IAI PSA-24 Instruction Manual

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Instruction Manual

First Edition

ME0379-1A

24V Power Supply Unit

PSA-24

Chapter

Specifications

Chapter

Installation

Chapter

Wiring

Chapter

Operation

Chapter

Preventive/Predictive Maintenance

Chapter

Before Considering Failure

Chapter

Maintenance and inspection

Chapter

External Dimensions

Chapter

Life

Chapter

Warranty

Chapter

Appendix

Please Read Before Use

Thank you for purchasing our product.

This instruction manual explains the handling methods, structure and maintenance of this

product, providing the information you need in order to use the product safely.

Before using the product, be sure to read this manual and fully understand the contents

explained herein to ensure safe use of the product.

The DVD enclosed with the product contains instruction manuals for IAI products.

When using the product, refer to the necessary sections of the applicable instruction manual

by printing them out or displaying them on a PC.

After reading the instruction manual, keep it in a convenient place so that whoever is

handling the product can refer to it quickly when necessary.

[Important]

● This instruction manual is an original document dedicated for this product.

● This product cannot be used in ways not shown in this instruction manual. IAI shall not be

liable for any result whatsoever arising from the use of the product in any other way than

what is noted in the manual.

● The information contained in this instruction manual is subject to change without notice for

the purpose of product improvement.

● If any issues arise regarding the information contained in this instruction manual, contact our

customer center or the nearest sales office.

● Use or reproduction of this instruction manual in full or in part without permission is

prohibited.

● The company names, names of products and trademarks of each company shown in the

text are registered trademarks.

PSA-24 Power Supply Unit

Instruction Manual Configuration

Product name Instruction manual name

Control

number

24V Power Supply Unit PSA-24 First Step Guide ME0380

24V Power Supply Unit PSA-24 Instruction Manual (this document) ME0379

Contents

Safety Guide ·················································································· Intro-1 Precautions for Handling ···································································· Intro-8 International Standard Compliance ······················································· Intro-9

EMC specifications ····················································································· Intro-9 Safety standard specifications ······································································· Intro-10

Part Names ····················································································· Intro-11

Functions of each part ················································································· Intro-13

Chapter 1 Specifications

1.1 Product Configuration ··································································· 1-1

Components ·································································································· 1-1 How to read the model nameplate ······································································ 1-1 Model name ·································································································· 1-2

1.2 General Specifications ·································································· 1-3

Input specifications ························································································· 1-3 Output specifications ······················································································· 1-4 Protective function specifications ······································································· 1-5 Insulation specifications ·················································································· 1-6

Chapter 2 Installation

2.1 Environmental Conditions ······························································ 2-1

2.2 Heat Dissipation and Mounting ······················································· 2-3

Chapter 3 Wiring

3.1 Connection to Peripheral Devices (Overall Electrical Wiring Diagram) ···· 3-1

3.2 Connection Cables ······································································· 3-2

Communication cable ······················································································ 3-2 Power supply cable ························································································· 3-3

Chapter 4 Operation

4.1 Specification Details ····································································· 4-1

Output voltage ······························································································· 4-1 Parallel operation ···························································································· 4-3 Power ON/OFF sequence ················································································ 4-6 Inrush current prevention circuit ········································································· 4-7 Overload detection ·························································································· 4-8 Signal line ····································································································· 4-9

Chapter 5 Preventive/Predictive Maintenance

5.1 Preventive Maintenance Function ··················································· 5-1

Connection method ························································································· 5-1 Status data ···································································································· 5-2 Fan installation ······························································································· 5-2

Chapter 6 Before Considering Failure

6.1 Before Considering Failure ···························································· 6-1

Chapter 7 Maintenance and Inspection

7.1 Maintenance and Inspection ·························································· 7-1

Precautions for inspection ················································································ 7-1

Chapter 8 External Dimensions

8.1 External Dimensions ···································································· 8-1

Chapter 9 Life

9.1 Consumable Parts ······································································· 9-1

Chapter 10 Warranty

10.1 Warranty Period ········································································· 10-1

10.2 Scope of the Warranty ································································ 10-1

10.3 Honoring the Warranty ································································ 10-1

10.4 Limited Liability ·········································································· 10-2

10.5

Conformance with applicable standards/regulations, etc., and application conditions

·· 10-2

10.6 Other items excluded from warranty ·············································· 10-2

Chapter 11 Appendix

11.1 Relation of Actuator and Power Supply Current ································ 11-1

11.2 Connected Unit Count Determination Method ·································· 11-9

11.3 Index ······················································································· 11-11

11.4 Revision History ········································································· 11-13

Safety Guide

Intro-1

Safety Guide

The Safety Guide is intended to permit safe use of the product and thus to prevent risks and property

damage.

Be sure to read it before handling the product.

Safety Precautions for Our Products

Common safety precautions for the use of robots in various operations are indicated here.

No.

Operation

Precautions

1 Model

Selection

● This product is not intended or designed for applications where high levels of

safety are required, and so cannot guarantee that human lives will be protected. 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 or machinery designed for the purpose of moving or

transporting people (vehicles, railway facilities, aviation facilities etc.)

(3) Machinery components essential for safety (safety devices etc.)

● Do not use the product outside the range of the specifications. Otherwise, the

product life may be drastically shortened, and product damage or facilities stoppage may occur.

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

(1) Locations with flammable gases, ignitable objects or explosives (2) Locations with potential exposure to radiation (3) Locations with ambient temperature or relative humidity exceeding the

specifications range

(4) Locations where radiant heat is applied by direct sunlight or other large heat

source (5) Locations where condensation occurs due to abrupt temperature changes (6) Locations with corrosive gases (sulfuric acid, hydrochloric acid etc.) (7) Locations exposed to significant amounts of dust, salt or iron powder (8) Locations subject to direct vibration or impact

● For an actuator used in vertical orientation, select a model with brake. If a

model without brake is selected, the moving parts may fall when the power is

turned OFF, causing accidents such as injury or workpiece damage.

Safety Guide

Intro-2

No.

Operation

Precautions

2 Transportation ● When transporting heavy objects, do the work with two or more persons or

utilize equipment such as a crane.

● When working with two or more persons, make it clear who is to be in charge

and communicate well with each other to ensure safety.

● During transportation, carefully consider the carrying positions, weight, and

weight balance, and be careful to avoid collisions or dropping.

● Use appropriate transportation measures for transport.

The actuators available for transportation with a crane have eyebolts attached

or tapped holes to mount bolts. Follow the instructions in the instruction

manual for each model.

● Do not climb onto the package.

● Do not put anything heavy that could deform the package on it.

● When using a crane with capacity of 1t or more, have an operator qualified for

crane operation and sling work.

● When using a crane or equivalent equipment, make sure not to suspend loads

exceeding the equipment's rated load.

● Use a hook that is suitable for the load. Consider the safety factor of the hook

in such factors as shear strength. Also, check to make sure that the hook is free of damage.

● Do not climb on loads suspended from cranes.

● Do not leave loads suspended from cranes for long periods.

● Do not stand under loads suspended from cranes.

Storage and

Preservation

●

For the storage and preservation environment, see the installation

environment. However, give especial consideration to the prevention of condensation.

● Store the products so as to prevent them from falling over or down in the case

of natural disasters such as earthquakes.

4 Installation

and Startup

(1) Installation of robot body and controller, etc.

● Be sure to securely hold and fix the product (including the workpiece). If the

product falls over, is dropped, or operates abnormally, it may lead to damage and injury. Also, be equipped for falls over or down due to natural disasters such as earthquakes.

● Do not climb on or put anything on the product. Otherwise, this may lead to

accidental falling, injury or damage to the product due to falling objects, product loss of function or performance degradation, or shortening of product life.

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

shielding.

(1) Locations where electrical noise is generated (2) Locations with strong electrical or magnetic fields (3) Locations with mains or power lines passing nearby (4) Locations where the product may come in contact with water, oil or

chemical spray

Safety Guide

Intro-3

(2) Cable wiring

● Use IAI genuine cables for connecting the actuator and controller, and for the

teaching tools.

● Do not scratch cables, bend them forcibly, pull them, coil them, snag them, or

place heavy objects on them. Otherwise, this may lead to fire, electric shock, or abnormal operation due to leakage or conduction malfunction.

● Perform the wiring for the product after turning OFF the power to the unit, and

avoid miswiring.

● When wiring DC power (+24V), be careful with the positive/negative polarity.

Incorrect connections may lead to fire, product breakdown or abnormal operation.

● Connect the cable connector securely so that there is no disconnection or

looseness. Otherwise, this may lead to fire, electric shock, or abnormal operation of the product.

● Never cut or reconnect the cables supplied with the product for the purpose of

extending or shortening the cable length. Otherwise, this may lead to fire or

abnormal operation of the product.

(3) Grounding

● Grounding must be performed, in order to prevent electric shocks or

electrostatic charge, enhance noise-resistant performance and control unnecessary electromagnetic radiation.

