop and Enable Circuit (PG/PGF/PGX Type)

The following diagram shows the case when the teaching pendants emergency stop switch is reflected on the machine’s emergency stop circuit design.

Caution: For PG/PGF/PGX type, the emergency stop switch and the dead man’s switch

on the teaching pendant are always valid. Apply the dummy plug (DP-4S) if the teaching pendant is not connected.

Teaching pendant

24V

System I/O Connector

SIO

Connector

CR1

CR2

Safety gate

CR1

MC1

Emergency stop reset switch

CR2

MC1

Emergency stop switch

CR1

CR2

MC1

CR1

Dummy plug (DP-4S)

(Note 1)

(Note 2)

(Note 3)

(Note 2)

(Note 3)

Motor driving power supply line connector

Motor driving

circuit

ENB

Status

detection

EMB

Status

detection

Chapter 2 Wiring

Note 1: When it is necessary to cut off the motor power source externally for such reason as

to comply with safety category, connect a contact such as a connector on the wire between MPO and MPI terminals on the motor driving power line connector.

Shown below is table for the power specifications between MPO and MPI terminals. Specifications Voltage 24V DC (Built-in power supply)

Type PG/PGX

PGF

Numbers in brackets ( ) are in

case of high-thrust axis

1-axis type 2A 1.5A 2-axis type 4A 3.5A (3.0A) 3-axis type 6A 5.5A (5.0A)

Rated current

4-axis type 8A 7.5A (7.0A) 1-axis type 4A 6A 2-axis type 8A 10A (12A) 3-axis type 12A 14A (16A)

Maximum current

4-axis type 16A 18A (20A)

Note 2: The ratings for the emergency stop signal (EMGIN) that turns on/off at the contact

CR1 and the enable signal (ENBIN) that turns ON/OFF at the contact CR2 are 24V DC and 10mA or less. The emergency stop output (EMGOUT) and the enable output (ENBOUT) are available for connection to 30V DC and 0.5A or less.

Note 3: For CR1 and CR2, select the one with coil current 0.1A or less.

Chapter 2 Wiring

2.2.4 Motor Encoder Circuit

(1) Connection of Linear Axes

(2) Connection to IXP-4N3515, 4515 and IXP-3N3515, 4515 Equipped with Grippers.

MSEL

MPG1

MPG2

MPG3

MPG4

ctuator Connection Connector

When equipped with grippers

CB-IXP-AT008-AS

MSEL

MPG1

MPG2

MPG3

MPG4

ctuator

Connection Connector

Connection cable

(Note 1

)

Added axis

(RCP series)

Connection cable

(Note 1

)

CB-CAN-MPA ( : cable length Example. 030 = 3 m)

Chapter 2 Wiring

(3) Connection to IXP-3N3515, 4515 and Additional Axes

Note 1 Applicable Connection Cable Model No.  : cable length Example. 030 = 3 m

Model Cable Remarks

RCP2 CB-PSEP-MPA Robot cable from 0.5 to 20m

CB-APSEP-MPA Robot cable from 0.5 to 20m

RCP3

CB-APSEP-MPA-LC Standard cable from 0.5 to 20m CB-CA-MPA-RB Robot cable from 0.5 to 20m

RCP4 (except for GR* type)

CB-CA-MPA Standard cable from 0.5 to 20m CB-CAN-MPA-RB Robot cable from 0.5 to 20m

RCP4 (GR* type), RCP5, RCP6, IXP

CB-CAN-MPA Standard cable from 0.5 to 20m CB-CFA-MPA-RB Robot cable from 0.5 to 20m

RCP2 High-thrust type

CB-CFA-MPA Standard cable from 0.5 to 20m CB-CFA2-MPA-RB Robot cable from 0.5 to 20m

RCP4 High-thrust type

CB-CFA2-MPA Standard cable from 0.5 to 20m CB-CFA3-MPA-RB Robot cable from 0.5 to 20m

RCP5/6 High-thrust type

CB-CFA3-MPA Standard cable from 0.5 to 20m

Caution: In such case, give a number to each connector to avoid any mistake.

If the cable is not correctly connected, it might cause a damage to or malfunction of the motor or PCB board.

MSEL

MPG1

MPG2

MPG3

MPG4

ctuator Connection Connector

Connection cable

(Note 1

)

Added axis

(RCP series)

Chapter 2 Wiring

2.2.5 PIO Circuit

On MSEL Controller, Standard (I/O1) and Extension (I/O2) are available to mount. The setting of the I/O parameters is required to use this PIO board.

[1] I/O Port Function Assignment [2] Port Number Assignment for I/O Ports

[1] I/O Port Function Allocation

To Input Function Select No. 000 to 015 and Output Function Select No. 300 to 315, it is available to set the dedicated functions and is available to assign to any input and output port. For the other I/O port Nos., they can be used freely as the universal I/O port.

(1) Input Port Function Allocation

Parameter

Input

Function

Select

No.

Set Value Function of an Input Signal

At the

delivery

Universal input

Program start (When indicated input port = 007 to 014 BCD, start of indicated program number … ON-edge)



000 No.30

Program start (When indicated input port = 007 to 014, start of binary indicated program number … ON-edge)

0 Universal input 

001 No.31

1 Software reset signal (1sec continuous ON)

0 Universal input 

002 No.32

1 Servo ON signal (edge input)

0 Universal input

Program automatically started when the power ON is reset in AUTO mode and software is reset



003 No.33

Automatic starting program start (100sec continuous ON)

Universal input



004 No.34

All servo-axes soft interlock (Level signal of regular ON)

Universal input



005 No.35

Pause release (ON edge processing signal)

Universal input



006 No.36

Pause signal (level signal of regular ON)

No Consideration of Value in Input Function Select 000

0 Universal input

Input Function Select 000=Setting 1

007 No.37

Input Function Select 000=Setting 2

1 Program No. select 0 bit 

No Consideration of Value in Input Function Select 000

0 Universal input

Input Function Select 000=Setting 1

008 No.38

Input Function Select 000=Setting 2

1 Program No. select 1 bit 

No Consideration of Value in Input Function Select 000

0 Universal input

Input Function Select 000=Setting 1

009 No.39

Input Function Select 000=Setting 2

1 Program No. select 2 bit 

No Consideration of Value in Input Function Select 000

0 Universal input

Input Function Select 000=Setting 1

010 No.40

Input Function Select 000=Setting 2

1 Program No. select 3 bit 

No Consideration of Value in Input Function Select 000

0 Universal Input

Input Function Select 000=Setting 1

011 No.41

Input Function Select 000=Setting 2

1 Program No. select 4 bit 

No Consideration of Value in Input Function Select 000

0 Universal input

Input Function Select 000=Setting 1

012 No.42

Input Function Select 000=Setting 2

1 Program No. select 5 bit 

No Consideration of Value in Input Function Select 000

0 Universal Input

Input Function Select 000=Setting 1 Input Function Select 000=Setting 2

1 Program No. select 6 bit 

013 No.43

No Consideration of Value in Input Function Select 000

2 Error reset (ON-edge)

Chapter 2 Wiring

Parameter

Input

Function

Select

No.

Set Value Function of an Input Signal

At the

delivery

No Consideration of Value in Input Function Select 000

0 Universal input 

No Consideration of Value in Input Function Select 000

Driving source cut-off cancellation input (ON-edge) (Effective when cancelling the cause of driving source cutoff)

Input Function Select 000=Setting 1

014 No.44

Input Function Select 000=Setting 2

2 Program No. select 7 bit

0 Universal input 

Home-return operation on all the linear axes (ON-edge)

015 No.45

Home-return operation on all the incremental effective axes (ON-edge)

Chapter 2 Wiring

(2) Output Port Function Allocation

Parameter

Output

Function

Select

No.

