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]

1. Speciﬁ cations Check

1.4 I/O Speciﬁ cations

1.4.1 PIO Input and Output Interface

Input Section Output Section

Speciﬁ -

cation

Input Voltage 24V DC10% Load Voltage 24V DC

Input Current 4mA 1circuit

Peak Load Electric Current

50mA/1circuit

ON/OFF Voltage

ON Voltage MIN.18V DC OFF Voltage MAX.6V DC

Leakage Current MAX.0.1mA/1point

NPN

680

5.6K

P24

External Power Supply 24V DC

Controller

Internal

Power Supply

Input Terminal

Controller

P24

Load

External Power Supply 24V DC

Internal

Power Supply

Output Terminal

PNP

Controller

680

5.6K

External Power Supply 24V DC

Internal

Power Supply

Input Terminal

Controller

Load

P24

External Power Supply 24V DC

Internal

Power Supply

Output Terminal

I/O

Cable

Refer to 2.1.3 Circuit Diagram

0V 24V

NPN Type

Pin No.

1 2 3 4 5 6 7 8 9

Load

24V 0V

PNP Type

Pin No.

1 2 3 4 5 6 7 8 9

Load

1. Speciﬁ cations Check

1.5 Installation Environment

This product is capable for use in the environment of pollution degree 2*1 or equivalent. *1 Pollution Degree 2: Environment that may cause non-conductive pollution or transient

conductive pollution by frost (IEC60664-1)

Do not use this product in the following environment.



Location where the surrounding air temperature exceeds the range of 0 to 40C



Location where condensation occurs due to abrupt temperature changes



Relative humidity less than 10%RH or greater than 85%RH



Location exposed to corrosive gases or combustible gases



Location exposed to signiﬁ cant amount of dust, salt or iron powder



Location subject to direct vibration or impact



Location exposed to direct sunlight



Location where the product may come in contact with water, oil or chemical droplets

When using the product in any of the locations speciﬁ ed below, provide a sufﬁ cient shield.



Location subject to electrostatic noise



Location where high electrical or magnetic ﬁ eld is present



Location with the mains or power lines passing nearby

For Dust-proof type (Equivalent to IP53)

The protection structure level is enhanced to IP53 with the installation of the dust-proof cover (option).

“5” in IP53 stands for the structure

Where the amount of dust which can affect the normal operation and

safety, can not enter the unit. “3” in IP53 stands for the structure

Where normal operation and safety is not affected even with the

precipitation from above.

1. Speciﬁ cations Check

1.6 Installation and Noise Elimination

(1) Noise Elimination Grounding (Frame Ground)

Connect it using an earth cable made of soft copper with the diameter of AWG16 (1.25mm

Class D grounding

(Formerly Class-III grounding: Grounding resistance at 100Ω or less)

Controller

Other

equipment

Other

equipment

Other

equipment

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

(2) Precautions regarding wiring method

1) Twist the wires for the 24V DC power unit.

2) Separate signal lines and encoder cables from high-power lines such as the power wire.

(3) Noise Sources and Elimination

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

1) AC solenoid valves, magnet switches and relays

[Measure] Attach the surge killer in parallel with the

coil.

2) DC solenoid valves, magnet switches and relays

[Measure] Attach the diode in parallel with the coil. For the DC relay, use the built-in diode type.

Noise Killer

+24V

Relay coil

+ -

1. Speciﬁ cations Check

(4) Heat Radiation and Installation

Conduct design and manufacture in consideration of the control box size, controller layout and cooling in such a way that the temperature around the controller will be 40C or less.

DIN Rail

Min. 5mm

Spacer : PFP-S (OMRON) 1 Unit

Min. 20mm

Min. 50mm

Ensure enough space for wiring.

Note Install the Absolute Battery Unit securely under the controller.

