IAI ASEP, PSEP, DSEP Instruction Manual

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DSEP Controller

ASEP Controller PSEP Controller

Instruction Manual Tenth Edition

[Important]



This Instruction Manual is original.



The product cannot be operated in any way unless expressly speciﬁ ed in this Instruction Manual.

IAI shall assume no responsibility for the outcome of any operation not speciﬁ ed herein.



Information contained in this Instruction Manual is subject to change without notice for the purpose

of product improvement.



If you have any question or comment regarding the content of this manual, please contact the IAI

sales ofﬁ ce near you.



Using or copying all or part of this Instruction Manual without permission is prohibited.



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

sentences are registered trademarks.

Please Read Before Use

Thank you for purchasing our product.

This Instruction Manual describes all necessary information items to operate this product safely such as

the operation procedure, structure and maintenance procedure.

Before the operation, read this manual carefully and fully understand it to operate this product safely. The

enclosed CD/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.

After reading through this manual, keep this Instruction Manual at hand so that the operator of this

product can read it whenever necessary.

Table of Contents

Safety Guide .............................................................................................................................1

International Standards Compliances .....................................................................................8

CE Marking ...............................................................................................................................9

Precautions in Operation .......................................................................................................10

Name for Each Parts and Their Functions ............................................................................14

Actuator Axes .........................................................................................................................16

Starting Procedures ...............................................................................................................18

1. Speciﬁ cations Check ......................................................................................................19

1.1 Product Check ..................................................................................................................................19

1.1.1 Parts …………………………………………………………………………………………… 19

1.1.2 Teaching Tool (to be purchased separately) ………………………………………………… 19

1.1.3 Instruction manuals related to this product, which are contained in the

instruction manual (CD/DVD). ……………………………………………………………… 20

1.1.4 How to read the model plate ………………………………………………………………… 20

1.1.5 How to read the model of the controller ……………………………………………………… 20

1.2 Basic Speciﬁ cations .........................................................................................................................22

1.3 External Dimensions ........................................................................................................................24

1.4 I/O Speciﬁ cations .............................................................................................................................25

1.4.1 PIO Input and Output Interface ……………………………………………………………… 25

1.5 Installation Environment...................................................................................................................26

1.6 Installation and Noise Elimination ...................................................................................................27

2. Wiring ..............................................................................................................................29

2.1 Wiring Diagram (Connection of construction devices) ...................................................................29

2.2 PIO Pattern Selection and PIO Signal ............................................................................................30

2.3 Circuit Diagram (Example) ..............................................................................................................35

2.4 Wiring Method ..................................................................................................................................41

2.4.1 Wiring Layout of Power Supply Connector ………………………………………………… 41

2.4.2 Wiring Layout of FG Terminal Block ………………………………………………………… 42

2.4.3 Connection to Actuator ……………………………………………………………………… 43

2.4.4 Connection of PIO …………………………………………………………………………… 44

2.4.5 SIO Connector Connection …………………………………………………………………… 45

2.4.6 Battery Connector Connection (For Simple Absolute Type) ……………………………… 46

3. Operation .........................................................................................................................48

3.1 Setting ...............................................................................................................................................48

3.1.1 Initial Setting …………………………………………………………………………………… 48

3.1.2 Position Data Setting ………………………………………………………………………… 50

3.1.3 Absolute Reset

(This function is effective only when the controller and actuator are the absolute type). … 54

3.2 Power-up and PIO Control ..............................................................................................................55

3.2.1 Control of Input Signal ………………………………………………………………………… 55

3.2.2 Power Input …………………………………………………………………………………… 56

3.2.3 Home-return …………………………………………………………………………………… 57

3.3 Timing Chart .....................................................................................................................................58

3.4 User Parameters ..............................................................................................................................63

3.5 Servo Adjustment .............................................................................................................................65

3.5.1 Adjustment for ASEP and PSEP …………………………………………………………… 65

3.5.2 Adjustment for DSEP ………………………………………………………………………… 66

3.5.3 Servo Parameter ……………………………………………………………………………… 68

3.6 Alarm.................................................................................................................................................69

3.6.1 Alarm Level …………………………………………………………………………………… 69

3.6.2 Alarm Codes and Trouble Shooting ………………………………………………………… 70

4. Appendix .........................................................................................................................75