● For the ground terminal on the AC power cable of the controller and the

grounding plate in the control panel, be sure to use a twisted pair cable with wire thickness 0.5mm

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

● Perform Class D grounding (former Class 3 grounding, with ground resistance

100Ω or below).

Safety Guide

Intro-4

4 Installation

and Startup

(4) Safety measures

● When working with two or more persons, make it clear who is to be in charge

and communicate well with each other to ensure safety.

● When the product is operating or in the ready mode, take safety measures

(such as the installation of safety/protection fences) so that nobody can enter the area within the robot's movable range. Contact with an operating robot may lead to death or serious injury.

● Be sure to install an emergency stop circuit so that the unit can be stopped

immediately in an emergency during operation.

● Take safety measures such that turning the power ON alone will not start up

the unit. Otherwise, this may cause the product to start unexpectedly, leading to injury or product damage.

● Take safety measures such that emergency stop cancel or recovery after

power failure alone will not start up the unit. Otherwise, this may lead to injury or equipment damage.

● When installation or adjustment operation is to be performed, display signs

such as "Operating: No Power ON!" etc. Sudden power input may cause electric shock or injury.

● Take measures to prevent workpieces, etc. from falling during power failures or

emergency stop.

● Wear protection gloves, goggles and safety shoes, as necessary, to secure

safety.

● Do not insert fingers or objects into the openings in the product. Otherwise,

this may lead to injury, electric shock, product damage, or fire.

● When releasing the brake on a vertically oriented actuator, be careful that it

does not fall under its own weight, catching the operator's hand or damaging

workpieces.

5 Teaching ● When working with two or more persons, make it clear who is to be in charge

and communicate well with each other to ensure safety.

● Perform teaching operation from outside the safety/protection fence, if

possible. If operation must be performed within the safety/protection fence, prepare "Work Regulations" and make sure that all the workers acknowledge and understand them well.

● When operation is to be performed inside the safety/protection fence,

operators should have emergency stop switches available at hand so that the unit can be stopped at any time if abnormalities occur.

● When operation is to be performed inside the safety/protection fence, have a

monitor standing by in addition to the operator(s) so that the unit can be stopped at any time if abnormalities occur. Also, keep watch on the operation so that a third party cannot operate the switches carelessly.

● Place a sign indicating "Operating" where it can be seen easily.

● When releasing the brake on a vertically oriented actuator, be careful that it

does not fall under its own weight, catching the operator's hand or damaging workpieces.

* Safety/protection fence: If there is no safety/protection fence, the movable

range should be indicated.

Safety Guide

Intro-5

6 Trial

Operation

●

When working with two or more persons, make it clear who is to be in charge

and communicate well with each other to ensure safety.

● After teaching or programming, carry out trial operation step by step before

switching to automatic operation.

● When trial operation is to be performed inside the safety/protection fence, use

the same work procedure, determined in advance, as teaching operation.

● Be sure to confirm program operation at safe speeds. Otherwise, this may lead

to accidents due to unexpected motion caused by program error, etc.

● Do not touch the terminal block or any of the various setting switches while the

equipment is live. Otherwise, this may lead to electric shock or abnormal

operation.

7 Automatic

Operation

● Check before starting automatic operation or restarting after operation stop

that there is nobody within the safety/protection fence.

● Before starting automatic operation, make sure that all peripheral equipment is

ready for automatic operation and that there is no alarm indication.

● Be sure to start automatic operation from outside the safety/protection fence.

● If the product produces abnormal heat, smoke, odor, or noise, immediately

stop it and turn OFF the power switch. Otherwise, this may lead to fire or damage to the product.

● When a power failure occurs, turn OFF the power switch. Otherwise, this may

lead to injury or product damage due to unexpected product motion during

recovery from the power failure.

Safety Guide

Intro-6

8 Maintenance

and Inspection

●

When working with two or more persons, make it clear who is to be in charge

and communicate well with each other to ensure safety.

● Perform the work outside the safety/protection fence, if possible. If operation

must be performed within the safety/protection fence, prepare "Work Regulations" and make sure that all the workers acknowledge and understand them well.

● When work is to be performed inside the safety/protection fence, turn OFF the

power switch as a rule.

● When operation is to be performed inside the safety/protection fence,

operators should have emergency stop switches available at hand so that the unit can be stopped at any time if abnormalities occur.

● When operation is to be performed inside the safety/protection fence, have a

● Place a sign indicating "Operating" where it can be seen easily.

● For the grease for the guide or ball screw, use appropriate grease according to

the Instruction Manual for each model.

● Do not perform dielectric strength testing. Otherwise, this may lead to damage

to the product.

● When releasing the brake on a vertically oriented actuator, be careful that it

does not fall under its own weight, catching the operator's hand or damaging workpieces.

● The slider or rod may be misaligned from the stop position if the servo is

turned OFF. Avoid injury or damage due to unnecessary operation.

● Be careful not to lose the cover or any removed screws, and be sure to return

the product to the original condition after maintenance and inspection work.

Otherwise, this may lead to product damage or injury due to incomplete

mounting.

* Safety/protection fence: If there is no safety/protection fence, the movable

range should be indicated.

9 Modification

and

Disassembly

● Do not modify, disassemble/assemble, or use maintenance parts not specified

on your own discretion.

10 Disposal

●

When the product exceeds its useful life or is no longer needed, dispose of it

properly as industrial waste.

● When removing the actuator for disposal, avoid dropping components when

detaching screws.

● Do not put the product in a fire when disposing of it. The product may rupture

or generate toxic gases.

11 Other ● If you are equipped with a medical device such as a pacemaker, do not

approach the product or its wiring, as the device may be affected.

● See the Overseas Standard Compliance Manual to check compliance with

overseas standards if necessary.

● For the handling of actuators and controllers, follow the dedicated instruction

manual of each unit to ensure safety.

Safety Guide

Intro-7

Precaution Indications

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 risk to persons and property

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

not handled correctly, may result in minor injury or property

damage.

Caution

Notice

This indicates a situation in which, while injury is not a likely result, the precautions should be observed in order to use the product appropriately.

Notice

Precautions for Handling

Intro-8

Precautions for Handling

 The Safety Guide attached with the product is intended to permit safe use

of the product and thus to prevent risks and property damage. Be sure to

read it before handling the product.

 Do not attempt any handling or operation that is not indicated in this instruction

manual.

 PSA-24 Power Supply is a power supply unit dedicated for IAI controllers which

utilize 24 VDC.

 Specifications include a wide input voltage range of 100 VAC to 230 VAC.

 Even when this unit has insufficient power capacity, there is no need to replace

it with a larger-capacity power supply.

 Another identical power supply unit can be added to the connection to perform

parallel operation. Connection of up to 5 units is supported.

 This power supply unit has some voltage fluctuation so that it can be used in

parallel operation. (24V ±10%)

 Connection with a different power supply is not possible.

 Make sure that the connection to I/O terminals is configured properly, as shown

in this Instruction Manual.

 When wiping dirt off the product, use a neutral detergent. Do not use alcohol,

etc., which may damage the paint and silk printing on the surface.

International Standard Compliance

Intro-9

International Standard Compliance

EMC specifications

This power supply unit satisfies the following EMC specifications.

Item Condition Specifications

Noise-resistance ability (Impulse noise test)

±2000 V Pulse width (100/1000 ns, repeating cycle 30-100Hz, normal/common mode, 10-minute positive/negative

polarity switching)

No output DC fluctuations or malfunctions

Electrostatic discharge

EN 61000-4-2 compliant Air discharge: 8 kV / Contact discharge: 6 kV Implemented in FG/case Application: Each location 10 times

(1s/1 time)

No malfunction/failure

Radioactive radio frequency electromagnetic fields

EN 61000-4-3 compliant 10 V/m (80-1000 MHz) 3 V/m (1.4-2 GHz)

1 V/m (2-2.7 GHz)

No malfunction/failure

Fast transient burst

EN 61000-4-4 compliant

Line/PE: ±2 kV

No malfunction/failure

Lightning surge

EN 61000-4-5 compliant Normal: ±1 kV / Common: ±2 kV

Application: 5 times each

No malfunction/failure

Conductive radio frequency

electromagnetic fields

EN 61000-4-6 compliant 10V No malfunction/failure

Power-frequency magnetic

field immunity

EN 61000-4-8 compliant 30 A/m No malfunction/failure

Voltage dip/fluctuations

EN 61000-4-11 compliant Continuous rated output 330 W

100% voltage dip, 1 cycle (20 ms) Continues normal operation 60% voltage dip, 10 cycles (200 ms) 30% voltage dip, 25 cycles (500 ms) 100% voltage dip, 250 cycles (5 s)

Recovers upon reboot

Noise terminal voltage

VCCI/FCC/CISPR22/EN55022 Class B

· Rated input / continuous rated

output 330 W

Power supply unit alone satisfies the standards

Radiated disturbance

VCCI/FCC/CISPR22/EN55022 Class B

· Rated input / continuous rated

output 330 W

Power supply unit alone satisfies the standards

International Standard Compliance

Intro-10

Safety standard specifications

This power supply unit meets the following safety standards.