Set Value Function of an Input Signal

At the

delivery

Universal output

Error output at the operation cancellation level or more (ON)

Error output at the operation cancellation level or more (OFF)



Error output at the operation cancellation level or more + emergency-stop output (ON)

Error output at the operation cancellation level or more + emergency-stop output (OFF)

Output of an error of maintenance information alert function related message level (Error No. 231 or 232) (ON)

300 No.46

Output of an error of maintenance information alert function related message level (Error No. 231 or 232) (OFF)

Universal output

１

READY output (PIO trigger program operation available)

READY output (PIO trigger program operation available) and without occurrence of any error at the operation cancellation level or more

301 No.47

READY output (PIO trigger program operation available, and without occurrence of any error at the cold start level or more)



Universal output

Emergency-stop output (ON)

302 No.48

Emergency-stop output (OFF)



Universal output



AUTO mode

303 No.49

Output during automatic operation (Other parameter No. 12)

Universal output



Output when all the effective axes at home position (= 0)

Output when home-return operation on all the effective axes in complete condition (coordinates confirmed)

304 No.50

Output when all the effective axes in home preset coordinates

Universal output



axis in-position output (OFF when miss-pressing)

305 No.51

Output while the 1

axis servo is ON (system monitoring task

output)

Universal output



axis in-position output (OFF when miss-pressing)

306 No.52

Output while the 2

axis servo is ON (system monitoring task

output)

Universal output



axis in-position output (OFF when miss-pressing)

307 No.53

Output while the 3

axis servo is ON (system monitoring task

output)

Universal output



axis in-position output (OFF when miss-pressing)

308 No.54

Output while the 4

axis servo is ON (system monitoring task

output)

309 No.55 0

Universal output



310 No.56 0

Universal output



311 No.57 0

Universal output



312 No.58 0

Universal output



313 No.59 0

Universal output



314 No.60 0

Universal output



315 No.61 0

Universal output



Chapter 2 Wiring

[2] Port Number Assignment for I/O Ports

With the following I/O parameters, assign the ranges and numbers of the ports used on PIO board.

No. Parameter Name

Default

(Reference)

Input Range Remarks

1 I/O Port Assignment Type

(Reference

value)

0 to 20

0: Fixed assignment (No other than 0 can be set)

Input Port Start Number at I/O1 Affixed Assignment

000 -1, 0 to 248

0+(multiple of 8)(Unavailable when it is negative figure)

Standard

Output Port Start Number at I/O1 Affixed Assignment

300 -1, 300 to 548

300+(multiple of 8)(Unavailable when it is negative figure)

Input Port Start Number at I/O2 Affixed Assignment

-1 -1, 0 to 288

0+(multiple of 8)(Unavailable when it is negative figure)

Output Port Start Number at I/O2 Affixed Assignment

-1 -1, 300 to 588

300+(multiple of 8)(Unavailable when it is negative figure)

18 I/O2 Error Monitoring 1 0 to 1

0: Not to Monitor (The extension not applicable) 1: Monitor (Use the extension)

225

Extension

Extension I/O Controller 9 (Reference

value)

0 to 9

0 to 8:Extension not installed or other than PIO

installed

9:PIO (Extension installed)

283

Input Function Select 000 Physical Input Port No.

-1, 16 to 31, 48 to 299

Indicate port number to assign function set in I/O Parameter No. 30 (Input port 000 when negative)

284

Input Function Select 001 Physical Input Port No.

-1, 16 to 31, 48 to 299

Indicate port number to assign function set in I/O Parameter No. 31 (Input port 001 when negative)

285

Input Function Select 002 Physical Input Port No.

-1, 16 to 31, 48 to 299

Indicate port number to assign function set in I/O Parameter No. 32 (Input port 002 when negative)

286

Input Function Select 003 Physical Input Port No.

-1, 16 to 31, 48 to 299

Indicate port number to assign function set in I/O Parameter No. 33 (Input port 003 when negative)

287

Input Function Select 004 Physical Input Port No.

-1, 16 to 31, 48 to 299

Indicate port number to assign function set in I/O Parameter No. 34 (Input port 004 when negative)

288

Input Function Select 005 Physical Input Port No.

-1, 16 to 31, 48 to 299

Indicate port number to assign function set in I/O Parameter No. 35 (Input port 005 when negative)

289

Input Function Select 006 Physical Input Port No.

-1, 16 to 31, 48 to 299

Indicate port number to assign function set in I/O Parameter No. 36 (Input port 006 when negative)

290

Input Function Select 007 Physical Input Port No.

-1, 16 to 31, 48 to 299

Indicate port number to assign function set in I/O Parameter No. 37 (Input port 007 when negative)

291

Input Function Select 008 Physical Input Port No.

-1, 16 to 31, 48 to 299

Indicate port number to assign function set in I/O Parameter No. 38 (Input port 008 when negative)

292

Input Function Select 009 Physical Input Port No.

-1, 16 to 31, 48 to 299

Indicate port number to assign function set in I/O Parameter No. 39 (Input port 009 when negative)

293

Input Function Select 010 Physical Input Port No.

-1, 16 to 31, 48 to 299

Indicate port number to assign function set in I/O Parameter No. 40 (Input port 010 when negative)

294

Input Function Select 011 Physical Input Port No.

-1, 16 to 31, 48 to 299

Indicate port number to assign function set in I/O Parameter No. 41 (Input port 011 when negative)

295

Input Function Select 012 Physical Input Port No.

-1, 16 to 31, 48 to 299

Indicate port number to assign function set in I/O Parameter No. 42 (Input port 012 when negative)

296

Input Function Select 013 Physical Input Port No.

-1, 16 to 31, 48 to 299

Indicate port number to assign function set in I/O Parameter No. 43 (Input port 013 when negative)

297

Input Function Select 014 Physical Input Port No.

-1, 16 to 31, 48 to 299

Indicate port number to assign function set in I/O Parameter No. 44 (Input port 014 when negative)

298

Input Function Select 015 Physical Input Port No.

-1, 16 to 31, 48 to 299

Indicate port number to assign function set in I/O Parameter No. 45 (Input port 015 when negative)

299

Output Function Select 300 Physical Input Port No.

316

0, 316 to 331,

348 to 599

Indicate port number to assign function set in I/O Parameter No. 46 (Output port 301 when 0)

300

Output Function Select 301 Physical Input Port No.

317

0, 316 to 331,

348 to 599

Indicate port number to assign function set in I/O Parameter No. 47 (Output port 302 when 0)

301

Output Function Select 302 Physical Input Port No.

318

0, 316 to 331,

348 to 599

Indicate port number to assign function set in I/O Parameter No. 48 (Output port 303 when 0)

302

Output Function Select 303 Physical Input Port No.

319

0, 316 to 331,

348 to 599

Indicate port number to assign function set in I/O Parameter No. 49 (Output port 304 when 0)

303

Output Function Select 304 Physical Input Port No.

320

0, 316 to 331,

348 to 599

Indicate port number to assign function set in I/O Parameter No. 50 (Output port 305 when 0)

304

Output Function Select 305 Physical Input Port No.

321

0, 316 to 331,

348 to 599

Indicate port number to assign function set in I/O Parameter No. 51 (Output port 306 when 0)

Chapter 2 Wiring

No. Parameter Name

Default

(Reference)

Input Range Remarks

305

Output Function Select 306 Physical Input Port No.

322

0, 316 to 331,

348 to 599

Indicate port number to assign function set in I/O Parameter No. 52 (Output port 307 when 0)

306

Output Function Select 307 Physical Input Port No.

323

0, 316 to 331,

348 to 599

Indicate port number to assign function set in I/O Parameter No. 53 (Output port 308 when 0)

307

Output Function Select 308 Physical Input Port No.

324

0, 316 to 331,

348 to 599

Indicate port number to assign function set in I/O Parameter No. 54 Output port 309 when 0)

308

Output Function Select 309 Physical Input Port No.

325

0, 316 to 331,

348 to 599

Indicate port number to assign function set in I/O Parameter No. 55 (Output port 310 when 0)

309

Output Function Select 310 Physical Input Port No.

326

0, 316 to 331,

348 to 599

Indicate port number to assign function set in I/O Parameter No. 56 (Output port 311 when 0)

310

Output Function Select 311 Physical Input Port No.

327

0, 316 to 331,

348 to 599

Indicate port number to assign function set in I/O Parameter No. 57 (Output port 312 when 0)

311

Output Function Select 312 Physical Input Port No.

328

0, 316 to 331,

348 to 599

Indicate port number to assign function set in I/O Parameter No. 58 (Output port 313 when 0)

312

Output Function Select 313 Physical Input Port No.

329

0, 316 to 331,

348 to 599

Indicate port number to assign function set in I/O Parameter No. 59 (Output port 314 when 0)

313

Output Function Select 314 Physical Input Port No.