2. Wiring

2.1 Wiring Diagram (Connection of construction devices)

SIO Connector

Touch Panel Teaching (to be purchased separately)

PC software

Flat Cable

Accessories

PIO Connector

MPG Connector

Power Connector

FG Connector

Actuator

Class D grounding

(Formerly Class-III grounding : Grounding resistance at 100Ω or less)

FG Cable : AWG16 (1.25mm2)

Absolute Battery Unit

(Note 2)

SEP-ABUM

Connection Cable between Controller and Absolute Battery

(Note 1)

Host System (PLC)

(Note 1) Connection Cable between Controller and Absolute Battery CB-APSEP-ABM005• • • Applicable Controller : ASEP-C-□-□-□-0-ABUM□

PSEP-C-□-□-□-0-ABUM□

CB-APSEP-AB005• • • Applicable Controller : ASEP-C-□-□-□-0-ABU□

(Existing models: Not complied with UL) PSEP-C-□-□-□-0-ABU□

(Note 2) It is not compatible with DSEP.

Note Turn the power to the controller off before connecting and disconnecting SIO connector

plugged in the controller from the PC software or touch panel teaching. Inserting or removing the connector while the power is turned ON causes a controller failure.

2. Wiring

2.2 PIO Pattern Selection and PIO Signal

(1) Operation Pattern

The 6 operation patterns (For PIO Pattern). Each of these 6 patterns is described as in the table. Also, the corresponding air cylinder circuit is described for reference.

Operation Pattern Contents

Example for Electric Cylinder

Connection

Example for Air Cylinder

Connection (Reference) PIO Pattern 0 Single Solenoid System (Standard Point-to-Point Movement)

The actuator pointto-point movement is available using the same control function as for the air cylinder. The target position setting (forward position and backward position) is available. Speed and acceleration settings in the actuator movement are available. The pressing operation is available.

PLC

+24V

ASEP, PSEP, DSEP

Electric Cylinder

Dedicated Cable

Movement Signal

(ST0)

Backward Position Detection (LS0)

Forward Position Detection (LS1)

R2 R1

B A

Spring

Solenoid

Air Cylinder

PLC

Movement Signal

(ST0)

P(Air)

Forward Position Detection (LS1)

Backward Position Detection (LS0)

PIO Pattern 0 Double Solenoid System (Standard Point-to-Point Movement)

+24V

ASEP, PSEP, DSEP

Electric Cylinder

Dedicated Cable

PLC

Backward Position

Movement Signal

(ST0)

Forward Position

Movement Signal

(ST1)

Backward Position Detection (LS0)

Forward Position Detection (LS1)

R2 R1

B A

Solenoid

Air Cylinder

PLC

P(Air)

Movement Signal

(ST0)

Forward Position Movement Signal

(ST1)

Backward Position Detection (LS0)

Forward Position Detection (LS1)

PIO Pattern 1 Single Solenoid System (

Point-to-Point Movement

)

(

Movement Speed Setting

)

The actuator pointto-point movement is available using the same control function as for the air cylinder. The speed change in the movement operation is available. The target position setting (forward position and backward position) is available. Speed and acceleration settings in the actuator movement are available. The pressing operation is available.

+24V

ASEP, PSEP, DSEP

Electric Cylinder

Dedicated Cable

PLC

Movement Signal

(ST0)

Movement Speed

Change Signal

(SPDC)

Backward Position Detection (LS0)

Forward Position Detection (LS1)

Spring

B A

Solenoid

Air Cylinder

PLC

P(Air)

Movement Signal

(ST0)

Movement Speed

Change Signal

(SPDC)

Backward Position Detection (LS0)

Forward Position Detection (LS1)

PIO Pattern 1 Double Solenoid System (

Point-to-Point Movement

)

(

Movement Speed Setting

)

+24V

ASEP, PSEP, DSEP

Electric Cylinder

Dedicated Cable

PLC

Backward Position

Movement Signal

(ST0)

Forward Position

Movement Signal

(ST1)

Movement Speed

Change Signal

(SPDC)

Backward Position Detection (LS0) Forward Position Detection (LS1)

B A

Solenoid

Air Cylinder

PLC

P(Air)

Backward Position

Movement Signal

(ST0)

Forward Position

Movement Signal

(ST1)

Movement Speed

Change Signal

(SPDC)

Backward Position Detection (LS0) Forward Position Detection (LS1)

2. Wiring

Operation Pattern Contents

Example for Electric Cylinder

Connection

Example for Air Cylinder

Connection (Reference) Single Solenoid System (

Point-to-Point Movement

) (Target Position Setting (Position Data) Change)

The actuator pointto-point movement is available using the same control function as for the air cylinder. The change-over between the positioning and pressing operations during the operation is available. The target position setting (forward position and backward position) is available. Speed and acceleration settings in the actuator movement are available. The pressing operation is available.