Item Standards

UL/cUL UL61010-1

CE Marking LVD: EN61010 / EMC: EN55011

Part Names

Intro-11

Part Names

PSA-24 (204W / without fan) PSA-24L (330W / with fan)

Part Names

Intro-12

DIN tab

Screw mounting hole

Left side Right side Rear

Fan connector

Communication connector

Communication address switch

Fan unit

Fan alarm notification LED

Normal operation notification LED

Power terminal block

Top Front

Part Names

Intro-13

Functions of each part

[Fan alarm notification LED / normal operation notification LED]

This power supply unit is equipped with the following two kinds of LED.

Name

Panel notation

Display color

Status Description

Fan alarm

notification

LED

FAN Orange

Light ON Fan rotation speed abnormality

Blinking Fan rotation speed warning

Light OFF No fan abnormality *1

Normal

operation

notification

LED

SYS Green

Light ON Normal operation

Light OFF Stopped *2

*1: The LED is OFF when the fan is not connected.

*2: During parallel operation at light load, this LED may be OFF even if an AC power supply is

connected, since only some of the power supplies may be operating. It lights up when the

load increases and operation starts.

[Communication address switch]

Sets the allocation of the slave address for communication when multiple power supply units are

connected by using multi-drop and while monitoring status via communication.

Switch name: DRR 7016C (Copal)

Item Description

Initial value "0"

Setting range "0" ~ "F"

FAN

SYS

ADRS

Part Names

Intro-14

[Power terminal block]

Terminal block for AC power supply input, frame ground, and output voltage wire connections.

Connector name: DT-5C-B84W-6717-07 (DINKLE)

Pin No. Signal Description

1 +24 V

24V output terminal (Pins 1 and 2 are internally connected)

2 +24 V

3 0 V

0V output terminal (Pins 3 and 4 are internally connected)

4 0 V

5 FG

Frame ground terminal (ground terminal connected to power supply housing) *1

6 AC(N) AC input neutral terminal (Grounded side)

7 AC(L) AC input live terminal (Ungrounded side)

*1: " " represents a functional earthing terminal.

OUTPUT

100 ~ 230VAC

50/60Hz 3.9A

INPUT

DC24V

13.8A

Part Names

Intro-15

[Communication connector]

Connector for monitoring status data inside the power supply by communication. In order to

enable communication of multiple power sources by multi-drop, two connection ports are

provided. The differential signal of each connection port is short-circuited, so any port can be

used for connection. The cable side connector is an accessory.

Even if the communication connector is not connected, it does not affect the operation of the

power supply unit itself.

Board-side connector name: 0221-26-6615-06THT (DINKLE)

Cable-side connector name: 0221-2403(DINKLE)

Pin No. Signal Description

1 SD+ RS-485 differential signal + side

2 SD- RS-485 differential signal - side

3 GND

4 SD+ RS-485 differential signal + side

5 SD- RS-485 differential signal - side

6 GND

SD+

SD-

GND

Part Names

Intro-16

[Fan connector]

Fan connector used when continuous rated output is at 330 W.

Board-side connector name: DF11-4DP-2DS(24) (HIROSE)

Pin No. Signal Description

1 24 V Fan power supply

2 CONNECT Connection recognition signal (Connected: H / Not connected: L)

3 GND Fan GND

4 PULSE Fan rotation speed pulse

FAN

Specifications

1.1 Product Configuration ············································· 1-1

Components ·································································· 1-1

How to read the model nameplate ····································· 1-1

Model name ·································································· 1-2

1.2 General Specifications ············································ 1-3

Input specifications ························································· 1-3

Output specifications ······················································· 1-4

Protective function specifications ······································· 1-5

Insulation specifications ··················································· 1-6

Power supply unit

Chapter 1

1.1 Product Configuration

1-1

1. Specifications

1.1 Product Configuration

The standard configuration of this product is comprised of the following parts.

In the unlikely case that any model number errors or missing parts come to light,

contact your local IAI distributor.

Components

No. Part name Model number

1 24 V Power Supply Unit

Refer to "How to read the model

nameplate" and "How to read the model

number"

2 First Step Guide

3 Instruction Manual (DVD)

4 Safety Guide

How to read the model nameplate

●

PSA-24

Model

Serial number

Rated input

Rated output

●

PSA-24L

Model

Serial number

Rated input

Rated output

1.1 Product Configuration

1-2

1. Specifications

Model name

Series Type Option with fan

PSA － 24

Blank

PSA － FU

(1) (2)

(1) Type

· 24: 24 V power supply unit

· FU: Fan unit (Single)

(2) Option with fan

· Blank: Standard specification (204W)

· L: Unit with fan specification (330W)

* If the fan unit PSA-FU is retrofitted to the PSA-24, it can be used at 330W.

1.2 General Specifications

1-3

1. Specifications

1.2 General Specifications

Input specifications

Item Specifications Terms of use, etc.

Power input voltage

range

100 VAC to 230 VAC ±10%

Power supply

current

100 VAC

2.5A or less

Continuous rated

output 204 W

3.9A or less

Continuous rated

output 330 W

200 VAC

1.4A or less

Continuous rated

output 204 W

1.9A or less

Continuous rated

output 330 W

Power frequency

range

50/60Hz ±5%

Inrush current *1

100 VAC 17A (typ)

At cold start (25°C)

200 VAC 34A (typ)

100 VAC 27.4A (typ)

At cold start (40°C)

200 VAC 54.8A (typ)

Momentary power

failure resistance

50 Hz 20ms

60 Hz 16ms

Electric shock

protection

mechanism

Class I

Efficiency

100 VAC 86% or more

Continuous rated

output 204 W

200 VAC 90% or more

Power factor

100 VAC 99% (typ)

Continuous rated

output 204 W

200 VAC 90% (typ)

*1: The pulse width of flowing inrush current is less than 5 ms. In parallel operation, inrush

current increases according to the number of units. Check the characteristics thoroughly

before selection to prevent the breaker from tripping due to inrush current.

1.2 General Specifications

1-4

1. Specifications

Output specifications

Item Specifications Terms of use, etc.

Rated output voltage 24 V

Output voltage range

24V ±10%

Continuous rated output 204 W

8.5A Without fan

Continuous rated output 330 W

13.8A With fan

Peak output *2 17A (408W)

Default initial voltage 25.5V (typ) No load

Ripple voltage

0°C~70°C

120mV or less

0A ~ 13.8A

10°C~0°C

160mV or less

Ripple noise voltage

0°C~70°C

150mV or less

0A ~ 13.8A

10°C~0°C

180mV or less

Startup time 2 seconds or less

Rated input / continuous rated output 330 W

Output retention time

20 ms or more

Rated input / continuous rated output 204 W

12ms or more

Rated input / continuous rated output 330 W

*1: In order to enable parallel operation, this power supply can vary the output voltage according

to the load. Therefore, the power supply unit is dedicated for IAI controllers. Refer to "Output

voltage" on page 4-1 for the characteristics of output voltage by load.

*2: Peak output conditions are as follows.

· Peak current duty cycle is within 30%

0.3D ≤

· Peak current energization time is within 10 seconds

10[sec]t ≤

· The average current is within the continuous rated current value I

defined by rated output

derating (See Figure 2.1.1 for derating)

(1－D))

(ID)（I

ｍ

ｐ

≤

×+×

= Duty cycle t/T

= Peak current pulse width

= Cycle

= Peak current value

= Minimum current value

Rated current value specified in the Rated

Figure 1.2.1 Peak output power conditions

1.2 General Specifications

1-5

1. Specifications

Protective function specifications

Item Specifications

Overcurrent

protection

Operation

Output is cut off when a current exceeding the peak capacity flows (including short circuits) Refer to "Output voltage" on page 4-1

Protection

method

Intermittent action during dip *1

Recovery Automatic recovery

Overheat

protection

Operation Output is cut off when overheating is detected by the temperature sensor on the circuit board

Protection

method

Output stop (latch)

Recovery AC restart

Overload

protection

Operation

Output is cut off when continuous operation is performed at continuous rated output or more *2

(Continuous operation exceeding the peak output power conditions specified in Figure 1.2.1)

See "Overload detection" on page 4-8

Protection

method

Output voltage dip

Recovery Automatic recovery

Overvoltage

protection

Operation Output is cut off when the output voltage reaches 30 V or more

Protection

method

Output stop (latch)

Recovery AC restart

Input

undervoltage

protection

Operation Output is cut off when the input voltage fails to reach 82 VAC

Protection

method

Output stop

Recovery Automatic recovery

Fan rotation

detection

Operation Detects errors when 50% or less of rated rotation speed is detected

Protection

method

· Notification by signal and LED

Overload protection level is switched to continuous rated output of 204W *2

Recovery Latch error condition

* 1: The overcurrent protection has the characteristics shown in the diagram below. After the

output is cut off due to overcurrent, the unit recovers automatically. The output cutoff is

repeated if the cause of the overcurrent is not removed (intermittent action).