4.1 List of Speciﬁ cations of Connectable Actuators ..............................................................................75

4.2 Pressing Force and Current Limit Value .........................................................................................99

5. Warranty ........................................................................................................................106

5.1 Warranty Period .............................................................................................................................106

5.2 Scope of Warranty .........................................................................................................................106

5.3 Honoring the Warranty ...................................................................................................................106

5.4 Limited Liability ...............................................................................................................................106

5.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications .....107

5.6 Other Items Excluded from Warranty ............................................................................................107

Change History .....................................................................................................................108

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 speciﬁ cations. 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 inﬂ ammable gas, inﬂ ammable object or

explosive

2) Place with potential exposure to radiation

3) Location with the ambient temperature or relative humidity exceeding

the speciﬁ cation 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 signiﬁ cant 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.

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.

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 qualiﬁ cations 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 ﬁ x 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 speciﬁ ed below, provide a sufﬁ cient shield.

1) Location where electric noise is generated

2) Location where high electrical or magnetic ﬁ eld 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

4 Installation and

Start

(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 ﬁ re, 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 ﬁ re, product breakdown or malfunction.

● Connect the cable connector securely so that there is no disconnection or looseness. Failure to do so may cause a ﬁ re, 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 ﬁ re.

(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 satisﬁ es the speciﬁ cations (electrical equipment technical standards).

● Perform Class D Grounding (former Class 3 Grounding with ground resistance 100Ω 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 ﬁ nger or object in the openings in the product. Failure to do so may cause an injury, electric shock, damage to the product or ﬁ re.

● 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 speciﬁ ed 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 ﬁ re 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 Modiﬁ cation and

Dismantle

● Do not modify, disassemble, assemble or use of maintenance parts not speciﬁ ed 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 ﬁ re 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 Speciﬁ cations 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

ASEP/PSEP and DSEP comply with the following international standards:

RoHS Directive CE Marking UL

(Note)

○○○

(Note) The DSEP is not applicable to UL.

International Standards Compliances

CE Marking

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

Precautions in Operation

1. Use the following teaching tools.

Use the teaching tool such as the PC software stated in the next clause as the applicable for this controller.

● Teaching Tools that is applicable for this controller

[Refer to 1.2.2]

2. Backup the data to secure for breakdown.

A non-volatile memory is used as the backup memory for this controller. All the registered position data and parameters are written into this memory and backed-up at the same time. 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 CD-R or hard disk with using the PC software (2) Hard-copy the information of position tables and parameters on paper

3. Set the operation patterns.

This controller possesses 6 types of control logics to meet various ways of usage, and changes the role of each PIO signal following the selected control logic. The setup can be performed in the initial setting. [Refer to 2.1] The PIO pattern is set to “0” (Standard Point-to-Point Movement) when the unit is delivered. Set the operation pattern setting to the logic that suits to your use after the power is turned on.

Warning:

Please note it is very risky when the control sequence and PIO pattern setting do not match to each other. It may not only cause the normal operation disabled, but also may cause an unexpected movement.

4. Operation cannot be performed unless there is an input of Servo-on Signal and Pause Signal.

(1) Servo-on Signal (SON)

Servo-on signal (SON) is selectable from either “Enable” or “Disable” by the setting.

It is settable in the initial setting.

[Refer to 2.1 Setting]

If it is set to “Enable”, the actuator would not operate unless turning this signal on.

If it is set to “Disable”, the servo becomes on and the actuator operation becomes enabled

as soon as the power supply to the controller is turned on and the emergency stop signal is

cancelled.

[Refer to 2.1 Setting]

It is set to “Disable” when the unit is delivered. Have the setting that suits to the desirable control

logic.

(2) Pause Signal (*STP)

The input signal of the pause signal (*STP) is always on considering the safety. Therefore, in

general, the actuator would not operate if this signal is not on.

It is available to make this signal to “Not to use”, if this signal is undesirable.

It is settable in the initial setting.

[Refer to 2.1 Setting]

If it is set to “Not to use”, the actuator operation is available even without this signal being on.

It is set to “Not to use” when the unit is delivered.

5. Rotary actuator cannot be set to Multi-Rotation Speciﬁ cation.

Rotary actuator cannot be set to Multi-Rotation Speciﬁ cation since the index mode setting cannot be performed.