+24V

ASEP, PSEP, DSEP

Electric Cylinder

Dedicated Cable

PLC

Movement Signal

(ST0)

Target Position

Change Signal

(CN1)

Backward Position Detection (LS0)

Forward Position Detection (LS1)

B A

Air Cylinder

PL C

P(Air)

Movement Signal

(ST0)

Target Position

Change Signal

(CN1)

Backward Position Detection (LS0)

Forward Position Detection (LS1)

PIO Pattern 2 Double Solenoid System (

Point-to-Point Movement

) (Target Position Setting (Position Data) Change)

+24V

ASEP, PSEP, DSEP

Electric Cylinder

Dedicated Cable

PLC

Backward Position

Movement Signal

(ST0)

Forward Position

Movement Signal

(ST1 ) Target Position Change Signal

(CN1)

Backward Position Detection (LS0)

Forward Position Detection (LS1)

Air Cylinder

PLC

P(Air)

Backward Position

Movement Signal

(ST0)

Forward Position

Movement Signal

(ST1 ) Target Position Change Signal

(CN1)

Backward Position Detection (LS0) Forward Position Detection (LS1)

PIO Pattern 3 (2-Input, 3-Point Movement)

The actuator 3-Point Movement is available using the same control function as for the air cylinder. The target position setting (forward position, backward position and intermediate position) is available. Speed and acceleration settings in the actuator movement are available. The pressing operation at the positions except for the intermediate position is abailable.

+24V

ASEP, PSEP, DSEP

Electric Cylinder

Dedicated Cable

PLC

Movement

Signal 1

(ST0)

Movement

Signal 2

(ST1 )

Backward Position Detection (LS0) Forward Position Detection (LS1)

Intermediate Position Detection (LS2)

Air Cylinder

PLC

P(Air)

Movement

Signal 1

(ST0)

Movement

Signal 2

(ST1 )

Backward Position Detection (LS0) Forward Position Detection (LS1)

Intermediate Position Detection (LS2)

PIO Pattern 4 (3-Input, 3-Point Movement)

+24V

ASEP, PSEP, DSEP

Dedicated Cable

PLC

Electric Cylinder

Intermediate Position

Movement Signal

(ST2)

Backward Position

Movement Signal

(ST0) Forward Position Movement Signal

(ST1)

Backward Position Detection (LS0) Forward Position Detection (LS1) Intermediate Position Detection (LS2)

Air Cylinder

PLC

P(Air)

Intermediate Position

Movement Signal

(ST2)

Backward Position

Movement Signal

(ST0)

Forward Position

Movement Signal

(ST1)

Backward Position Detection (LS0)

Forward Position Detection (LS1)

Intermediate Position Detection (LS2)

2. Wiring

Operation Pattern Contents

Example for Electric Cylinder

Connection

Example for Air Cylinder

Connection (Reference) PIO Pattern 5 (Continuous Reciprocating Operation)

The actuator’s pointto-point reciprocating operation is performed between the forward position and backward position. The target position setting (forward position and backward position) is available. Speed and acceleration settings in the actuator movement are available. The pressing operation is available.

Note: The air cylinder circuit is described with the symbols for the signals corresponding to those in

ASEP/PSEP/DSEP. [Refer to the next page for the details of each signal.]

2. Wiring

(2) PIO Pattern and Signal Assignment

Pattern 0 1 2 3 4 5

Point-to-Point

Movement (Standard)

Point-to-Point

Movement

(Movement

Speed Setting)

Point-to-Point

Movement

(Target Position

Setting Change)

3-Point

Movement

(2-Input)

3-Point

Movement

(3-Input)

Point-to-Point Reciprocating

Movement

(Continuous

Reciprocating

Operation) Pin No.