330

0, 316 to 331,

348 to 599

Indicate port number to assign function set in I/O Parameter No. 60 (Output port 315 when 0)

314

Output Function Select 315 Physical Input Port No.

331

0, 316 to 331,

348 to 599

Indicate port number to assign function set in I/O Parameter No. 61 (Output port 316 when 0)

(Note) The parameter settings at delivery may differ depending on the type of the extension I/O slot (I/O2).

[Refer to 3.2 Receiving and Forwarding of I/O Signals Necessary for Operation]

Chapter 2 Wiring

[3] Wiring

1) Standard type (I/O1)

24VDC (NPN Type) 0V (PNP Type)

24VDC (PNP Type)

24VDC

0V (NPN Type)

016 017 018 019 020 021 022 023 024 025 026 027 028 029 030 031

316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331

Output function is parameter setup

Input function is parameter setup

● Use the attached cable for the I/O connection.

Model : CB-PAC-PIO ( indicates the cable length L. Example. 020 = 2m)

Flat Cable (20-core) × 2

BK-4 (20B)

BR-3 (1B)

BK-2 (20A)

BR-1 (1A)

20A 20B

1A 1B

Half Pitch MIL Socket HIF6-40D-1.27R (Hirose Electric)

No treatment conducted

Chapter 2 Wiring

2) ExtensionI/O (I/O2)

24VDC (NPN Type) 0V (PNP Type)

24VDC (PNP Type)

General-purpose input

General-purpose output

24VDC

0V (NPN Type)

048 049 050

348 349 350

● Use the attached cable for the I/O connection.

Model : CB-PAC-PIO ( indicates the cable length L. Example. 020 = 2m)

Flat Cable (20-core) × 2

BK-4 (20B)

BR-3 (1B)

BK-2 (20A)

BR-1 (1A)

20A 20B

1A 1B

Half Pitch MIL Socket HIF6-40D-1.27R (Hirose Electric)

No treatment conducted

Chapter 2 Wiring

2.2.6 Connection to Absolute Battery Box (only for PC/PG/PCF/PGF Type Simple Absolute)

(Note) Do not attempt to plug in or take off the cable with force in the tilted direction to the

connector.

MSEL

Absolute Battery Connector

Absolute Battery Box

MSEL-ABB-□-□

CB-MSEL-AB005

Cable Length 0.5m

Chapter 2 Wiring

2.3 Wiring Method

2.3.1 Connection to AC 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 7mm and insert them to the connector. When inserting, turn the screw on the side of the inlet to the left with a slotted screwdriver to open the inlet. After inserting the wires, turn the screw to the right with a slotted slotted screwdriver to fix the wires.

Drive Power Supply Input Connector

Model Remarks

Cable side MSTB2,5/3-STF-5,08 (SK: N-PE)

(PHOENIX CONTACT)

Enclosed in standard package

Controller side DFK-MSTB2,5/3-GF-5,08

(PHOENIX CONTACT)

Pin No.

Signal

Name

Description Applicable Cable Diameter

3 N

2 L

Power supply input (100 AC to 230V)

1.25 to 0.5mm

(AWG16 to 20) Select the cable thickness allowable for the current figured out in the power capacity.

1 PE

Protective grounding wire

3 2 1

Front view of connector on controller side

Chapter 2 Wiring

2.3.2 Wiring the Emergency Stop Circuit (System I/O)

Construction is made with the emergency stop input and the input terminal of the enable signal. The wires are to be connected to the enclosed connectors (plugs). Peel the sheath on the applicable cable for 10mm, and insert to a connector.

Item PC/PCF/PCX Type PG/PGF/PGX Type

Drive-source cutoff circuit

Built-in

(Hard-wired configuration) Conforming category B B, 1 to 3 Redundancy in safety circuit

- Achieved by an external circuit.

Operation upon emergency stop

Decelerate the actuator at the emergency deceleration (All axes

parameter No. 24, No. 205, each axis parameter No. 136) to a

stop, turn OFF the servo, and then cut off the drive source. Recovery from emergency stop

Recover by cancelling emergency stop by system I/O

External output of emergency stop status

Possible. (Set by I/O parameter No. 48.)

[Refer to 2.2.2 and 2.2.3 for the basic circuit configuration.]

Left Right

System I/O Connector Model Remarks

Cable side

DFMC1,5/6-ST-3,5 (PHOENIX CONTACT)

Enclosed in standard package

Controller side

DMC1,5/6-G1-3,5P20THR (PHOENIX CONTACT)

Pin No.

Signal Name Class Description

Applicable

cable

diameter

12 EMGIN IN Emergency stop detection input

11 EMGOUT +24V

24-V power output for emergency stop detection input (30V DC, Max0.5A)

10 EMGS1+ line+

9 EMGS1- line-

They are the cables to connect to the emergency stop circuit on the teaching pendant when a teaching pendant is to be connected. When no teaching pendant is to be connected, 1+ and 1- are short-circuited the PC/PCF/PCX type.

8 EMGS2+ line+

Left

side

7 EMGS2- line-

(Used in PG/PGF type, Not used in PC/PCF type) They are the cables to connect to the emergency stop circuit on the teaching pendant when a teaching pendant is to be connected. When no teaching pendant is to be connected, 2+ and 2- are short-circuited.

6 ENBIN IN Enable detection input

5 ENBOUT +24V

24-V power output for enable detection input (30V DC, Max0.5A)

4 ENBS1+ line+

3 ENBS1- line-

They are the cables to connect to the enable circuit on the teaching pendant when a teaching pendant is to be connected. When no teaching pendant is to be connected, 1+ and 1- are short-circuited the PC/PCF/PCX type.

2 ENBS2+ line+

Right

side

1 ENBS2- line-

1.25 to

0.3mm

(AWG16 to 22)

Front view of connector on controller side

12 6

7 1

Chapter 2 Wiring

The following pin numbers are connected with a short-circuiting cable at the delivery.

 Pins 4 and 5  Pins 3 and 6  Pins 10 and 11  Pins 9 and 12

2.3.3 Wiring for Actuator

Connect the relay cables to the actuator connectors. Check in the instruction manual of each actuator for the details of the relay cables.

Actuator Connection Connector

Model Remarks

Cable side

PADP-24V-1-S

Controller side

S24B-PADSS-1

Note 1 The pin assignment of the connector that the high-thrust type axis

can be connected and that of the connector that all the other types of axis can be connected are different from each other.

Pin No.

Signal Name

Description

Applicable Wire

Diameter

A

Motor driving A-phase

2 VMM

Motor power

B

Motor driving B-phase

4 VMM

Motor power

/A

Motor driving /A-phase

/B

Motor driving /B-phase

7 LS +

Limit switch positive side

8 LS -

Limit switch negative side

9 BK +

Brake release positive side

10 BK -

Brake release negative side

11 ABS_SA Absolute encoder differential + input

12 ABS_SB Absolute encoder differential - input

13 A + Encoder A-phase differential + input

14 A - Encoder A-phase differential - input

15 B + Encoder B-phase differential + input

16 B - Encoder B-phase differential - input

Encoder power supply (except for high-thrust axis)

(Note 1)

NC Disconnected (High-thrust axis )

18 /PS

Encoder line driver enable output

19 GND

Ground

20 LSGND

Ground for limit switch

Disconnected (except for high-thrust axis)

(Note 1)

Encoder power supply

(High-thrust axis) 22 NC Disconnected

23 NC Disconnected

24 FG Grounding

Cable dedicated for IAI products

Front view of connector on controller side

Chapter 2 Wiring

2.3.4 Wiring for Motor Driving Power Line Connector

This wiring is to be constructed when it is required to have the driving power source shut externally. In case of using the driving source cutoff circuit inside the controller, use the controller under the condition of the enclosed short-circuiting cable being connected.

The wires are to be connected to the enclosed connectors (plugs). Peel the sheath on the applicable cable for 10mm, and insert to a connector.

Motor Driving Power Supply Line Connector

Model Remarks

Cable side

FKIC2,5HC/2-ST-5,08 (PHOENIX CONTACT)

Enclosed in standard package

Controller side IC2,5HC/2-G-5,08

No.