Output Process

Input Process

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

PLC

(e.g. scan time is 20msec)

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.

This controller

(scan time 1msec)

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 1msec. Because PLC only conducts output process once in 20msec, this controller identiﬁ es the same output status for that while.

7. PLC Timer Setting

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 such

as the actuator cannot get positioned to the indicated position number in Positioner Mode.

Set “2” as the minimum value for the setting of 10msec timer and when setting to 100msec, use

10msec timer and set to “10”.

8. Cautions when turning Servo on (for ASEP/PSEP)

The magnetic pole phase detection may not be performed normally if the servo is turned on near

the mechanical end, and may cause such problems like an abnormal operation, magnetic pole

not being deﬁ ned or electromagnetic detection error.

Put it away from the mechanical end when turning the servo on.

9. Make sure to follow the usage condition, environment and speciﬁ cations of the product.

Not doing so may cause a drop of performance or malfunction of the product.

1) Battery Connector (It is not equipped for Incremental Type and DSEP)

If Absolute Type actuator, it is the battery connector for absolute data retention.

2) LED for ABS (It is not equipped for Incremental Type and DSEP)

Following shows the absolute data retention battery status:

Signal Indication Status Description

Green Light is turned ON. System Normal Red Light is turned ON. System abnormality

Green Light is turned ON Absolute Unit Reset Complete (ST2 lighting ON in Green)

Red Light is turned ON.

• Absolute Unit Reset Incomplete (ST2 lighting ON in Green)

• Hardware Error (ST2 lighting ON in Red)

Green Light is turned ON Battery Fully Charged Orange Light is turned ON. In Battery Charging Operation Red Light is turned ON. Battery Disconnected

Name for Each Parts and Their Functions

Pictures show ASEP, It should be the same for PSEP and DSEP.

1) Battery Connector (It is not equipped for Incremental Type and DSEP)

2) LED for ABS (It is not equipped for Incremental Type and DSEP)

3) StatusLED (for SV, ALM and EMG)

4) SIO Connector

5) PIO Connector

6) Motor · Encoder Connector

7) Power Supply Connector

8) FG Terminal Block

Pin No. Signal Description

5BK

For Brake Forced Release Power Supply (ASEP/PSEP)

Keep DSEP disconnected.

4 MP Motor Driving Power Supply 3 24V Positive side of the 24V power supply 2 0V Negative side of the 24V power supply 1 EMG EMG’s Conﬁ rmation Signal

8) FG Terminal Block

It is the connector to connect the protection ground. Make sure to conduct the Class D grounding

(formerly Class 3 grounding: grounding resistance at 100 or less)

BK MP 24V 0V EMG

3) StatusLED (For SV, ALM and EMG)

Following show the controller operation status:

Indication Status Description

SYS

Green Light is turned ON. Servo ON Status Light is turned OFF Servo OFF Status Flashing in green (1Hz) Servo ON Status Red Light is turned ON. In the alarm issue or emergency stop

4) SIO Connector

It is the connector for the connection of the communication cables for the teaching pendant and

PC software.

5) PIO Connector

It is the connector for 24V DC I/O signal connection.

6) Motor · Encoder Connector

It is the connector to connect the actuator motor · encoder cable.

7) Power Supply Connector

It is the connector to supply the power to the controller and to the control board.

Actuator Axes

Refer to the pictures below for the actuator axes that can be controlled by ASEP/PSEP and DSEP. (There are some types that cannot be controlled depending on the controller. Check the catalog for the details.) 0 deﬁ nes the home position, and items in ( ) are for the home-reversed type (option).

(1) Rod Type

(2) Slider Type

(3) Table Type

(4) Arm Type

(5) Gripper Type

Finger Attachment

(Note)

Finger Attachment

(Note)

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

(6) Rotary Type

+−

330

(330° Rotation Specification)

(Multi-Rotation Specification)

When using this product for the ﬁ rst time, make sure to avoid mistakes and incorrect wiring by referring to the procedure below.

Installation and Wiring Perform the installation of and wiring for the controller and actuator according to the instructions in the Instruction Manual for the actuator and this Instruction Manual.

Contact our distributor or us.