Cable

Color

Input/

Output

Single

Double

Single

Double

Single

Double

1 BR COM 24V 24V 24V 24V 24V 24V

2 RD COM 0V 0V 0V 0V 0V 0V

3OR

0 ST0 ST0 ST0 ST0 ST0 ST0 ST0 ST0 ASTR

4YW 1

STP

ST1

(Note 1)

STP

ST1

(Note 1)

STP

ST1

(Note 1)

ST1

(Note 1)

ST1

(Note 1)

STP

5 GN 2 RES SPDC (RES)

(Note 2)

CN1 (RES)

(Note 2)

RES ST2(RES)

(Note 2)

RES

6BL 3 /SON



/SON



/SON



/SON



/SON



/SON

7PL

U T

0 LS0/PE0 LS0/PE0 LS0/PE0 LS0/PE0 LS0/PE0 LS0/PE0

8 GY 1 LS1/PE1 LS1/PE1 LS1/PE1 LS1/PE1 LS1/PE1 LS1/PE1

9 WT 2 HEND/SV HEND/SV HEND/SV LS2/PE2 LS2/PE2 HEND/SV

10 BK 3

ALM/SV

(Note 1) : It is invalid before home-return operation. (Note 2) : The description in the brackets shows the condition before the home return operation. (Note 3) : *STP and *ALM are the signals that are negative logic.

(Reference) Signal of Active Low Signal with “*” expresses the signal of active low. A signal of active low is a signal that the input signal is processed when it is turned off, output signal is ordinary on while the power is on, and turns off when the signal is output.

2. Wiring

(3) List of PIO Signal Functions

Signal

Type

Symbol Signal Name Function

Power

Input

24V I/O Power Supply



It is the common power source for I/O circuit. The positive () side of 24V DC is connected.

0V I/O Power Supply



It is the common power source for I/O circuit. The positive () side of 24V DC is connected.

Input

ST0

• Movement Signal [Single Solenoid System]

• Backward Position Movement Signal [Double Solenoid System]

• Movement Signal 1 [PIO Pattern 3]

The positioning to the corresponding target position is performed, when the signal leading edge created in the mode change from OFF to ON, or ON level is detected.

ST1

• Forward Position Movement Signal

• Movement Signal 2 [PIO Pattern 3]

ST2

Intermediate Position Movement Signal

*STP Pause Signal

When this signal is turned OFF the deceleration is stopped. When the signal is turned ON again, the movement is re-started.

RES Reset Signal

When the signal leading edge created in the mode change from OFF to ON, is detected, the currently issued alarm is reset. * Depending on the alarm level, alarm reset might not be available.

Refer to the Trouble Shooting for the details.

SON Servo ON Signal

During the time when this signal is turned ON, the servo-motor is in the ON mode.

SPDC

Movement Speed Change Signal

When the movement speed is changed during the movement, do it with this signal turned ON. * This signal is effective when the PIO pattern 1 has been set.

CN1

Target Position Change Signal

When the conditions for the positioning operation or pressing operation, etc., are changed to operate the system, turn ON this signal. When this signal is turned ON or OFF during the operation, the position data is changed. * This signal is effective when the PIO pattern 2 has been set.

ASTR

Continuous Reciprocating Operation Signal

During the time when this signal is turned ON, the actuator’s continuous reciprocating operation is performed between the forward position and the backward position. When this signal is turned OFF during the movement operation, after the actuator is positioned to the current target, it is stopped. * This signal is effective when the PIO pattern 5 has been set.

Output

LS0

Backward Position Detection

The same operation as of the limit switch of the air cylinder is performed. It is turned ON when the current position is within the positioning width for each position detection output.

LS1 Forward Position Detection

LS2

Intermediate Position Detection

PE0

Backward Positioning Completion

This signal is turned ON when the current position goes within the positioning width, and the positioning to the target position is complete. It is turned OFF in the Servo-Motor OFF mode or the Emergency Stop Mode.