Signal Name

Description Applicable Wire Diameter

2 MPI

Motor power supply external input

1 MPO

Motor power supply external output

KIV1.25 to 0.75mm

(AWG16 to 18) Select the cable thickness allowable for the current figured out in the power capacity.

2.3.5 Wiring to Single Absolute Battery Unit

Connect the absolute battery unit and controller for simple absolute type.

Absolute Battery

Connector

Model Remarks

Cable side CZHR-12V-S

Controller side S12B-PADSS-1

No.

Signal

Name

Description

Applicable Wire

Diameter

1 GND 0V

2 1BAT Axis No. 1 Absolute battery

3 1BAT_TMP

Axis No. 1

Absolute battery temperature

sensor

4 2BAT Axis No. 2 Absolute battery

5 2BAT_TMP

Axis No. 2

Absolute battery temperature

sensor

6 3BAT Axis No. 3 Absolute battery

7 3BAT_TMP

Axis No. 3

Absolute battery temperature

sensor

8 4BAT Axis No. 4 Absolute battery

9 4BAT_TMP

Axis No. 4

Absolute battery temperature

sensor

10 GND 0V

11 NC Disconnected

12 NC Disconnected

Cable dedicated for IAI products

Front view of connector on controller side

Chapter 2 Wiring

2.3.6 Wiring for PIO

The connection of I/O to the controller is to be carried out using the dedicated I/O cable. The cable length is shown in the model code of the controller. Please check the controller model code. There are 2m for standard, 3m and 5m as an option. Up to 10m can be enabled sold separately. [Refer to “1.1.5 How to Read the Model”]

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-PAC-PIO

( indicates the cable length L. Example. 020 = 2m)

Flat Cable (20-core) × 2

20A 20B

1A 1B

Half Pitch MIL Socket HIF6-40D-1.27R (Hirose Electric)

No treatment conducted

No.

Cable

Color

Wiring No.

Cable

Color

Wiring

1A BR-1 1B BR-3 2A RD-1 2B RD-3 3A OR-1 3B OR-3 4A YW-1 4B YW-3 5A GN-1 5B GN-3 6A BL-1 6B BL-3 7A PL-1 7B PL-3 8A GY-1 8B GY-3 9A WT-1 9B WT-3

10A BK-1 10B BK-3

11A BR-2 11B BR-4 12A RD-2 12B RD-4 13A OR-2 13B OR-4 14A YW-2 14B YW-4 15A GN-2 15B GN-4 16A BL-2 16B BL-4 17A PL-2 17B PL-4 18A GY-2 18B GY-4 19A WT-2 19B WT-4 20A BK-2

Flat Cable

○

(Press Welding)

AWG28

20B BK-4

Flat Cable○B

(Press Welding)

AWG28

[Refer to 2.2.5 PIO Circuit for the signal assignment for each cable]

Chapter 2 Wiring

2.3.7 Wiring for the Teaching Tool (SIO Connector, USB Connector)

Connect a teaching tool such as the PC software. Connection of either RS232C or USB is available. (USB is prioritized when both are connected at the same time.) Apply the enclosed dummy plug (DP-4S) to the teaching connector when operation mode setting switch is set to AUTO in PG/PGF/PGX type.

[1] SIO Connector

SIO Connector

Model Remarks

Controller side HDR-EC26LFDT1-SLD+

Pin No.

Signal Name

Description

Applicable Wire

Diameter

1 GND 0V

2 EMGS Emergency stop status output

3 VCC 6.5V power input connector

DTR

Terminal ready (Connected to DSR inside)

5 EMGS2 + Emergency stop contact output 2+

6 EMGS2 - Emergency stop contact output 2-

7 NC Unconnected

8 RSVVCC 24V power input connector

9 EMGS1 - Emergency stop contact output 1-

10 NC Unconnected

11 NC Unconnected

12 EMGS1 + Emergency stop contact output 1+

13 RTS Connected to DSR externally

14 CTS

Connected to RTS externally, connector connection detection input.

15 TXD Transmit data

16 RXD Receive data

17 DSR

Equipment ready (Connected to DSR inside)

18 NC Unconnected

19 NC Unconnected

20 NC Unconnected

21 NC Unconnected

22 ENBS2 + Enable contact output 2 +

23 ENBS1 - Enable contact output 1 -

24 ENBS1 + Enable contact output 1 +

25 ENBS2 - Enable contact output 2 -

26 GND 0V

Cable dedicated for IAI products

Front view of connector on controller side

Chapter 2 Wiring

[2] USB Connector

USB Connector

Model Remarks

Controller side

UBBS-4R-D14-4D B type

Pin No.

Signal Name

Description

Applicable Wire

Diameter

1 V

BUS

D- Communication data -

D+ Communication data +

4 GND 0V

USB cable

Caution:

Set “Operation Mode Setting Switch” to “MANU” side when a teaching device is connected.

Turn the power OFF before disconnecting a teaching pendant.

USB connector and SIO connector cannot be used at the same time. USB connector is prioritized.

When using a USB connector in MANU Mode, apply the dummy plug (DP-4S) or connect the cable enclosed to the PC software to the SIO connector as the enable signal detection activates.

Front view of connector on controller side

* SIO and USB cannot be connected at the same time.

Chapter 3 Operation

3.1 Types of Operations

The MSEL controller is a programming controller that can operate without a host controller. Programming for this controller uses IAI’s dedicated programming language (SEL language). [Refer to the separate SEL Language Programming Manual.]

Operation method

Operation in a standalone (independent) mode [Refer to the 3.4.1 Auto Start upon Power On]

Operation via PIO interface

Operation via serial communication commands

Operation using a teaching tool

Operation with PIO (24V I/O) [Refer to the 3.4.2 Starting a Program by Specifying its Program Number]

Operation with Fieldbus communication (option) (DeviceNet, CC-Link, PROFIBUS-DP, EtherNet/IP, EtherCAT and PROFINET-IO are supported.) [Refer to the separate operation manual for each Fieldbus protocol.]

Operation with Serial communication (RS232C) [Refer to the separate SEL language programming manual.]

Operation with Ethernet communication (option) [Refer to the separate Ethernet operation manual.]

Chapter 3 Operation

3.2 Receiving and Forwarding of I/O Signals Necessary for Operation

The I/O port can deliver the data with the MSEL controller and external signals through interface. One port can exchange data for one contact (1 bit). Data is exchanged via PIOs (24V I/Os) or over a fieldbus. Either a PIO or fieldbus can connect to each port at a time.

Whether to use PIO or fieldbus is set by a parameter.

indicates flow of data.

Refer to Section 2.2.5 for the PIO interface. For the each fieldbus, refer to each instruction manual.

Host Controller

I/O unit

Fieldbus

master unit

MSEL Controller

I/O Ports

I/O interface

• Standard I/O

• Extension I/O

Fieldbus interface

• DeviceNet

• CC-Link

• PROFIBUS-DP

• EtherNet/IP

Input Port

Output Port

16 316 17 317 18 318 19 319 20 320 21 321 22 322 23 323 24 324 25 325 26 326 27 327 28 328 29 329 30 330 31 331 32

 

332



Data exchange

Connected

internally.

(Assignments

are set by parameters.)

Chapter 3 Operation

(1) I/O Map

The factory-set I/O port numbers and functions of the MSEL controller are shown below. The functions of the I/O port can be changed using the I/O parameter setting.