↓Yes

←

Check Item Does the STATUS indicator LED light ON in red?

Check of Safety Circuit Check that the emergency stop circuit (or motor drivepower cutoff circuit) operates normally to turn off the servo.

Check the emergency stop circuit.

Set-up for operation is completed, Perform the system operation adjustment.

Servo ON Turn ON the servo-motor on the PC Software unit or touch panel teaching unit and confirm that the STATUS indicator LED lights ON in green (SVON). (Note) If the servo-on control is disabled in the initial setting, the controller automatically turns the servo on.

Check of Packed Items Are there all the delivered items?

↓

No→

↓

Target Position Setting Set the parameters for those such as “Backward Position”, “Forward Position”, “Intermediate Position” and “Speed” (which differ for each PIO pattern) in the position table on the PC software or the position setting on the touch panel teaching.

↓Yes

↓No

→

No→

Point Check Item

• Have you performed the installation and the connection of the frame ground and protective ground?

• Has the noise countermeasure been taken?

Power Supply and Alarm Check Connect the PC Software unit or touch panel teaching unit and turn ON the power to the unit.

Confirm that the emergency stop switch has been cancelled. When the switch has been cancelled, confirm the alarm description using the PC Software unit or touch panel teaching unit and settle it.

Yes

←No

←

Yes

Confirm the alarm description using the PC Software unit or touch panel teaching unit and settle it.

No→

Yes

Trial Run Adjustment Perform the performance check on the Position Table in the PC software or on the “Performance Check” window (Sequence: “Touch panel teaching” → “Initial Setting” ).

↓

Is there any vibration or abnormal noise?

→→

Confirm that there is no problem in the actuator installation or the actuator operation condition demands more than the rated voltage.

Yes

Perform the initial setting according to the instructions on the window. [Refer to Section

2.1 Setting

]

[Refer to the Instruction Manual for the PC software or touch panel teaching]

Have you completed the initial settings?

Warning : Turning the servo on near the mechanical end may disturb the

magnetic pole phase detection work properly, and may cause such problems as an abnormal operation, the magnetic pole unconfirmed error or the excitation detection error. Put away from the mechanical end when turning the servo on.

Caution : In the case the actuator is installed in vertical orientation,the

actuator may get slightly dropped by self-weight if servo on and off is repeatedly performed. Be careful not to pinch the hand or damage the work.

Starting Procedures

1. Speciﬁ cations Check

1.1 Product Check

This product is comprised of the following parts if it is of standard conﬁ guration. If you ﬁ nd any fault in the contained model or any missing parts, contacts us or our distributer.

1.1.1 Parts

No. Part Name Model

1 Controller [Refer to “1.1.4 How to read the model plate”]

Accessories

2 I/O Flat Cable

Standard type CB-APSEP-PIO*** (***shows the cable length) Dust-proof type

(Equivalent to IP53)

CB-APSEPW-PIO*** (***shows the cable length)

3 Power Connector MC1.5/5-ST-3.5 (PHOENIX CONTACT) 4 Spacer PFP-S (OMRON)

Absolute Battery Unit (For Simple Absolute Type Only)

SEP-ABUM (Standard type)

SEP-ABUM-W (Dust-proof type) 6 Instruction Manual (This Manual) 7 Instruction Manual (CD/DVD) 8 Safety Guide

1.1.2 Teaching Tool (to be purchased separately)

For the setups such as position setting and parameter setting using the teaching operation, the teaching tool is required. Please prepare either of the following teaching tools.

No. Part Name Model

PC Software (Includes RS232C Exchange Adapter  External Machine Communication Cable)

RCM-101-MW

PC Software (Includes USB Exchange Adapter  USB Cable  External Machine Communication Cable)

RCM-101-USB

Teaching Pendant (Touch Panel Teaching)

CON-PTA

Teaching Pendant (Touch panel teaching equipped with a dead man’s switch)

CON-PDA

Teaching Pendant (Touch panel teaching equipped with a dead man’s switch  TP adapter (RCB-LB-TG))

CON-PGA

Teaching Pendant dedicated for SEP Controller (Touch Panel Teaching)

SEP-PT

Teaching Pendant (Touch Panel Teaching)

CON-PT

(Note 1)

Teaching Pendant (Touch panel teaching equipped with a dead man’s switch)

CON-PD

(Note 1)

Teaching Pendant (Touch panel teaching equipped with a dead man’s switch  TP adapter (RCB-LB-TG))

CON-PG

(Note 1)

Note 1) It is not applied for DSEP.