PE1

Forward Positioning Completion

PE2

Intermediate Positioning Completion

HEND Home Return Completion This signal is turned ON when the home return operation is completed.

SV Servo ON Signal

This signal is turned ON when the servo-motor is turned ON and driving is enabled.

*ALM Alarm Output Signal

This signal is turned ON when the controller is in the normal condition and turned OFF when the controller is in the alarm condition. In such case, monitor this signal in the PLC and take an appropriate measure.

Note For the PLC Input signal, keep it ON for at least 7ms or more.

2. Wiring

2.3 Circuit Diagram (Example)

[1] Power/Emergency Stop Circuit

Brake Power Sopply

Motor Power Sopply

ASEP/PSEP/DSEP

Emergency Stop Release Switch

24V 0V

EMG (Emergency Stop Input)

(BK connection not required for DSEP)

24V 0V

Emergency Stop Switch for Device (System)

Power Supply Connector

Turn ON to Release Brake

[2] Pattern 0 : Point-to-Point Movement (Standard)

1) Single Solenoid System

ASEP/PSEP/DSEP

PIO Connector

Movement Signal

Pause Signal

(Reset Signal)

Servo ON Signal

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

P24

ST0

*STP

RES

–/SON

LS0/PE0

LS1/PE1

HEND/SV

*ALM/SV

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

Backward Position Detection/ Backward Positioning Completion

Forward Position Detection/ Forward Positioning Completion Home Return Completion/ Servo ON Signal Alarm Output Signal/ Servo ON Signal

Load

24V DC Supply

0V Supply

2) Double Solenoid System

ASEP/PSEP/DSEP

PIO Connector

Backward Position

Movement Signal

Forward Position

Movement Signal

(Reset Signal)

Servo ON Signal

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

P24

ST0

*STP

RES

–/SON

LS0/PE0

LS1/PE1

HEND/SV

*ALM/SV

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

Backward Position Detection/ Backward Positioning Completion

Forward Position Detection/ Forward Positioning Completion Home Return Completion/ Servo ON Signal Alarm Output Signal/ Servo ON Signal

Load

24V DC Supply

0V Supply

2. Wiring

[3] Pattern 1 : Point-to-Point Movement (Movement Speed Change)

1) Single Solenoid System

ASEP/PSEP/DSEP

PIO Connector

Movement Signal

Pause Signal

Movement Speed Change Signal

(Reset Signal)

Servo ON Signal

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

P24

ST0

*STP

SPDC (RES)

–/SON

LS0/PE0

LS1/PE1

HEND/SV

*ALM/SV

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

Backward Position Detection/ Backward Positioning Completion

Forward Position Detection/ Forward Positioning Completion Home Return Completion/ Servo ON Signal Alarm Output Signal/ Servo ON Signal

Load

24V DC Supply

0V Supply

2) Double Solenoid System

ASEP/PSEP/DSEP

PIO Connector

Backward Position

Movement Signal

Forward Position

Movement Signal

Movement Speed Change Signal

(Reset Signal)

Servo ON Signal

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

P24

ST0

ST1 (–)

SPDC (RES)

–/SON

LS0/PE0

LS1/PE1

HEND/SV

*ALM/SV

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

Backward Position Detection/ Backward Positioning Completion

Forward Position Detection/ Forward Positioning Completion Home Return Completion/ Servo ON Signal Alarm Output Signal/ Servo ON Signal

Load

24V DC Supply

0V Supply

2. Wiring

[4] Pattern 2 : Point-to-Point Movement (Target Position Change)

1) Single Solenoid System

ASEP/PSEP/DSEP

PIO Connector

Movement Signal

Pause Signal

Target Position Change Signal

(Reset Signal)

Servo ON Signal

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

P24

ST0

*STP

CN1 (RES)

–/SON

LS0/PE0

LS1/PE1

HEND/SV

*ALM/SV

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

Backward Position Detection/ Backward Positioning Completion

Forward Position Detection/ Forward Positioning Completion Home Return Completion/ Servo ON Signal Alarm Output Signal/ Servo ON Signal