[Refer to 2.2.5 PIO Circuit and Chapter 6. I/O Parameter]

1) When I/O2 is Not Fieldbus type (Type of extension I/O is either of E/NP/PN/SE1/SE2/IA)

Type Port No. Function Type Port No. Function

000 300 ALM (LED on the front panel) 001 301 RDY (LED on the front panel) 002 302 EMG (LED on the front panel) 003 303 System reservation 004 304 HPS (LED on the front panel) 005 305 006 306 007 307 008 308 009 309 010 310

011 311 012 312 013 313 014 314

Internal

(I/O1)

015

System reservation

Internal

(I/O1)

315

System reservation

016 Program start 316 Alarm output 017 317 READY output 018 318 Emergency-stop output 019 319 020 320 021 321 022

General-purpose input

322

023

Program number indication (BCD:1･BIN:1) *

323

024

Program number indication (BCD:2･BIN:2) *

324

025

Program number indication (BCD:4･BIN:4) *

325

026

Program number indication (BCD:81･BIN:8) *

326

027

Program number indication (BCD:10･BIN:16) *

327

028

Program number indication (BCD:20･BIN:32) *

328

029

Program number indication (BCD:40･BIN:64) *

329

030 330

External

(I/O1)

031

General-purpose input

External

(I/O1)

331

General-purpose output

032 332 7-segment user display digit 033 333 7-segment user display digit 034 334 System reservation 035 335 System reservation 036 336 System reservation 037 337 7-segment display refresh 038 338 7-segment user/system alternate 039 339 7-segment user display specification 040 340 DT0 (7-segment user display bit) 041 341 DT1 (7-segment user display bit) 042 342 DT2 (7-segment user display bit) 043 343 DT3 (7-segment user display bit) 044 344 DT4 (7-segment user display bit) 045 345 DT5 (7-segment user display bit) 046 346 DT6 (7-segment user display bit)

Internal

(I/O1)

047

System reservation

Internal

(I/O1)

347 System reservation

External

(I/O2)

048

295

General-purpose input

External

(I/O2)

348

595

General-purpose output

* Switching over between BCD and BID in Program Number Indication should be conducted in IO

Parameter No. 30 Input Function Select 000.

(1:Program start BCD, 2:Program start binary(BIN))

Chapter 3 Operation

2) When I/O2 is Fieldbus type (Type of extension I/O is either of CC/CC2/DV/DV2/PR/EP/EC/PRT)

Type Port No. Function Type Port No. Function

011 311 012 312 013 313 014 314

Internal

(I/O1)

015

System reservation

Internal

(I/O1)

315

System reservation

External

(I/O1)

016

031

General-purpose input

External

(I/O1)

316

331

General-purpose output

Internal

(I/O1)

047

System reservation

Internal

(I/O1)

347 System reservation

048 Program start

348 Alarm output

049 349 READY output 050 350 Emergency-stop output 051 351 052 352 053 353 054

General-purpose input

354

055

Program number indication (BCD:1･BIN:1) *

355

056

Program number indication (BCD:2･BIN:2) *

356

057

Program number indication (BCD:4･BIN:4) *

357

058

Program number indication (BCD:81･BIN:8) *

358

059

Program number indication (BCD:10･BIN:16) *

359

060

Program number indication (BCD:20･BIN:32) *

360

061

Program number indication (BCD:40･BIN:64) *

361 062 362 063

General-purpose input

363

General-purpose output

External

(I/O2)

064

295

General-purpose input

External

(I/O2)

364

595

General-purpose output

* Switching over between BCD and BID in Program Number Indication should be conducted in IO

Parameter No. 30 Input Function Select 000.

(1:Program start BCD, 2:Program start binary(BIN))

Chapter 3 Operation

3.3 Starting the Controller

3.3.1 Turning on the Power and Cutoff

(1) Power on Procedure

The following procedure is applied for cases where the parameters are the same as those at delivery, and the unit is not in the error occurrence mode or emergency stop mode. Also, the number allocation for the I/O ports is shown as the same as the delivery in this description.

1) After confirming that the wirings are performed properly, supply power to the peripheral devices. If PIO is in use, supply 24V DC for PIO. In the case that it is not used, the power supply is not required, but, set I/O Parameter No. 10 and No. 18 to “0: Unmonitored”.

2) Supply the main power.

3) Once the startup of the controller (CPU startup) is held in normal condition, I/O Port No. 317 turns ON.

A timing chart of the above operation is shown below.

Main power

Controller state

Peripheral device

Initialized/Self checking Normal operation state

Prior supply

Status of power supply and connection diagnosed at initializing (DIO power supply and fieldbus: setting at delivery)

(2) Power Cutoff on Procedure

Shut the power on the peripheral devices at the same time as or after the shutoff of the main power.

Shut the power on the peripheral devices at the same time as or after the shutoff of the main power

Main power

Peripheral device

Caution: Leave it for 5 seconds or more after shutting the power off when you turn it back

on.

Chapter 3 Operation

3.3.2 Panel Window Display

The 4-digit, 7-segment LED shows the controller status. When the unit is started up normally, “ ” is displayed after the initial processing display. If an indication “E***” is displayed, check “Trouble Shooting” in Chapter 7. For others shown on 7-segment LED display, refer to the display list of the panel window stated below.

Displayed Contents of LED Lamps on Controller

No. Name Status when LED is on

1) RDY CPU Ready (Program operation available)

2) ALM

CPU Alarm CPU Alarm (error in operation cancel level or higher) generated

EMG

Emergency stop, error in CPU hardware or power-related hardware error

4) HPS

All axes have completed home-return operation state

5) CKE

Error in system lock or power-related hardware error

Panel Window Display List (1/2) Control Codes for Application

Display Priority

(Note )

Description

[Control Codes for Application]

A C F 1

The AC power is cut off. (Momentary power failure or power-supply power cutoff)

E F * * 1 A system-shutdown level error is present

8 8 8 8 2 Operation test on all 7-seg LED lamps (Initialization sequence)

I n * * 2 Initialization sequence number display

I n n * 2 Field network board initialization sequence number display

P r d 3 Data written to flash ROM

E r G

(Display

switches in turn)

In emergency stop condition

e n b

(Display

switches in turn)

The enable switch (deadman’s switch/safety gate) is OFF

E E * *

E d * *

E 6 * *

E 5 * *

(Display

switches in turn)

A cold-start level error is present. (Most critical level system error)

E C * *

E b * *

E 4 * *

(Display

switches in turn)

An operation-cancellation level error is present (Most critical level system error)

- r P 5 Waiting for a drive-source cutoff reset signal to be input

- r S 5 Operation is paused (waiting for restart)

- I L C 6 All axis servos are interlocked

E A * *

E 9 * *

E 2 * *

7 A message level error is present (Most critical level system error)

P * * * 8

A program is running (last started program). (The applicable program number is ***.)

A r d y 8 Ready status (Startup complete in AUTO mode)

r d y 8 Ready status (Startup complete in MANU mode)

Note 1 The smaller the value to be displayed, the higher the priority.

1) 2) 3) 4) 5) 6)

Chapter 3 Operation

Panel Window Display List (2/2) Control Codes for Core

Display Priority

(Note )

Description

[Control Codes for Core]

E E * * 1 A cold-start level error is present.

E C * * 1 An operation-cancellation level error is present.

E A * * 2 A message level error is present.

J P A 2 Jump to the application

C H F C 2 Flash ROM check process (core)

C H F A 2 Flash ROM check process (application)

C H S d 2 SDRAM check process

Note 1 The smaller the value to be displayed, the higher the priority.

Chapter 3 Operation

3.3.3 Status LED

It shows the status of PIO or Fieldbus plugged to the extension I/O connector.

(1) PIO Type Status LED

 : Illuminating  : OFF

Name

Lamp

condition

Color Description

RUN



Green

In the normal operation (Flashes when initialization completes)

ERR



Orange PIO power voltage (24V DC) drop error

(2) DeviceNet Type Status LED

 : Illuminating  : OFF  : Flashing

Name

Lamp

condition

Color Description



In the normal operation



Green

Configuration not established or setting incomplete



Error impossible to recover



Orange

Error possible to recover



Green / Orange

Self-checking test



In the normal communication



Green

Online status (no connection)



Critical link error



Orange

Connection timeout



Green / Orange

Self-checking test

(3) CC-Link Type Status LED

 : Illuminating  : OFF  : Flashing

Name

Lamp

condition

Color Description

RUN



Green In the normal operation



Error occurrence (CRC, station setting, baud rate setting)

ERR



Orange

Change made to station number and baud rate setting at reset cancel

(4) PROFIBUS-DP Type Status LED

 : Illuminating  : OFF  : Flashing

Name

Lamp

condition

Color Description



Initialization complete



Green

Initialization complete (with diagnosis event)



Orange Exception error generated



In the normal communication



Green

Online status (in clearance condition)



Orange Error occurrence (parameter, configuration)

Chapter 3 Operation

(5) EtherNet/IP Type Status LED

 : Illuminating  : OFF  : Flashing

Name

Lamp

condition

Color Description



In operation condition and under control of scanner (master)



Green

Setting of construction information incomplete, or scanner (master) in idling condition



Fatal malfunction (exception condition or critical error)



Orange

Light malfunction possible to recover



Online status (Connection established on one or more)



Green

Online status (connection not being established)



Critical error such as IP address duplication



Orange

Timeout in connection on one or more

(6) Simple Absolute Status LED Lamps (PC/PG/PCF/PGF type)

 : Illuminating  : OFF  : Flashing

Name

Lamp

condition

Color Description



Green Battery fully charged



Orange Battery in charge



Red Battery not connected

Name

Lamp Condition of 1

(Color)

Lamp Condition of 2

(Color)

Description

 (Green)  (Green) Absolute reset complete

 (Red)  (Green) Absolute reset incomplete

1, 2

-  (Red) Alarm

Chapter 3 Operation

3.3.4 Position Table and Program Creation and Writing

Create a position table and create a program using the SEL language. Perform the teaching, etc., and register the required coordinates in the position table. Also, create the program using the SEL language. [Refer to the separate SEL language programming manual.] Write the position table and program data in the controller.