Output voltage

Output current

Peak current

Output cutoff

Intermittent action

Figure 1.2.2 Overcurrent

1.2 General Specifications

1-6

1. Specifications

* 2: When fan connection is detected at startup, it can be used at continuous rated output 330 W

by switching the overload protection level. The overload protection level is decreased in case

of fan malfunction, so the continuous rated output is restricted to 204W.

Insulation specifications

Item Condition Specifications

Dielectric withstand

voltage

AC input-DC output 3000 VAC 1 min Leakage current 10mA

AC input-FG 2000 VAC 1 min Leakage current 10mA

DC output-FG 500 VAC 1 min Leakage current 25mA

Insulation resistance

AC input-DC output －

50 MΩ or more at 500 VDC

AC input-FG －

50 MΩ or more at 500 VDC

DC output-FG －

50 MΩ or more at 500 VDC

Leakage current *1

100 VAC 0.40mA typ

200 VAC 0.75mA typ

*1: Regulations for leakage current in power supply units.

1.2 General Specifications

1-7

1. Specifications

Installation

2.1 Environmental Conditions ········································ 2-1

2.2 Heat Dissipation and Mounting ································· 2-3

Power supply unit

Chapter 2

2.1 Environmental Conditions

2-1

2. Installation

2.1 Environmental Conditions

Item Specifications Terms of use, etc.

Ambient operating temperature

0°C~+55°C

(With derating)

Natural air cooling (204 W/without fan) Forced cooling (330 W/with fan)

Ambient operating humidity

85% RH or less non-condensing

Ambient storage temperature

-20°C~+70°C

Atmosphere

Avoid corrosive gas and excessive dust

Altitude 2,000m

Vibration resistance

Frequency 10 to 57Hz /

Amplitude: 0.075mm Frequency 57 to 150Hz / Acceleration 9.8m/s

XYZ directions

Sweep time: 10 minutes

Number of sweeps: 10 times

Package drop

Drop height: 800mm/1 corner, 3 edges, 6 faces

Overvoltage category

Pollution degree 2

Installation site Indoors

Degree of protection

Not applicable

Generated heat

28.6W 100 VAC 204 W continuous rated

20.4W 200 VAC 204 W continuous rated

Cooling method

Natural air cooling/ Forced cooling with a fan unit

2.1 Environmental Conditions

2-2

2. Installation

Reduce the output power in accordance with the following derating curve at high temperatures.

Figure 2.1.1 Derating with regard to ambient temperature

*However, when using the fan at 40°C or more, the fan life is excluded from the above derating.

Temperature [°C]

PSA-24 output derating graph

Output current [A]

100 V Series 200 V Series

Temperature [°C]

PSA-24L output derating graph

100 V Series 200 V Series

Output current [A]

0 10 20 30 40 50 60

0 10

20 30

50 60

2.2 Heat Dissipation and Mounting

2-3

2. Installation

Class D grounding construction

(Former class 3 grounding: grounding resistance 100 Ω or less)

Grounding wires should not be connected in

common with other devices and separate power supplies should be installed.

Controller

Other devices Other devices

Other devices

Controller

2.2 Heat Dissipation and Mounting

Item Specifications

Installation

Installation direction *1 Horizontally mounted

Installation method Screw mounted or DIN rail mounted

Ground

Independent grounding via class D grounding *2

Restrictions in ambient environment Refer to Figure 2.2.3 *3

*1: The only possible installation orientation is below.

Figure 2.2.1 Control panel interior installation direction

*2: Grounding helps to prevent electric shocks and electrostatic charging, improves noise

resistance performance, and suppresses unnecessary radiation, so should be conducted as

shown below.

Figure 2.2.2 Grounding precautions

Forced cooling (natural convection) airflow direction

2.2 Heat Dissipation and Mounting

2-4

2. Installation

*3: The minimum distance to the control panel wall or the minimum distance for power supply

spacing when operating in parallel is as below.

Note that control panels should be designed and manufactured such that the power supply

ambient operating temperature is below that of the specifications.

● PSA-24

● PSA-24L

Figure 2.2.3b Restrictions in ambient environment (PSA-24L)

Power supply interval

minimum zero

10mm

or more

100mm

or more

100mm

or more

50mm

or more

100mm

or more

10mm

or more

10mm

or more

100mm

or more

50mm

or more

Figure 2.2.3a Restrictions in ambient environment (PSA-24)

2.2 Heat Dissipation and Mounting

2-5

2. Installation

Wiring

3.1

Connection to Peripheral Devices (Overall Electrical Wiring Diagram)

····· 3-1

3.2 Connection Cables ················································· 3-2

Communication cable ······················································ 3-2

Power supply cable ························································ 3-3

Power supply unit

Chapter 3

3.1 Connection to Peripheral Devices (Overall Electrical Wiring Diagram)

3-1

3. Wiring

3.1

Connection to Peripheral Devices (Overall Electrical Wiring Diagram)

*1: Mixing units with and without fans for parallel operation is not possible

RCON

(Prepared

by user)

Fan unit *1

Common terminal block to be

prepared by user

The dotted lines show

wiring for parallel operation

AC cable to be

prepared by user

－

Communication connector

included with power supply

Cable to be prepared by user

Power supply cable

prepared by user

3.2 Connection Cables

3-2

3. Wiring

3.2 Connection Cables

Communication cable

This shows the applicable wire and strip length that can be used for the cable connector. Use

twisted pair cables for differential signal lines.

Item Specifications

Compatible wire AWG22 ~ 20

Strip length 10.0mm

Cable side connector name

0221-2403 (DINKLE)

SD+

SD-

GND

Core wire

Strip length

3.2 Connection Cables

3-3

3. Wiring

Power supply cable

The following shows the specifications for terminals and wiring for connections.

Item Specifications

Terminal block screw diameter M3.5

Rated torque 1.1 [N·m]

Applicable round terminal

(applicable wire size)

1.25-M3.5 (AWG22 ~ 16) 2-M3.5 (AWG16 ~ 14)

Recommended wire size AWG14 ~ 18

The number of crimped terminals connected at the same time per terminal screw should be 2 or

less; they should be installed back-to-back as shown below.

Operation

4.1 Specification Details ············································· 4-1

Output voltage ······························································· 4-1

Parallel operation ··························································· 4-3

Power ON/OFF sequence ················································ 4-6

Inrush current prevention circuit ········································ 4-7

Overload detection ························································· 4-8

Signal line ····································································· 4-9

Power supply unit

Chapter 4

4.1 Specification Details

4-1

4. Operation

4.1 Specification Details

Output voltage

General power supplies use control to maintain a constant output voltage and thus only supplies

with the highest output voltage will bear the full load current when connected in parallel,

preventing the output current from being balanced.

This power supply realizes parallel operation by varying the output voltage within the range of

24V ±10% according to the output current as shown below. This characteristic is the same for

single unit operation. Accordingly, parallel operation is made possible simply by connecting

output voltage lines to each other.

The output voltage is 25.5 V at no load and decreases with increases in load, but this is not a

problem at all for operation of IAI 24 V controllers.

Although the operation range differs between PSA-24 (204 W) and PSA-24L (330 W), the output

voltage fluctuates within the range of the shaded area in both cases. The output voltage is cut off

by the protection circuit if the overvoltage detection level is exceeded.

● PSA-24

Output current [A]

0 5 10 15 20 25

Output voltage

[V]

Figure 4.1.1 Output voltage fluctuation due to load (PSA-24)

Overcurrent

detection

Approx. 18 A

4.1 Specification Details

4-2

4. Operation

● PSA-24L

0 5 10 15 20 25

Output current [A]

Figure 4.1.2 Output voltage fluctuation due to load (PSA-24L)

Overcurrent

detection

Approx. 18 A

Output voltage

[V]

4.1 Specification Details

4-3

4. Operation

Parallel operation

Parallel operation is possible under the following conditions.

■ Parallel operation should be limited to 5 units. Do not connect power supply units other than

PSA-24 in parallel.

■ Do not operate PSA-24 (204 W) and PSA-24 L (330 W) in parallel.

■ When performing parallel operation, turn on all AC inputs of the connected power supply units

at the same time. If the load is large, the overcurrent detection circuit may trigger and operation

may not start correctly.

■ Connect the load equally to each power supply unit so that it will not be biased towards one

power supply unit. It is possible that the output voltage may decrease due to inrush current at

power ON.

■ Connections among power supply units for parallel operation should be as shown below when

there are multiple loads and when there is one load.