Load

24V DC Supply

0V Supply

2) Double Solenoid System

ASEP/PSEP/DSEP

PIO Connector

Backward Position

Movement Signal

Forward Position

Movement Signal

Target Position Change Signal

(Reset Signal)

Servo ON Signal

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

P24

ST0

ST1 (–)

CN1 (RES)

–/SON

LS0/PE0

LS1/PE1

HEND/SV

*ALM/SV

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

Backward Position Detection/ Backward Positioning Completion

Forward Position Detection/ Forward Positioning Completion Home Return Completion/ Servo ON Signal Alarm Output Signal/ Servo ON Signal

Load

24V DC Supply

0V Supply

2. Wiring

[5] Pattern 3 : 3-Point Movement (2-Input)

ASEP/PSEP/DSEP

PIO Connector

Movement Signal 1

Movement Signal 2

(Reset Signal)

Servo ON Signal

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

P24

ST0

ST1

RES

–/SON

LS0/PE0

LS1/PE1

LS2/PE2

*ALM/SV

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

Backward Position Detection/ Backward Positioning Completion Forward Position Detection/ Forward Positioning Completion Intermediate Position Detection/ Intermediate Positioning Completion Alarm Output Signal/ Servo ON Signal

Load

24V DC Supply

0V Supply

[6] Pattern 4 : 3-Point Movement (3-Input)

ASEP/PSEP/DSEP

PIO Connector

Backward Position

Movement Signal

Forward Position

Movement Signal

Intermediate Position Movement Signal

(Reset Signal)

Servo ON Signal

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

P24

ST0

ST1 (–)

ST2 (RES)

–/SON

LS0/PE0

LS1/PE1

LS2/PE2

*ALM/SV

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

Load

24V DC Supply

0V Supply

[7] Pattern 5 : Point-to-Point Reciprocating Movement (Continuous Reciprocating Operation)

ASEP/PSEP/DSEP

PIO Connector

Continuous Reciprocating

Operation Signal

Pause Signal

(Reset Signal)

Servo ON Signal

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

P24

ST0

ST1

RES

–/SON

LS0/PE0

LS1/PE1

HEND/SV

*ALM/SV

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

Backward Position Detection/ Backward Positioning Completion Forward Position Detection/ Forward Positioning Completion Home Return Completion/ Servo ON Signal Alarm Output Signal/ Servo ON Signal

Load

24V DC Supply

0V Supply

2. Wiring

[8] Input Emergency Stop to Multiple Controllers

+24V

External EMG Reset Switch

External EMG Switch

Touch Panel Teaching

SIO Converter

EMGB

EMGA

EMG2

EMG1

ASEP/PSEP/DSEP

EMG (Emergency Stop Input)

PORT

Switch

ASEP/PSEP/DSEP

2. Wiring

[9] Motor • Encoder Connector

ASEP/PSEP/DSEP

MOT PG (Motor · Encoder Cable Connector)

Motor · Encoder Connector Integrated Cable

(Note)

(Note) Motor · Encoder Connector Integrated Cable is an accessory of the actuator.

□□□ : Cable Length Example) 030  3m



CB-ACS-MPA (for RCA2, RCL)



CB-APSEP-MPA (for RCA2, RCL)



CB-CA-MPA (for RCD)



CB-ASEP-MPA (for RCA)



CB-PCS-MPA (for RCP3)



CB-APSEP-MPA (for RCP3)



CB-RPSEP-MPA (for RCP2 Small Rotary)



CB-PSEP-MPA (for RCP2 (except for Small Rotary))

Note: Connection to the Existing ROBO Cylinder

For the connection to the existing ROBO Cylinder Series actuators, please purchase and prepare a connection cable separately from the following table.