1. Speciﬁ cations Check

1.1.3 Instruction manuals related to this product, which are contained in the instruction manual (CD/DVD).

No Name Manual No.

1 ASEP/PSEP/DSEP Instruction Manual ME0267 2 PC Software RCM-101-MW/RCM-101-USB Instruction Manual ME0155 3 Touch Panel Teaching CON-PTA/PDA/PGA Instruction Manual ME0294

Teaching Pendant dedicated for SEP Controller (Touch Panel Teaching) Instruction Manual

ME0217

1.1.4 How to read the model plate

Model Serial number

1.1.5 How to read the model of the controller

[Motor Type]

<Identification for IAI use only> * There is no identification in some cases.

ABU

ABUN

No description (Note) ABU and ABUN are the already existing

models, which do not comply with UL.

<Power-supply Voltage>

0 : 24V DC

0 : No Cable 3 : 3m 2:2m 5 :5m

NP : NPN Specification (Sync. Type) (Standard) PN : PNP Specification (Source Type)

Simple Absolute Type (with the Absolute Battery Unit)

Simple Absolute Type (with no Absolute Battery Unit)

Incremental Type 2W 5W 10W 20W

: : : :

20W (For RCA-R□3, SRA4, RCA2-SA4/TA5) 30W::

20S

[Encoder Type] I : Incremental [Option] LA : Power Consumption Type HA : High Acceleration/Deceleration Type

2 5 10 20

[ASEP]

<Type>

C : Standard type CW : Dust-proof type (Equivalent to IP53)

ASEP – C – 20ILA – NP – 0 – 0 – ABU – **

1. Speciﬁ cations Check

[Motor Type]

[Encoder Type] I : Incremental * It is not the absolute type.

<Identification for IAI use only> * There is no identification in some cases.

<Power-supply Voltage>

0 : 24V DC

0 : No Cable 3 : 3m 2 : 2m 5 : 5m

NP : NPN Specification (Sync. Type) (Standard) PN : PNP Specification (Source Type)

3W:3

[DSEP]

<Type>

C : Standard type CW : Dust-proof type

DSEP – C – 3I – NP – 0 – 0 – **

<Identification for IAI use only> * There is no identification in some cases.

No description

ABU

ABUN

No description (Note) ABU and ABUN are the already existing

models, which do not comply with UL.

<Power-supply Voltage>

0 : 24V DC

0 : No Cable 3 : 3m 2:2m 5 :5m

: High Acceleration

Transportable Type

: Standard

Simple Absolute Type

(with the Absolute Battery Unit)

Simple Absolute Type

(with no Absolute Battery Unit)

Incremental Type

[Motor Type]

<Type>

C : Standard Type CW : Dust-proof type (Equivalent to IP53)

20 □Size 28 □Size 28 □Size (For RA3C)

: : :

35 □Size 42 □Size 56 □Size

: : :

35P 42P 56P

[Encoder Type] I : Incremental

20P 28P 28SP

[PSEP]

NP : NPN Specification (Sync. Type) (Standard) PN : PNP Specification (Source Type)

PSEP – C – 20PI – NP – 0 – 0 – ABU – H – **

1. Specifications Check

1.2 Basic Specifications

Specifications

Item ASEP PSEP DSEP Number of controlled axes 1-axis Power-supply voltage 24V DC ±10% Control power capacity 0.5A (For Simple Absolute Type,0.8A) Load current

Motor type

Rated

Low Power

Consumption

MAX.

(Note 1)

Rated

MAX.

(Note 2)

Rated MAX.