● For multiple loads

Since two wiring output terminals are available for both positive and negative sides, use one

terminal for parallel connection and one terminal for connection to the loads (actuator etc.).

However, this connection method assumes that each load (actuator etc.) is uniform.

Figure 4.1.3 Connections for parallel operation (Multiple loads)

Load

24 V

GND

Max.: 5 units

Load

24 V

GND

Load

24 V

GND

4.1 Specification Details

4-4

4. Operation

● For one load

Take out to the common terminal block and configure for parallel connection. The common

terminal block is used to connect all power supply lines in this case, eliminating the need to run

cables between power supply units. Variations in the output current of each power supply unit

can be better suppressed if not connecting on the power supply side.

Load

24 V

GND

Common terminal block

Max.: 5 units

Figure 4.1.4 Connections for parallel operation (One load)

4.1 Specification Details

4-5

4. Operation

If one load is connected without using the terminal block as shown in the figure below, the load current for the power supply unit

closer to the load increases and the voltage drop due to the cables becomes larger, creating an unbalanced output current. To

balance the cable voltage drop, always take out with the terminal block as shown in Figure 4.1.4 before connecting the load.

Figure 4.1.5 [Do not do this] Connections for parallel operation (One load)

■ Pay attention to the following points when wiring.

●

Use the same type of wire (recommended size: AWG 14 to 18) for the crossover cable (between two power supply units

or between a power supply unit and terminal block) and keep the wire as short as possible while keeping lengths equal.

● Place the terminal block and each power supply unit close to the load, and use wires as thick

as possible and within the specifications required for the load.

●

Always separate the wiring used for parallel connection of the power supply units and the wiring to the load.

● It is recommended to wire the positive and negative wires as twisted pairs.

■ When connecting multiple power supplies in parallel, the upper limit of the output current

characteristic should be 90%.

The number of parallel connected units and permissible current are summarized in the table below.

No. of connected units [unit]

Rated current [A] Peak current [A]

1 8.5 17

2 15.3 30.6

3 22.95 45.9

4 30.6 61.2

5 38.25 76.5

1 unit: Rated current: 8.5 A / Peak current: 17 A

2 units: Rated current: 15.3 A (8.5 A x 0.9 x 2) / Peak current: 30.6 A (17 A x 0.9 x 2)

3 units: Rated current: 22.95 A (8.5 A x 0.9 x 3) / Peak current: 45.9 A (17 A x 0.9 x 3)

■ Series operation is not possible.

Load

24 V

GND

I1 + I

I1 I1 + I2 + I

4.1 Specification Details

4-6

4. Operation

Power ON/OFF sequence

The startup time and output retention time stipulated in "Output specifications" on page 1-4

define the following times.

Item Specifications

Startup time

The time until the output voltage rises to 90% after the input voltage is applied

Output retention time

The time from when the input voltage is cut off to when the output voltage retains a value within the specified range of constant voltage precision

Startup time

90%

10%

Input ON

Constant voltage

precision range

24V ±10%

Output retention time

Input cutoff

4.1 Specification Details

4-7

4. Operation

Inrush current prevention circuit

This power supply unit uses a thermistor to suppress inrush current at startup. The thermistor

has high resistance at low temperatures and low resistance at high temperatures. Therefore,

when the power is turned on, the inrush current is suppressed by the high resistance, but as

power is supplied the temperature rises and the resistance decreases, reducing the loss due to

the thermistor.

Always note the following points due to the above characteristics.

● At low temperatures, the resistance of the thermistor is large, which may cause startup

malfunction issues. When starting multiple controllers at the same time in a low temperature

environment, startup malfunctions are less likely to occur if the inrush current is dispersed by

shifting the timing at which the servos turn ON.

● If the input voltage is turned ON again before the power supply temperature drops sufficiently,

the input voltage will be applied while the thermistor resistance is still low and a large inrush

current will flow. Therefore, after turning OFF the input voltage, wait about 30 minutes for

cooling before turning ON the input power again.

4.1 Specification Details

4-8

4. Operation

Overload detection

This power supply unit handles peak current values, so energization above the rated current for

a short period of time is possible. However, if continuous current continues to flow beyond the

rated current, there is a significant risk of decreasing service life or failure, so if excess current

continues for more than a certain time, the overload detection function shuts down the output

voltage.

The time it takes for the output voltage to be cut off with the overload detection function is

determined by how much the rated current is exceeded by. If the rated current is greatly

exceeded, the time limit characteristic shuts off the output quickly.

The dotted lines in Figure 4.1.5 and Figure 4.1.6 show the change in output voltage during

continuous flow of a current exceeding the rated current. In this range, an overload error occurs

after a certain time depending on the current value.

● PSA-24

Figure 4.1.5 Overload detection range (PSA-24)

0 5 10 15 20 25

Output current [A]

Output voltage

[V]

Overload detection

Approx. 9.8 A

Overload

detection range

Overcurrent detection

Approx. 18 A

4.1 Specification Details

4-9

4. Operation

● PSA-24L

Figure 4.1.6 Overload region (PSA-24L)

Signal line

Signal lines when connecting with RCON are shown below.

Up to 5 units can be connected with RCON via daisy chain.

PSA-24 RCON

PLC

Fig. 4.1.7 Signal lines

Modbus

Fieldbus

Modbus

PSA-24

0 5 10 15 20 25

Output current [A]

Output voltage

[V]

Overload

detection range

Overload detection

Approx. 14.2 A

Overcurrent

detection

Approx. 18 A

Preventive/Predictive

Maintenance

5.1 Preventive Maintenance Function ····························· 5-1

Connection method ························································ 5-1

Status data ··································································· 5-2

Fan installation ······························································ 5-2

Power supply unit

Chapter 5

5.1 Preventive Maintenance Function

5-1

5. Preventive / Predictive Maintenance

5.1 Preventive Maintenance Function

This power supply unit is equipped with a communication function that enables monitoring of

status data from the host as a preventive maintenance function aimed at improving the operation

and maintenance efficiency of the equipment.

The communication interface is equipped with an asynchronous serial bus interface conforming

to RS485, as with the serial communication of the controller for ROBO Cylinder.

Connection method

● Monitoring via RCON gateway board

This method connects the RCON gateway board to the power supply unit and monitors the

power supply unit status data via RCON. To monitor status data using RC software (PSA-24

compatible version), connect using the RCON USB interface. The status data of the power

supply is also available on the fieldbus, so it is possible to monitor the status data from the host

network via PLC.

Max.: 5 units

Monitor using PC software via USB

Power supply unit

RCON

RCON attached connector

USB

PLC

Fieldbus

Ethernet

Remote monitoring via PLC

5.1 Preventive Maintenance Function

5-2

5. Preventive / Predictive Maintenance

Status data

The status data that can be monitored is as follows.

Item Content

Output voltage

AD conversion value of output voltage. This power supply fluctuates the output voltage according to the load, so the output voltage monitor value changes from time to time, but this is not abnormal.

Voltage of auxiliary winding

AD conversion value of the control power supply voltage inside the

power supply unit. As with the output voltage, it changes according to

the load on the output voltage side, but this is not abnormal.

Peak hold voltage

Constantly compares output voltage AD conversion value during AD conversion and saves the maximum current value.

Output current

AD conversion value of output current. Represents the instantaneous value.

Peak hold current

Peak value of output current. Constantly compares during AD conversion and saves the maximum current value.

Load factor

The value obtained by expressing the ratio of the integral value of the

output current used internally for overload judgment and the rated output current in percentage. If this value exceeds 100%, the output

voltage is cut off as an overload error.

Fan rotation speed

The value obtained by calculating the fan rotation speed based on the pulse signal input from the fan

PCB temperature

AD conversion value of the temperature sensor in the vicinity of the output capacitor on the secondary side.

Total power-on time

The power-on time is counted by the CPU and is accumulated periodically in the internal memory

Fan installation

● Connection recognition

The CPU automatically detects that the fan cable is connected to the power supply circuit

board.

● Rotation speed monitoring

Rotation speed is monitored by counting the pulse signal from the fan. Judgment is as follows.

Item Specifications

Warning

Operation Continues at less than 70% of rated speed for 15 seconds or more

Protection

method

· Alert notification by LED blinking at 1 Hz

(0.5 seconds ON ⇔ 0.5 seconds OFF)

· Alert notification by warning bit during communication

Recovery Automatic recovery

Error

Operation Continues at less than 50% of rated speed for 15 seconds or more

Protection

method

· LED ON

· Switch overload level to 204W (switching operation does not stop)

· Alert notification by error bit during communication

Recovery AC reboot (latch)

5.1 Preventive Maintenance Function

5-3

5. Preventive / Predictive Maintenance

● Switch overload error threshold

The rated current changes depending on whether a fan is connected or not, so the internal

overload error threshold is also switched after detecting the fan connection. If fan abnormal

rotation speed is detected, there is a possibility of significant decrease in life or failure of

continuous operation, so the threshold value for overload error will be forcibly switched to the

threshold for continuous rated output 204W (without fan).