ROBO Cylinder Series

that you may already have

Connection Cable (to be purchased separately)

□□□ shows the cable length. (Example : 0505m)

Applicable

Controller

RCP2(except for Small Rotary Type) CB-PSEP-MPA□□□ PSEP

• Small Rotary Type RCP2-RTBS RCP2-RTBSL RCP2-RTCS RCP2-RTCSL

CB-RPSEP-MPA□□□

RCP3 CB-APSEP-MPA□□□

Extension Cable : CB-APSEP-MPA□□□JY(JYP)

ASEP, PSEP

RCA2, RCL

RCA CB-ASEP-MPA□□□ ASEP

[10] Connection to Absolute Battery Unit (Limited only to ASEP/PSEP applicable for Simple Absolute

Type)

ASEP/PSEP

Absolute Battery Unit (SEP-ABUM)

Connection Cable between Controller and Absolute Battery

BATT (Battery Connector)

*1 Connection Cable between Controller and Absolute Battery

CB-APSEP-ABM005 • • • Applicable Controller : ASEP-C-□-□-□-0-ABUM□

PSEP-C-□-□-□-0-ABUM□

CB-APSEP-AB005 • • • Applicable Controller : ASEP-C-□-□-□-0-ABU□ (Existing models: Not complied with UL) PSEP-C-□-□-□-0-ABU□

2. Wiring

2.4 Wiring Method

2.4.1 Wiring Layout of Power Supply Connector

The wires of the power supply and the emergency stop circuit are to be connected to the enclosed connector (plug). trip the sheath of the applicable wires for 7mm and insert them to the connector. Push a protrusion beside the cable inlet with a small slotted screwdriver to open the inlet. After inserting a cable, remove the screwdriver from the protrusion to ﬁ x the cable.

24V DC Power Supply

24V

Brake Release Switch (Turn ON to Release Brake)

1 Pin (BR)

2 Pin

(RD)

(MC1.5/5-ST-3.5)

Accessory I/O Flat Cable

Emergency Stop Circuit [Refer to 2.3]

Accessory Power Supply Connector

Class D Grounding

● Power Supply Connector

Connector Name Cable Side MC1.5/5-ST-3.5 Standard Accessory Controller Side MC1.5/5-G3.5

Pin No. Signal Name Contents Applicable Wire Diameter

1 EMGIN

Input of Emergency Stop Status Signal

(Note 1)

KIV0.5mm2 (AWG20)

20V

Power Supply Input (24V DC ±10%) KIV1.25mm

(AWG16)

3 24V 4 MP Motor Driving Power Supply Line KIV1.25mm

(AWG16)

5BK

Brake Forced Release Power Supply Input

(Note 2)

(24V DC ±10% 150mA)

KIV0.5mm2 (AWG20)

(Note 1) The emergency stop status signal input determines as the system is in normal condition when 24V

DC is input and in emergency stop when 0V is input. Once in emergency stop, the actuator stops its operation and turns the servo off. Construct the emergency stop circuit suits for the safety category considering the entire system.

(Note 2) The brake is compulsorily released when +24V is supplied. Make the 0V in common with the 0V of the

power input. Do not apply on DSEP.

2. Wiring

2.4.2 Wiring Layout of FG Terminal Block

FG is to be connected to a screwless terminal block. Strip the sheath of the applicable wires for 11mm and insert them to the connector. Push a protrusion beside the cable inlet with a small slotted screwdriver to open the inlet. After inserting a cable, remove the screwdriver from the protrusion to ﬁ x the cable.

● FG Terminal Block

Terminal Block Name FG Controller Side ML-800-S1H1P

Pin No. Signal Name Contents Applicable Cable

1 FG Ground Cable Connection KIV1.25mm

(AWG16)

2. Wiring

2.4.3 Connection to Actuator

Connect the cables to the motor • encoder connectors.

Note:

For Simple Absolute applicable type, remove the absolute battery connector from the controller before connecting the cable.

● Motor • Encoder Connector Speciﬁ cations

Connector Name MOT

PG Cable Side PADP-24V-1-S Controller Side S24B-PADSS-1

Pin No.