2W 0.8A 4.6A 5W 1.0A 6.4A 10W (RCL series)

1.3A 6.4A

10W (RCA/RCA2 series)

1.3A 2.5A 4.4A

20W 1.3A 2.5A 4.4A 20W (Model code display 20S)

1.7A 3.4A 5.1A

30W 1.3A 2.2A 4.4A 20P 0.17A 2.0A 28P 0.17A 2.0A 35P 0.9A 2.0A 42P 0.9A 2.0A 56P 0.9A 2.0A

3W 0.7A 1.5A Heat generation 8.4W 9.6W 4W Rush current MAX. 10A Motor control system Sinusoidal wave (AC) driving Weak field-magnet

vector control

Square wave (DC)

drive Applicable encoder resolution

RCA series 800pulse/rev RCA2 series

RCA2-***N 1048pulse/rev Except for RCA2-***N

800pulse/rev

RCL series

RA1L, SA1L, SA4L, SM4L

715pulse/rev

RA2L, SA2L, SA5L, SM5L

855pulse/rev

RA3L, SA3L, SA6L, SM6L

1145pulse/rev

RCP2, RCP3, RCP4

800pulse/rev

RCD

400pulse(RA1D/GRSN),

480pulse(RA1DA/GRSNA) Actuator cable length MAX. 20m Serial communication interface (SIO port)

RS485 : 1CH (based on Modbus Protocol RTU/ASCII)

External interface Signal I/O dedicated for 24V DC (selected from NPN/PNP) … Input 4 points

max., output 4 points max. Cable length MAX. 10m Data setting and input PC softwar, touch panel teaching, teaching pendant Data retention memory Position data and parameters are saved in the nonvolatile memory. (About

100,000 times of reloading

(Note 3)

) Operation mode/No. of positions Positioner mode Positioning points : 2 to 3 points LED display (mounted on front panel)

1 point (for controller status display)

1. Speciﬁ cations Check

Item ASEP PSEP DSEP Forcibly releasing of electromagnetic brake switch

None Supply 24V DC 150mA to BK on power connector when a compulsory release of the brake is required.

None Brake cannot be compulsorily

released. Dielectric withstanding voltage/ resistance

500V DC 10M

Protection Function against Electric Shock

Class I basic insulation

Cooling method Natural air-cooling Environment

Use environment Pollution degree 2 Surrounding air temperature

0 to 40°C

Surrounding humidity 85% RH or less (non-condensing) Surrounding environment

[Refer to 1.5 Installation Environment.]

Surrounding storage temperature

-25 to 65°C (Battery to be stored at 40°C or lower)

Usage altitude 1000m or lower above sea level Protection code IP20: Equivalent to IP53 (Option) with the installation of the dust-proof cover Vibration durability Frequency 10 to 57Hz / Swing width : 0.075mm

Frequency 57 to 150Hz / Acceleration : 9.8m/ S

XYZ Each direction Sweep time : 10 minutes Number of sweep : 10 times

Weight

130g or less, 160g or less (INC-Dust-proof type)

External dimensions 30W × 100H × 66.2D (mm)

Note 3: Position data and parameters are written to EEPROM. The limitation for the reload is

about 100,000 times. Take the greatest care. Do not turn the power off during the rewriting process.

As a  24V DC power supply, select the power supply of the “peak load support” speciﬁ cation or one with sufﬁ cient capacity. In the case that the capacity margin is not sufﬁ cient, voltage might be dropped in a moment. Especially, the power supply equipped with remote sensing reacts to the transient voltage drop and raises the voltage for adjustment, which may result in overvoltage error.



(Note 1) The current reaches its maximum level when the servo-motor

exciting phase is detected which is to be performed in the ﬁ rst servo-motor turning ON processing after the power injection. (Normal: Approx. 1 to 2sec, Max.: 10sec)

(Note 2) The excitation detection operation is performed after the power

is input. In such a case, the current becomes maximum. (normally 100msec)

However, a current of approx. 6.0A ﬂ ows if the motor driving

power is turned on again after its shutdown. (for approx. 1 to 2msec)

1. Speciﬁ cations Check

1.3 External Dimensions

110mm

30mm 72.2mm

Front View Side View

Bottom View

[ASEP/PSEP/DSEP-C]

105mm

30mm 72.2mm

Front View

Side View

Bottom View

[Absolute Battery Unit SEP-ABUM (only applies to ASEP/PSEP)]

107mm

34mm

105.7mm

Front View Side View

Bottom View

[Dust-Proof Cover : ASEP/PSEP/DSEP-CW]

+ 86 hidden pages

IAI ASEP, PSEP, DSEP Instruction Manual

Specifications and Main Features

Frequently Asked Questions

User Manual