[Refer to the separate instruction manual for your PC software.]

Caution: A margin of error could accumulate between each pitch if the incremental

(relative position indication) movement commands

are repeated continuously. To avoid accumulation of errors, utilize the absolute position indication commands such as MOVP and MOVL. * MVPI, MVLI, TMPI, TMLI

Chapter 3 Operation

3.4 Program Operation

For the operation there are two ways of start-up. One is the automatic start-up of the set program No. and the other is to start up with the program No. selected externally.

3.4.1 Auto Start upon Power On

After the power is turned ON, the program with its No. registered in the MSEL controller, can be automatically started up.

1) Connect the PC software and set the I/O parameter No. 33 to “1” and set the program No. to be started up in the parameter No. 1 (for others)

Parameter

type and

No.

Set Value

Description

0 Input port 019 is designated as a general-purpose input.

(factory default)

In the AUTO mode, when the power is turned ON or the software reset is performed, the program No. set in parameter No. 1 (for others) is executed. The input port 019 can be used as a universal input port.

I/O

parameter

No. 33

When input port 019 is turned ON, the program whose number is set in other parameter No. 1 is executed. When this port is turned OFF, all currently running programs stop.

I/O

parameter

No. 286

Indicate the port number to assign the feature in I/O Parameter No. 33 “Input Function Select 003”

Other

parameter

No. 1

1 to 255

Set the program number of the program you want to start automatically.

2) Set the operation mode setting switch on the MSEL controller to the AUTO position.

3) Turn off the power and then turn it back on.

4) The MSEL controller is restarted (the RDY signal turns ON to indicate a successful start), after which the specified program starts.

Program execution

Min0.01sec

Main power (AC100 to 230V)

RDY output (output forme the MSEL)

* Output from Output Port

No. 317 when I/O Parameter No. 47 is other than 0

Program

Chapter 3 Operation

Caution: After the power is turned on, unexpected movements of the robot may create

dangerous situations. For safety, provide an interlock whereby the program is started only after a start confirmation signal has been input from a pushbutton switch, etc. An example of operation is given below.

1) Set the parameter No. 33 to “2”. The program starts when input port 019 is turned ON, and stops when the port is turned OFF.

2) Set the operation mode setting switch on the MSEL controller to the AUTO position.

3) Turn off the power and then turn it back on.

4) Make sure input port 019 is turned ON after a wait time of 0.01 sec following the start of the MSEL controller (the RDY signal turns ON to indicate a successful start).

5) The specified program starts.

RDY output (output forme the MSEL)

* Output from Output Port

No. 317 when I/O Parameter No. 47 is other than 0

Input port 019

Program

Program execution

Min0.01sec

Chapter 3 Operation

3.4.2 Starting a Program by Specifying its Program Number

The program to be started up, can be started with its number specified externally and start-up signal input.

1) Connect the PC software and perform the setting, referring to the set values in the following table.

Parameter type and

No.

Set Value Description Setting

Input port 016 is designated as a general-purpose input.

1 (factory default)

After the program number to be started up, is set in the input port 023 (LSB) to 030 (MSB) with BCD, turning ON the input port 016 starts up the program. Turning ON the input port 016 for 0.1 sec or more.

I/O parameter

No. 30

1 or 2

Input ports 023 to 030 are set as general-purpose inputs.

No. 30 = 1 or 2

I/O parameters No. 37 to 44

(No.44=“2” )

Input ports 023 to 030 are set as start program number specification ports.

(No.44=

“2” )

Caution: The maximum number of programs is 255. However, the programs able to

start up with the BCD Code indication are from No. 1 to No.99. To start up No. 100 to No. 255 when using BCD Code, start them up with using the automatic start program startup or the program startup command “EXPG”.

2) Input the program No. 0.01sec or more after the MSEL controller is started up (after normal start-up = RDY signal ON).

3) Set in the input ports set by I/O parameter No. 30, the program number of the program you want to start.

4) Set the program No. and 0.05 sec. or more later, turn ON the input port 016 (program start).

5) Turn ON input port 016 (program start) and keep it ON for 0.1 sec.

6) The specified program starts.

RDY output (output from the XSEL)

* Output from Output Port No.

317 when I/O Parameter No. 47 is other than 0

Program No. (output from the host)

Program start (output from the host)

Program

Program execution

1) Min0.01sec

Program number

3) Min0.05sec

Min0.1sec

Chapter 3 Operation

3.4.3 7-Segment Display SEL Program

The 7-segment LED in the panel window on the normally displays the information from the system, but it is able to change the display of the 7-segment LED by the SEL program created. (SEL program and system are displayed in turn.) For control of 7-segment LED, port No. 332, 333 and 337 to 346 are used.

Port No. Function

332 Indication of digits to show on 7-seg display 333 Indication of digits to show on 7-seg display 334 335 336

Cannot be used

337 7-segment display refresh 338 7-segment SEL/system alternate 339 7-segment display specification 340 DT0 (7-segment user display bit) 341 DT1 (7-segment user display bit) 342 DT2 (7-segment user display bit) 343 DT3 (7-segment user display bit) 344 DT4 (7-segment user display bit) 345 DT5 (7-segment user display bit) 346 DT6 (7-segment user display bit) 347 Cannot be used

1) In port No. 332 and 333, indicate the digit number for the segment to be operated.

On/Off of port and indicated digit number 0 : OFF 1 : ON

No.332 0 1 0 1 No.333 0 0 1 1

Digit to be operated 1 2 3 4

Caution: In the parameter setting at the delivery, the port numbers are as shown above.

Chapter 3 Operation

2) In port No. 339, establish the setting for the switchover of SEL program display and system display.

Setting

Value

Function

0 Display of system is conducted

Port No. 339

1 Display of SEL program is conducted

3) When setting is established No. 339 = 1, and Port No. 338 gets set to 1, SEL Program Display and System Display should be conducted one after another.

Caution: When DO No. 338 is set to 0 and DO No. 339 is set to 1;

 User display is shown and no switchover in every one second.  System display (error display) should be conducted when it occurs an

operation cancel level error, cold start level error or system shutdown level error.

 System display (error display) would not be conducted when it occurs a

message level error or is in a condition other than an error occurrence (data flash ROM under writing, etc.). When it is required to display the condition in a message level error or in a condition other than an error occurrence, set DO No. 338 to 1 to make it mutual display.

4) Pote No. 340 to 346 correspond to the 7-segment LED each display bits.

5) Display is shown no the 7-segment LED by on-edge (0 → 1 → 0) of port No. 337. (The 7-segment pattern set in port No. 340 to 346 is shown on the digit set in port No. 332 and 333.)

Caution: Parameter setting in normal delivery should be the port number above.

Chapter 3 Operation

How to Use

1) Establish the display mode setting in port No. 338 and 339.

2) Set the digit to display (update) in port No. 332 and 333.

3) Establish the display pattern setting of the 7-segment display in port No. 340 to 346.

4) Have port No. 337 (Refresh) turned OFF → ON → OFF. (Update conducted with ON-edge)

To display other digits, repeat the steps 2) to 4). After the SEL program for display is finished, the display lasts until Port No. 339 is turned OFF.