● Fan ON/OFF control by internal temperature

When the ambient temperature is low or when the environment has capacity for more load, the

internal temperature sensor may turn the fan ON/OFF in order to extend its life. The ON/OFF

control specifications of the fan using an internal temperature sensor are as follows.

Item Specifications

ON Continues for 10 seconds at 60°C or higher

OFF Continues for 10 seconds at 50°C or below

Before Considering

Failure

6.1 Before Considering Failure ······································ 6-1

Power supply unit

Chapter 6

6.1 Before Considering Failure

6-1

6. Before Considering Failure

6.1 Before Considering Failure

Content Countermeasures

No output voltage

• Is the specified input voltage connected?

• Is there a short circuit or ground fault in the output circuit?

• Has the power supply unit been rebooted immediately after the overvoltage circuit / overheat protection circuit activated?

• Is the power on at the same time during parallel operation?

• Is the ambient temperature high?

• Is there an overload?

Low output voltage • Is there an overload?

Maintenance and

Inspection

7.1 Maintenance and Inspection····································· 7-1

Precautions for inspection ················································ 7-1

Power supply unit

Chapter 7

7.1. Maintenance and Inspection

7-1

7. Maintenance and Inspection

7.1 Maintenance and Inspection

Precautions for inspection

● Because there are heat generating parts inside the power supply unit die cast section and

interior, perform inspection after allowing sufficient cooling time after turning OFF the power

supply unit.

● Do not touch the terminals for 10 minutes after shutting down the power, as there is a danger of

electric shock.

External Dimensions

8.1 External Dimensions ··············································· 8-1

Power supply unit

Chapter 8

8.1. External Dimensions

8-1

8. External Dimensions

8.1 External Dimensions

Item Specifications

External

dimensions

PSA-24 54(W) x 115(H) x 140(D)

PSA-24L 54(W) x 131(H) x 140(D)

Weight

PSA-24 805g

PSA-24L 845g

PSA-FU 40g

8.1. External Dimensions

8-2

8. External Dimensions

PSA-24

35.2

39.6

142.8

140

16.4

3.5

105 5 5

ϕ5

115

8.1. External Dimensions

8-3

8. External Dimensions

PSA-24L

35.2

55.6 4 131

140

142.8

16.4

3.5

105 5 (21) 5 ϕ5

Life

9.1 Consumable Parts·················································· 9-1

Power supply unit

Chapter 9

9.1 Consumable Parts

9-1

9. Life

9.1 Consumable Parts

Item Life Conditions

Electrolytic capacitor 5 years

Ambient temperature 40°C

Continuous rated output

Fan 3 years

Warranty

10.1 Warranty Period ··················································· 10-1

10.2 Scope of the Warranty ··········································· 10-1

10.3 Honoring the Warranty ·········································· 10-1

10.4 Limited Liability ···················································· 10-2

10.5 Conformance with applicable standards/regulations, etc., and application conditions ······························ 10-2

10.6 Other items excluded from warranty ······················· 10-2

Power supply unit

Chapter

10.1 Warranty period

10-1

10. Warranty

10.1 Warranty Period

Whichever of the following periods is shorter:

● 18 months after shipment from IAI

● 12 months after delivery to a specified location

● 2,500 operational hours

10.2 Scope of the Warranty

Our products are covered by warranty when all of the following conditions are met.

Faulty products covered by warranty will be replaced or repaired free of charge:

(1) The breakdown or malfunction in question pertains to our product as delivered by IAI or our

authorized dealer.

(2) The breakdown or malfunction in question occurred during the warranty period.

(3) The breakdown or malfunction in question occurred while the product was in use for an

appropriate purpose under the operating conditions and operating environment specified in the

instruction manual and catalog.

(4) The breakdown or malfunction in question was caused by a specification defect, malfunction,

or poor product quality.

Note that breakdowns due to any of the following reasons are excluded from the scope of warranty:

(1) Anything other than our product

(2) Modification or repair performed by a party other than IAI (unless approved by IAI)

(3) Anything that could not be easily predicted with the level of science and technology available at

the time of shipment from IAI

(4) Natural disaster, unnatural disaster, incident or accident for which we are not liable

(5) Natural fading of paint or other symptoms of aging

(6) Wear, depletion or other expected results of use

(7) Operation noise, vibration or other subjective sensations not affecting function or maintenance

Note that the warranty only covers our product as delivered and that any secondary loss arising

from a breakdown of our product is excluded from the scope of warranty.

10.3 Honoring the Warranty

As a rule, the product must be consigned to IAI for repair under warranty.

10.4 Limited liability

10-2

10. Warranty

10.4 Limited Liability

(1) We assume no liability for any special damage, consequential loss or passive loss such as a

loss of expected profit arising from or in connection with our product.

(2) We assume no liability for any program or control method created by the customer to operate

our product or for the results of any such program or control method.

10.5

Conformance with applicable standards/regulations, etc., and application conditions

(1) If our product is combined with another product or any system, equipment, etc., used by the

customer, the customer must first check the applicable standards, regulations and/or rules.

The customer is also responsible for confirming that such combination with our product

conforms to the applicable standards, etc.

In such a case we assume no liability for the conformance of our product with the applicable

standards, etc.

(2) Our product is for general industrial use. It is not intended or designed for the applications

specified below, which require a high level of safety. Accordingly, as a rule our product cannot

be used in these applications.

Contact IAI if you must use our product for any of these 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

(vehicles, railway facilities, aviation facilities etc.)

(3) Machinery components essential for safety (safety devices etc.)

(4) Equipment used to handle cultural assets, art or other irreplaceable items

(3) Contact IAI in advance if our product is to be used in any condition or environment that differs

from that specified in the catalog or instruction manual.

10.6 Other items excluded from warranty

The price of the product delivered to you does not include expenses associated with programming,

the dispatch of engineers, etc. Accordingly, a separate fee will be charged in the following cases

even during the warranty period:

(1) Guidance for mounting/adjustment and witnessing of test operation

(2) Maintenance and inspection

(3) Technical guidance and education on operating/wiring methods, etc.

(4) Technical guidance and education on programming and other items related to programs

10-3

10. Warranty

Appendix

11.1 Relation of Actuator and Power Supply Current ·········· 11-1

11.2 Connected Unit Count Determination Method ············ 11-9

11.3 Index ·································································· 11-11

11.4 Revision History ··················································· 11-13

Power supply unit

Chapter

11.1 Relation of Actuator and Power Supply Current

11-1

11. Appendix

11.1 Relation of Actuator and Power Supply Current

Table 1-1. Relation of Actuator and Power Supply Current (□CON-C/CG/CY/PL/PO/SE, PCON-CF, □SEL, □SEP)

Controller

type

Actuator

type

Motor power

capacity

Power supply

current [A]

(Note 1)

ACON

(Note 2)

ASEL

(Note 3)

ASEP

(Note 4)

RCL

Rated

0.8

Maximum 4.6

Rated 1.0

Maximum 6.4

10W

Rated

1.3

Maximum 6.4

RCA

RCA2

10W

Rated 1.3

Power saving

maximum

2.5

Maximum

4.4

20W

Rated 1.3

Power saving

maximum

2.5

Maximum 4.4

20W

(Model notation 20S)

Rated

1.7

Power saving

maximum

3.4

Maximum 5.1

30W

Rated 1.3

Power saving

maximum

2.2

Maximum 4.0

PCON

PSEL

(Note 3)

PSEP

(Note 4)

RCP2

RCP3

20P, 28P,

35P, 42P,

56P

Maximum 2.0

PCON-CF 86P Maximum 6.0

DSEP

(Note 4)

RCD 3W

Rated

0.7

Maximum 1.5

Note 1 PCON power supply current includes control supply current.

Power supply current other than PCON does not include control power supply current.

Note 2 ACON control power supply current is 0.3A.

Note 3 ASEL/PSEL control power supply current is 1.2A.

ASEL/PSEL power supply current is single-axis specification. It is doubled for 2-axis

specifications.

Note 4 The control power supply current of ASEP/PSEP/DSEP is 0.5A (0.8A for simple absolute

compatibility).

(Note) 0.3A higher for the fieldbus specification.