Reference Program : To show 1234

No E N Cnd Cmnd Operand 1 Operand 2 Pst Comment

1 LET 99 3

2 OUT 338 339

Display of User and

System by Turns 3 BTOF 337 4 * 1st digit data set 5 LET 99 0 6 OUT 332 333 Indicate 1st Digit 7 LET 99 3 3 = Display Data ‘1’ 8 OUT 340 346 7-segment Pattern 1 9 BTON 337 Refresh ON

10 BTOF 337 Refresh OFF 11 * 2nd digit data set 12 LET 99 1 13 OUT 332 333 Indicate 2nd Digit 14 LET 99 118 118 = Display Data ‘2’ 15 OUT 340 346 7-segment Pattern 2 16 BTON 337 Refresh ON 17 BTOF 337 Refresh OFF 18 * 3rd digit data set 19 LET 99 2 20 OUT 332 333 Indicate 3rd Digit 21 LET 99 103 118 03Display Data ‘3’ 22 OUT 340 346 7-segment Pattern 3 23 BTON 337 Refresh ON 24 BTOF 337 Refresh OFF 25 * 4th digit data set 26 LET 99 3 27 OUT 332 333 Indicate 4th Digit 28 LET 99 75 75 = Display Data ‘4’ 29 OUT 340 346 7-segment Pattern 4 30 BTON 337 Refresh ON 31 BTOF 337 Refresh OFF 32 33 EXIT

Chapter 4 Home-Return / Absolute Reset

There are three types for the encoder to measure the current position of the actuator.

1) For Incremental Type, it is necessary to conduct home-return operation when the power is turned on.

2) For Battery-less Absolute Type, it is necessary to absolute reset only when in motor replacement and in an occurrence of an absolute error.

3) The coordinate data is retained in the battery backup for Simple Absolute Type. Even though it is not necessary to performance a home-return operation each time, it is necessary to have an absolute reset conducted in the first time to start up the system or after replacing the battery.

Timing to Have Home-Return

and Absolute Reset

Encoder

Type

Mounted Actuator

Series

Home-Return Absolute Reset

Setting

in Each

Axis No.

Section

to Pick

Incremental

RCP4 to 2 (Linear, rotary axis and grippers)

When power is turned on

0 4.1

RCP5, RCP6 (Linear, rotary axis and grippers)

2 4.2

Battery-less

Absolute

IXP (SCARA Robot)

• At motor replacement

• When absolute error

generated

2 4.3

Simple

Absolute

RCP4 to 2 (Linear, rotary axis and grippers)

• At initial startup

• When the power to the

controller is turned OFF and battery is replaced

• When the encoder cable is taken off the controller

2 4.4

Described below is the procedure for each. (In this manual, states the procedure for the PC software. For how to treat and process on a teaching pendant, refer to an instruction manual for each product)

4.1 Home-Return Preparation (Incremental Type)

1) Turn OFF the power to the controller.

2) Connect the controller and PC to a teaching tool with a dedicated cable.

3) Turn ON the power to the controller, and connect a teaching tool such as the PC software.

4) Confirm that there is no error generated (and “rdy” is displayed on the 7-seg LED panel window).

5) After pressing the servo-ON button, press the home-return button. Once the home-return operation is complete, the home position gets established.

Chapter 4 Home-Return / Absolute Reset

4.2 Absolute Reset Preparation (for Battery-less Absolute Type except for SCARA Robot)

Caution : It is not necessary to have an absolute reset in ordinary case, however, make

sure to have the absolute reset conducted when an absolute error is occurred or after dismantlement of the robot for a reason such as motor replacement. Otherwise, it may cause a malfunction or critical operation error on the robot.

1) Turn ON the power to the controller, and connect the PC software.

2) Make sure to have a backup of the parameters before conducting. Select [Parameter] → [Edit] from the menu in the PC software to show the parameter edit window. Press “Save As” button in the parameter edit window to save the parameters to file data.

3) Select [Controller] → [Calibration Home/Abs. Encoder Reset] from the menu in the PC software.

4) A warning window shows up. Check the content and click “OK”.

Chapter 4 Home-Return / Absolute Reset

5) “Calibration Home / Abs. Encoder Reset” window appears. Select the tab for the Axis 4 (O1).

6) Click on “Start” button while the [Axis 4 (O1)] tab is selected, and a warning window shows up. Release the emergency stop, check the content and click “Yes” to start the home-return operation on the axis subject to home-position adjustment.

Caution : As soon as clicking “Yes”, the home-return operation starts.

In case there is any interference to peripheral equipment during the home-return operation, the home-return operation completes at the position of interference, and the proper home position cannot be acquired. Make sure not to have interference to peripheral equipment.

Chapter 4 Home-Return / Absolute Reset

7) Close “Calibration Home / Abs. Encoder Reset” window after the home-return operation is complete. After that, the window switches to “Flash ROM Writing” window. Put a check mark on “Parameter” and click “Yes” to start writing. After it is finished, conduct a software reset.

Chapter 4 Home-Return / Absolute Reset

4.3 Absolute Reset for SCARA Robot (Battery-less Absolute Type)

It is available to perform operation on SCARA Robot without having anything special as an absolute reset has already been conducted before delivered out from our factory. It is necessary to have an absolute reset when an absolute error generates or the robot is dismantled for such a reason as motor replacement work.

Model

of the

Robot

3N3515-WA

/3N4515-WA

(3-axis Absolute Type)

4N3515-WA

/4N4515-WA

(4-axis Absolute Type)

axis

(Absolute reset

(Note 1)

)

↓

Operation

(Absolute reset

(Note 1)

)

↓

Operation

axis

(Absolute reset

(Note 1)

)

↓

Operation

(Absolute reset

(Note 1)

)

↓

Operation

Z axis

(Absolute reset

(Note 1)

)

↓

Operation

(Absolute reset

(Note 1)

)

↓

Operation

R axis

(Absolute reset

(Note 1)

)

↓

Operation

Note 1 It is necessary to perform when the absolute error is occurred or after dismantled the

robot for a reason such as to replace motor

Described below is how to conduct an absolute reset. (In this manual, states the procedure for the PC software. For how to treat and process on a teaching pendant, refer to an instruction manual for each product)

Caution: Home-return operation is an action to press towards the mechanical stopper.

Make sure to secure enough space for home-return posture and also there is no interference to the peripherals during the home-return operation.

Vertical Axis Mechanical Stopper Position

Vertical Axis Home Position

J1 Axis Home Position

130 deg

J2 Axis Home

Position

J2 Axis Mechanical Stopper Position

J1 Axis Mechanical Stopper Position

Chapter 4 Home-Return / Absolute Reset

4.3.1 Absolute Reset Preparation

Caution: • It is not necessary to have an absolute reset in ordinary case, however, make

• There may be a case that the indicated coordinates for positioning point cannot be achieved before and after the absolute reset is conducted.

[Refer to “Scattered Positioning Points” in IXP SCARA Robot instruction]

1) Turn ON the power to the controller, and connect the PC software.

3) Select [Controller] → [Calibration Home/Abs. Encoder Reset] from the menu in the PC software.

Chapter 4 Home-Return / Absolute Reset

4) A warning window shows up. Check the content and click “OK”.

5) “Calibration Home/Abs. Encoder Reset” appears. Select the tab for the axis that requires the absolute reset. Select a tab for the axis to have home position adjustment from J1 (Axis 1) Axis or J2 (Axis 2) Axis. Process for Z (Axis 3) Axis and R (Axis 4) Axis are to be conducted after J1 and J2.

Chapter 4 Home-Return / Absolute Reset

6) Click on “Start” button while the [Axis 1 (J1)] or [Axis 2 (J2)] tab is selected, and a warning window shows up. Release the emergency stop, check the content and click “Yes”. Home-return operation starts on the axis subject to absolute reset.

Caution: As soon as clicking “Yes”, the home-return operation starts. The standard home

position is the posture stated in the beginning of this section. In case there is any interference to peripheral equipment during the home-return operation, the home-return operation completes at the position of interference, and the proper home position cannot be acquired. In such cases, it may cause a crash or unexpected operation, which could cause malfunction or critical operation error to the robot or the peripherals. Make sure to secure enough space for home-return posture to avoid any interference to the peripherals during the home-return operation.