11.1 Relation of Actuator and Power Supply Current

11-2

11. Appendix

Table 1-2. Relation of Actuator and Power Supply Current (□CON-CA/CB/CGB, PCON-CFA/CFB)

Controller

type

Actuator

type

Motor power

capacity

Power supply current [A]

(Note 1)

ACON-CA ACON-CB

RCL

Rated

0.8

Maximum 4.6

Rated 1.0

Maximum 6.4

10W

Rated 1.3

Maximum 6.4

RCA

RCA2

10W

Rated 1.3

Power saving

maximum

2.5

Maximum 4.4

20W

Rated 1.3

Power saving

maximum

2.5

Maximum 4.4

20W

(Model notation 20S)

Rated 1.7

Power saving

maximum

3.4

Maximum 5.1

30W

Rated 1.3

Power saving

maximum

2.2

Maximum 4.0

DCON-CA

DCON-CB

RCD 3W

Rated 0.7

Maximum 1.5

PCON-CA PCON-CB

RCP2

PCP3

20P, 20SP, 28P

Maximum 1.0

28SP, 35P, 42P, 56P

Maximum 2.2

RCP4 RCP5 RCP6

28P, 35P, 42P, 42SP, 56P

High-output

setting disabled

Maximum 2.2

High-output

setting enabled

Rated 3.5

Maximum

4.2

PCON-CFA PCON-CFB

RCP2 PCP3

60P, 86P Maximum 6.0

RCP4

PCP5

RCP6

56SP, 60P, 86P

Maximum 6.0

Note 1 Power supply current includes control power supply current.

(Note) 0.3A higher for the fieldbus specification.

11.1 Relation of Actuator and Power Supply Current

11-3

11. Appendix

Table 1-3. Relation of Actuator and Power Supply Current (□CON-CYB/PLB/POB)

Controller

type

Actuator

type

Motor power

capacity

Power supply current [A]

(Note 1)

ACON-CYB

ACON-PLB

ACON-POB

RCL

Rated

0.8

Maximum 4.6

Rated 1.0

Maximum 6.4

10W

Rated

1.3

Maximum 6.4

RCA

RCA2

10W

Rated 1.3

Power saving

maximum

2.5

Maximum

4.4

20W

Rated 1.3

Power saving

maximum

2.5

Maximum 4.4

20W

(Model notation 20S)

Rated

1.7

Power saving

maximum

3.4

Maximum 5.1

30W

Rated 1.3

Power saving

maximum

2.2

Maximum 4.0

DCON-CYB

DCON-PLB

DCON-POB

RCD 3W

Rated 0.7

Maximum 1.5

PCON-CYB

PCON-PLB

PCON-POB

RCP2

PCP3

20P, 20SP, 28P

Maximum 1.0

28SP, 35P, 42P, 56P

Maximum 2.2

RCP4 RCP5 RCP6

28P, 35P, 42P, 42SP, 56P

High-output

setting disabled

Maximum 2.2

High-output

setting enabled

Rated 3.5

Maximum 4.2

Note 1 Power supply current includes control power supply current.

(Note) 0.3A higher for the fieldbus specification.

11.1 Relation of Actuator and Power Supply Current

11-4

11. Appendix

Table 1-4. Relation of Actuator and Power Supply Current (RCON)

Controller

type

Actuator

type

Motor power

capacity

Power supply current [A]

RCON-PC

RCP2 RCP3

20P, 28P, 28SP

High-output setting

disabled

Maximum 0.8

35P, 42P, 56P

Maximum 1.9

RCP4 RCP5 RCP6

28P, 35P,

42P, 42SP,

56P

High-output setting

disabled

Maximum 1.9

High-output setting

enabled

Rated

2.3

Maximum 3.9

RCON-PCF

RCP2

RCP3 RCP4 RCP5

RCP6

56P, 56SP,

60P, 86P

High-output setting

disabled

Maximum 5.7

RCON-AC

RCA

RCA2

5W Standard/Hi-accel./decel.

Rated

1.0

Maximum

3.3

10W

Standard/Hi-accel./decel.

/Power saving

Rated 1.3

Power saving

maximum

2.5

Maximum 4.4

20W

Rated 1.3

Power saving

maximum

2.5

Maximum 4.4

20W (20S)

Rated 1.7

Power saving

maximum

3.4

Maximum 5.1

30W

Rated 1.3

Power saving

maximum

2.2

Maximum

4.0

RCL

Standard/Hi-accel./decel.

Rated 0.8

Maximum 4.6

Rated 1.0

Maximum 6.4

10W

Rated 1.3

Maximum 6.4

RCON-DC RCD 3W Standard

Rated

0.7

Maximum

1.5

11.1 Relation of Actuator and Power Supply Current

11-5

11. Appendix

Table 1-5. Relation of Actuator and Power Supply Current (MCON)

Controller

type

Actuator

type

Motor power

capacity

Power supply current [A]

(Note 1)

MCON

(Note 2)

RCL

Rated 0.8

Maximum 4.6

Rated

1.0

Maximum

6.4

10W

Rated 1.3

Maximum 6.4

RCA

RCA2

10W

Rated 1.3

Power saving

maximum

2.5

Maximum 4.4

20W

Rated 1.3

Power saving

maximum

2.5

Maximum

4.4

20W

(Model notation 20S)

Rated 1.7

Power saving

maximum

3.4

Maximum

5.1

30W

Rated

1.3

Power saving

maximum

2.2

Maximum 4.0

RCD 3W

Rated 0.7

Maximum 1.5

RCP2 RCP3

20P, 28P,

28SP, 35P,

42P, 56P

Maximum 2.0

RCP4 RCP5 RCP6

28P, 35P, 42P, 42SP, 56P

High-output

setting disabled

Maximum 2.0

High-output

setting enabled

Rated

3.5

Maximum

4.2

Note 1 The power supply current is for 1-axis and does not include the control power supply current.

Note 2 MCON control power supply current is 1.0A. (Brake release power capacity is not included)

(Note) 0.3A higher for the fieldbus specification.

To calculate the power supply current, refer to "1.3 Power Supply Capacity Calculation" in the MCON

instruction manual.

11.1 Relation of Actuator and Power Supply Current

11-6

11. Appendix

Tab le 1-6. Relation of Actuator and Power Supply Current (MSEP)

Controller

type

Actuator

type

Motor power

capacity

Power supply current [A]

(Note 1)

MSEP

(Note 2)

RCL

Rated 0.8

Maximum 4.6

Rated

1.0

Maximum

6.4

10W

Rated 1.3

Maximum 6.4

RCA

RCA2

10W

Rated 1.3

Power saving

maximum

2.5

Maximum 4.4

20W

Rated 1.3

Power saving

maximum

2.5

Maximum

4.4

20W

(Model notation 20S)

Rated 1.7

Power saving

maximum

3.4

Maximum

5.1

30W

Rated

1.3

Power saving

maximum

2.2

Maximum 4.0

RCD 3W

Rated 0.7

Maximum 1.5

RCP2 RCP3

20P, 28P,

28SP, 35P,

42P, 56P

Maximum 2.0

RCP4 RCP5

28P, 35P, 42P, 42SP, 56P

High-output

setting disabled

Maximum 2.0

High-output

setting enabled

Rated

3.5

Maximum

4.2

Note 1 The power supply current is for 1-axis and does not include the control power supply current.

Note 2 MSEP control power supply current is 1.0A. (Brake release power capacity is not included)

(Note) 0.3A higher for the fieldbus specification.

To calculate the power supply current, refer to "1.3 Power Supply Capacity Calculation" in the MSEP instruction manual.

11.1 Relation of Actuator and Power Supply Current

11-7

11. Appendix

Table 1-7. Relation of Actuator and Power Supply Current (Controller integrated actuator)

Actuator

type

Motor power

capacity

Power supply current [A]

(Note 1)

ELECYLINDER

EC-PR4,

EC-GS4, EC-GD4, EC-TC4,

EC-TW4

Maximum 2.0

Other than the

above

Energy-saving

setting enabled

Maximum 2.2

Energy-saving

setting disabled

Rated 3.5

Maximum 4.2

ERC3

High-output setting

disabled

Maximum 2.2

High-output setting

enabled

Rated 3.5

Maximum 4.2

RCP6S

35P, 42P, 56P

High-output setting

disabled

Maximum 2.0

High-output setting

enabled

Rated 3.5

Maximum 4.5

56SP, 60P

Maximum

6.0

Note 1 Power supply current includes control power supply current.

(Note) 0.3A higher for the fieldbus specification.

The calculation method for RCP6S gateway system power capacity is explained in the RCP6S

fieldbus communication instruction manual.

Refer to "1.3 Calculation of Number of Connectable Axes and Power Capacity".

11.1 Relation of Actuator and Power Supply Current

11-8

11. Appendix

Table 1-8. Relation of Actuator and Power Supply Current (Controller for RCP6S gateway unit)

Controller

type

Actuator

type

Motor power

capacity

Power supply current [A]

(Note 1)

RCM-P6PC

RCP2 RCP3

20P, 20SP, 28P

Maximum 1.0

28SP, 35P,

42P, 42SP,

56P

Maximum 1.7

RCP4 RCP5 RCP6

28P, 35P, 42P, 42SP, 56P

High-output

setting disabled

Maximum 1.7

High-output

setting enabled

Rated

3.2

Maximum 4.2

RCM-P6AC

RCL

Rated 0.8

Maximum 4.6

Rated 1.0

Maximum 6.4

10W

Rated 1.3

Maximum

6.4

RCA

RCA2

10W

Rated

1.3

Power saving

maximum

2.5

Maximum 4.4

20W

Rated 1.3

Power saving

maximum

2.5

Maximum 4.4

20W

(Model notation 20S)

Rated 1.7

Power saving

maximum

3.4

Maximum 5.1

30W

Rated 1.3

Power saving

maximum

2.2

Maximum 4.0

RCM-P6DC RCD 3W

Rated

0.7

Maximum 1.5

Note 1 Power supply current does not include control power supply current. Control power supply

current is 0.3A.