7) “Jog -> Basic position” window appears once the home-return operation is complete. Press “← (-)” and “→ (+)” buttons to move the arm to a place near the datum position. [Refer to the figure in Step (8) for the datum position] Also, change “Jog Vel (JOG speed)” and “Inc. Distance (inching distance)” if necessary. Click “OK” once the arm gets near the datum position. Click “OK” when moving the arm new the datum position manually by hand.

Chapter 4 Home-Return / Absolute Reset

Home-Position Adjusting Tool (φ4)

J2 axis

8) Have the emergency stop conducted, and insert the home-position adjustment tool (φ4) at the datum position of J1 axis or J2 axis.

9) With the home-position adjustment tool (φ4) being inserted, click “OK” in “Emergency stop

-> Positioning pin insertion” window.

Home-Position Adjusting Tool

(

φ4)

J1 axis

Chapter 4 Home-Return / Absolute Reset

10) Remove the home-position adjustment tool (φ4), and release the emergency stop. Click “OK” in “Positioning Pin Ejection, Emergency Stop Release” window.

11) If absolute reset on both J1 and J2 Axes is not finished, go back to Step 5) to complete the absolute reset on the remaining axes.

12) Conduct absolute reset on [Axis 3 (Z)]. Click on “Start” button while the [Axis 3 (Z)] tab is selected, and a warning window shows up. Release the emergency stop, check the content and click “Yes”. Home-return operation starts on the Z-axis. Absolute reset completes after home return.

Caution: As soon as clicking “Yes”, the home-return operation starts. The standard home

Chapter 4 Home-Return / Absolute Reset

13) Conduct absolute reset on [Axis 4 (R)]. Click on “Start” button while the [Axis 4 (R)] tab is selected, and a warning window shows up. Cancel the emergency stop and click “Yes”, and the home-return operation on the selected axes starts.

14) “JOG -> Basic Position” window appears. Press “← (-)” and “→ (+)” buttons to move the arm to a place near the datum position. [Refer to the figure in Step 15) for the datum position] Also, change “Jog Vel (JOG speed)” and “Inc. Distance (inching distance)” if necessary. Click “OK” once the arm gets near the datum position. Click “OK” when moving the arm new the datum position manually by hand.

Chapter 4 Home-Return / Absolute Reset

15) Input the emergency stop, adjust it manually so it becomes the datum position for R Axis, and insert the home-position adjusting tool (φ3). As shown in the figure below align the position of either the D-cut surface on the R-axis tip or the D-cut surface on the hole for insertion of the home-position adjustment tool (φ3).

Caution: Pay attention not to get the cables and pipes on the tool twisted.

16) With the home-position adjustment tool (φ4) being inserted, click “OK” in “Emergency stop

-> Positioning pin insertion” window.

Home-Position Adjusting Tool (φ3)

D-cut Surface

Chapter 4 Home-Return / Absolute Reset

17) Remove the home-position adjustment tool (φ3), and release the emergency stop. Click “OK” in “Positioning pin removeal -> Emergency stop release” window.

18) After the adjustment on all the axes necessary to have an absolute reset is finished, close “Calibration Home / Abs. Encoder Reset” window. After that, the window switches to “Flash ROM Writing” window. Put a check mark on “Parameter” and click “Yes” to start writing. After it is finished, conduct a software reset. (Reference) After the absolute reset on each axis is finished, it is available to have the

flash ROM writing at once.

Chapter 4 Home-Return / Absolute Reset

4.4 Simple Absolute Type (PC/PG/PCF/PGF Type Dedicated)

A Simple Absolute Type controller retains the position data of an encoder in battery backup. It is not necessary to perform a home-return operation every time you turn it on. To retain the encoder position data, it is necessary to register (absolute reset) the home position. It is available to check in the illuminating patterns on the status LED lamps for the drivers for each axis whether it is necessary to conduct an absolute reset or not. Have an absolute reset conducted when the status LED lamp for driver shows absolute reset is incomplete.

4.4.1 Status LED

It displays the status (condition) for absolute for each connected axis.

○: Illuminating, ×: OFF,

☆

: Flashing

4.4.2 Absolute Reset Preparation

Stated below is the procedure to conduct an absolute reset. (In this manual, shows the procedure using the PC software. For handling and procedure on a teaching pendant, refer to each instruction manual.)

1) For handling and procedure on a teaching pendant, refer to each instruction manual. [Refer to Chapter 1 or Chapter 2]

2) Turn ON the power to the controller and connect the PC software.

3) Follow the section of the procedure for absolute to perform a reset.

Name

Lamp

condition

Color Description

○ Green Battery fully charged ○ Orange Battery in charge

○ Red Battery not connected

Name

Lamp Condition

of 1 (Color)

Lamp Condition

of 2 (Color)

Description

○ (Green) ○ (Green) Absolute Reset Complete

○ (Red) ○ (Green) Absolute Reset Incomplete

1,2

- ○ (Red) Alarm

Chapter 4 Home-Return / Absolute Reset

4.4.3 Simple Absolute Type

Absolute batteries and absolute battery box are enclosed in a simple absolute type controller. For an absolute battery, there is a specific position for each axis number. Refer to the figure below to insert the batteries to the absolute battery box. There is also a position for connector insertion specified for battery cables. Refer to the figure below to establish the connections.

z Front View after Absolute Battery Unit Cover Removed

Not to use

AX3

AX7

AX1

AX4AX5AX6AX7

AX3AX2 AX1AX0

AX4

AX6

AX0

AX2

AX5

Not to use

battery

(Axis No.0)

battery

(Axis No.2)

Not to use

battery

(Axis No.1)

4th battery

(Axis No.3)

Connector for connection to MSEL

4th axis (Axis No.3) Position for Connector Insertion for Battery Cable

axis (Axis No.2) Position for Connector Insertion for Battery Cable

axis (Axis No.1) Position for Connector Insertion for Battery Cable

axis (Axis No.0) Position for Connector Insertion for Battery Cable

Chapter 4 Home-Return / Absolute Reset

4.4.4 Absolute Encoder Backup Type

Item Specification Battery model AB-7 Number of Units 1 unit/axis (4 units/4 axes max.) Battery Voltage 3.6V Current Capacity 3300mAH

Reference for battery replacing timing

(Note 1)

Approx. 3 years (It may differ depending on

condition of use)

Note 1 Replace the battery regularly.

4.4.5 Charging Absolute Battery

Have the battery charged continuously for 72 hours or more for the first time to use or after replacing the battery. While 24V is being supplied to a controller, battery is being charged.

Data Retaining Duration (Reference assuming a battery is new)

Setting in Each

Axis Parameter

No. 49

Upper Boundary for Number of

Encoder Rotation When Power is

off [rpm]

Reference for

Duration of

Battery

Remaining [days]

Retaining

Duration as of 1

Hour of Battery

Charging

(Reference) [hrs]

0 100 20 6.6 1 200 15 5.0

2 (factory default) 400 10 3.3

3 800 5 1.6

The data will be lost if the controller is off for more than the capable duration to retain the data. Charge the battery as early as possible. A battery has its life, and the capable duration to retain data decreases gradually. Replace the battery if the retaining duration is remarkably dropped even after charging it properly.

e.g.) Conditions of Use; Monday to Friday = Charged for 8 hours per day, discharged for 16 hours Saturday and Sunday = Discharge

1) If setting is Parameter No. 19 = 3; Total Charging: Operation time 8 [hrs] per day * Retaining time 1.6 [hrs] per hour of

charging * Weekdays 5 [days] = 64 [hrs]

Total Discharging: Stopped time during night 16 [hrs] * Weekdays 5 [days] + Stopped time

in weekend 48 [hours] = 128 [hrs]

Assuming to start on Monday with the battery fully charged, the total discharging exceeds

the total charging by 64 [hrs], thus the amount of fully charged keeps decreasing by 64 [hrs].

2) If setting is Parameter No. 19 = 2; Total Charging: Operation time 8 [hrs] per day * Retaining time 3.3 [hrs] per hour of

charging * Weekdays 5 [days] = 132 [hrs]

Total Discharging: Stopped time during night 16 [hrs] * Weekdays 5 [days] + Stopped time

in weekend 48 [hours] = 128 [hrs]

Assuming to start on Monday, the total charging exceeds the total discharging, thus there

is no need of continuous full charging. The battery is charged for 4 hours in one week.

IAI MSEL Instruction Manual

Specifications and Main Features

Frequently Asked Questions

User Manual