(Note) 0.3A higher for the fieldbus specification.

The calculation method for RCP6S gateway system power capacity is explained in the RCP6S fieldbus communication instruction manual. Refer to "1.3 Calculation of Number of Connectable Axes and Power Capacity".

11.2 Connected Unit Count Determination Method

11-9

11. Appendix

11.2 Connected Unit Count Determination Method

Refer to the power capacity calculation method below in [Method of Calculating Rated Current and

Peak Current] and [Required Number of Power Supply Units], and determine the number so that the

load rated current and the peak current fall within the allowable range of the power supply.

· To calculate the MCON power supply current, refer to "1.3 Power Supply Capacity Calculation" in

the MCON instruction manual.

· To calculate the MSEP power supply current, refer to "1.3 Power Supply Capacity Calculation" in the

MSEP instruction manual.

·To calculate the RCP6S gateway system power capacity, refer to "1.3 Calculation of Number of

Connectable Axes and Power Capacity" in the RCP6S fieldbus communication instruction manual.

· For RCON, "calculator software", which automatically calculates the required power capacity, is

available by setting the operating conditions and operating pattern of the actuator, in order to

determine the number of connected PSA-24 power supply units.

Refer to the "Calculation Software Instruction Manual (ME0381)" for the operation method, etc.

If the following phenomenon occurs after actual operation, operation can be performed by connecting

the power supplies in parallel and increasing the number of units.

· Overcurrent protection circuit engages [Refer to "Protective Function Specifications" on page 1-5]

Power capacity calculation method

[Method of Calculating Rated Current and Peak Current]

Refer to Appendix Tables 1-1 to 1-8 for the rated current and maximum current for each actuator.

1. Models without rated current notation

Total rated current (A)= Maximum current per actuator (A) x Number of actuators

+ Control power supply current of each controller (A) x Number of controllers

2. Models with rated current notation

Total rated current (A) = Rated current per actuator (A) x Number of actuators

+ Control power supply current of each controller (A) x Number of controllers

Total peak current (A) =

Maximum current per actuator (A) x Number of actuators simultaneously activated

+ Control power supply current of each controller (A) x Number of controllers

(Note) The controllers that include control power supply current in "Power Supply Current" of Tables

1-1 to 1-8 do not require separately adding the control power supply current of the controller.

(Note) If the controller is fieldbus specification, add 0.3A multiplied by the number of controllers.

11.2 Connected Unit Count Determination Method

11-10

11. Appendix

[Required Number of Power Supply Units]

1. Calculate the required number based on the total rated current obtained on the previous page and the rated output current of the used power supply. --- (A)

2. Calculate the required number from the total peak current obtained on the previous page and the peak output current of the used power supply. --- (B)

3. The required number of units is the number obtained in (A) or (B), whichever is larger.

Selection example for PSA-24/PSA-24L

Number of connected units

1 2 3 4 5

Rated output current [A]

8.5

15.3

22.95

30.6

38.25

Peak output [A]

17.0

30.6

45.9

61.2

76.5

(Example 1) Model without rated current notation

· When five sets of PCON-CB (PIO spec.) and RCP5-RA7R (56P: high-output setting disabled)

are connected and servo is turned ON at the same time

2.2A x 5 = 11.0A > 8.5A ⇒ Insufficient capacity

(1)

Power supply current

< 15.3A ⇒ PSA-24: 2 units required

* The controllers that include control power supply current (1) in "Power Supply Current" of the PCON-CB

table do not require separately adding the control power supply current of the controller.

Calculation is not required.

(Example 2) Model with rated current notation

· When four sets of ACON-C (fieldbus specification) and RCA2-SA3C (10W) combinations are

connected and servo is turned ON at the same time

1.3A x 4 + 0.3A x 4 + 0.3A x 4 = 7.6A < 8.5A ⇒ PSA-24: 1 unit required

(1)

Power supply current

(2)

Control power supply current

(3)

Fieldbus

4.4A x 4 + 0.3A x 4 + 0.3A x 4 = 20.0A > 17.0A ⇒ Insufficient capacity

(1)

Power supply current

(2)

Control power supply current

(3)

Fieldbus

< 30.6A ⇒ PSA-24: 2 units required *

The controllers that include control power supply current (1) in "Power Supply Current" of the ACON-C

table require separately adding the control power supply current of the controller (2). If the controller is

fieldbus specification, another 0.3A (3) is added.

When the same operation is performed with multiple actuators at the maximum load and the maximum acceleration simultaneously

Although the rated current is within 8.5 A, the peak current exceeds 17 A, making the capacity of one unit insufficient and requiring two units connected in parallel.

However, by satisfying the following two conditions, it is also possible to operate with one unit connected.

· Shift servo ON timing.

· Do not perform the same operation with multiple actuators at maximum load and maximum

acceleration simultaneously.

11.3 Index

11-11

11. Appendix

11.3 Index

Actuator and power supply current ········· 11 -1

Altitude ··············································· 2-1

Ambient operating humidity ····················· 2-1

Ambient operating temperature ················ 2-1

Ambient storage temperature ·················· 2-1

Atmosphere ········································· 2-1

Communication address switch ··· Intro-12~13

Communication cable ···························· 3-2

Communication connector ·········· Intro-12~15

Components ········································ 1-1

Continuous rated output 204 W ··············· 1-4

Continuous rated output 330 W ··············· 1-4

Cooling method ···································· 2-1

Default initial voltage ····························· 1-4

Degree of protection ······························ 2-1

Dielectric withstand voltage ····················· 1-6

DIN tab ········································· Intro-12

Efficiency ············································ 1-3

Electric shock protection function ············· 1-3

Environmental conditions ······················· 2-1

External Dimensions

PSA-24 ········································· 8-2

PSA-24L ······································· 8-3

Fan alarm notification LED ·········· Intro-12~13

Fan connector ·························· Intro-12~16

Fan installation ····································· 5-2

Fan rotation detection ···························· 1-5

Fan unit ········································ Intro-12

Generated heat ···································· 2-1

Grounding ··········································· 2-3

Honoring the warranty ························· 10-1

Input specifications ······························· 1-3

Input undervoltage protection ·················· 1-5

Inrush current ······································ 1-3

Inrush current prevention circuit ··············· 4-7

Installation ·········································· 2-3

Installation site ····································· 2-1

Insulation resistance ····························· 1-6

Insulation specifications ························· 1-6

Leakage current ··································· 1-6

Life ··················································· 9-1

Limited liability ··································· 10-2

Model name ········································ 1-2

Model nameplate ·································· 1-1

Momentary power failure resistance ········· 1-3

No. of connected units ························· 11 -9

Normal operation notification LED

··· Intro-12~13

Output derating ···································· 2-2

Output retention time ····························· 1-4

Output specifications ····························· 1-4

Output voltage ································· 4-1~2

Output voltage range ····························· 1-4

Overall electric wiring diagram ················ 3-1

Overcurrent protection ··························· 1-5

Overheat protection ······························ 1-5

Overload detection ································ 4-8

Overload protection ······························· 1-5

Overvoltage category ···························· 2-1

Overvoltage protection ··························· 1-5

Package drop ······································ 2-1

Parallel operation ································· 4-3

Peak output ········································· 1-4

Pollution degree ··································· 2-1

Power capacity calculation method ········ 11-9

Power factor ········································ 1-3

Power frequency range ·························· 1-3

Power input voltage range ······················ 1-3

Power ON/OFF sequence ······················ 4-6

Power supply cable ······························· 3-3

Power supply current ····························· 1-3

11.3 Index

11-12

11. Appendix

Power terminal block ················· Intro-12~14

Preventive maintenance function ············· 5-1

Protective function specifications ············· 1-5

Rated output voltage ····························· 1-4

Restrictions in ambient environment ········· 2-4

Ripple noise voltage ······························ 1-4

Ripple voltage ······································ 1-4

Scope of the warranty ·························· 10-1

Screw mounting hole ······················· Intro-12

Startup time ········································· 1-4

Status data ·········································· 5-2

Vibration resistance ······························· 2-1

Warranty period ·································· 10-1

11.4 Revision History

11-13

11. Appendix

11.4 Revision History

Revision date Revised content

2018.4

First Edition

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Manual No.: ME0379-1A (Apr. 2018)

18.04.000

IAI PSA-24 Instruction Manual

Specifications and Main Features

Frequently Asked Questions

User Manual