Signal Name

Contents

Applicable

Wire

Diameter

ASEP PSEP DSEP

1UAU

Motor Driving Line

Cable dedicated for IAI products

2 V VMM V 3-B4 - VMM 5W/A W 6-/B 7BKLS



LS* : Home Position Conﬁ rmation Sensor BK* : Brake Power Supply

8BKLS



9LSBK



10 LS



11 ENA - ENA

EN* : Encoder Signal HS* : Hall IC Signal

12 /ENA - /ENA 13 ENB ENA ENB 14 /ENB /ENA /ENB 15 ENZ ENB HS1 16 /ENZ /ENB HS2 17 5V 5V 5V Encoder Power Supply 18 /PS VPS - Encoder Line Driver Enable Output 19 GND GND GND Ground

20 LSGND LSGND HS3

LSGND : Ground for Limit Switch HS3 : Hall IC Signal

21 NC NC NC Disconnected 22 NC NC NC Disconnected 23 NC NC NC Disconnected 24 FG FG FG Ground

2. Wiring

2.4.4 Connection of PIO

Conduct the connection of I/O to the controller is to be carried out using the dedicated I/O cable. The cable length is shown in the model code of the controller. Please check the controller model code. There are 2m for standard, 3m and 5m as an option. 10m is also applicable at maximum if purchased separately. [Refer to “1.1.5. How to read the model] Also, the end of the cable harness to be connected to the host controller (PLC, etc.) is just cut and no treatment is conducted so the wiring layout can be performed freely.

Model : CB-APSEP-PIO□□□···For ASEP-C, PSEP-C

(□□□ shows the cable length L Example.0202m)

● PIO Connector

Applied Connector 55959-1030 Manufactured by MOLEX Connector Name I/O PIO Connector

Connection Cable

Dedicated Cable [refer to (3) in this section.]

Enclosed in this controller

2 1

Model : CB-APSEPW-PIO□□□···For ASEP-CW, PSEP-CW

(□□□ shows the cable length L Example.0202m)

Connector 51353-1000 (Manufactured by MOLEX)

No.

Color

Signal Name

CB-APSEP-PIO□□□ CB-APSEPW-PIO□□□ 1 BR BR 24V 2 RD BR, WT 0V 3 OR RD IN0 4 YW RD, WT IN1 5 GN YW IN2 6 BL YW, WT IN3 7 PL GN OUT0 8 GY GN, WT OUT1 9 WT BK OUT2

10 BK BK, WT OUT3

2. Wiring

2.4.5 SIO Connector Connection

SIO connectors can be used not only for the connection of teaching tool, but also for the connection of the host controller (PLC, touch panel and PC). For the operation, refer to the instruction manual of each module. [Refer to Instruction manuals related to this product, which are contained in CD/DVD.]

Touch Panel Teaching

Note:

If the teaching pendant is removed with the power supply being on, the condition will become the transient emergency stop and the operated actuator will stop. Do not disconnect the teaching pendant during the operation.

2. Wiring

2.4.6 Battery Connector Connection (For Simple Absolute Type)

The absolute battery unit is to be connected to the battery connector. Connect the dedicated cable enclosed with the absolute battery unit.

Connection Cable between Controller and Absolute Battery : CB-APSEP-AB005 Applicable Controller ASEP- □ - □ - □ -0-ABUM

PSEP- □ - □ - □ -0-ABUM

(Absolute Battery Unit)

Connection Cable [Refer to 1.10.9] (Absolute Battery Unit

Accessories

)

● Battery Connector

Applicable Connector 53015-0310 (Model: ABUM, ABUNM) Manufactured by Molex

S3B-PH-K-S (LF) (SN) (Model: ABU, ABUN)

Manufactured by JST

Connector Name BATT Battery Connector Connection Cable Dedicated Cable Enclosed in the absolute battery unit

Pin No. Signal Name Contents

1 BT Negative Side of Battery Power Supply 2 GND Positive Side of Battery Power Supply 3 BTMP For Battery Temperature Detection

2. Wiring

Battery

Name NiMH battery (FDK Corporation) Model AB-7 Rated 3.6V 3300mAh Nominal 3.6V3700mAh Battery Life (reference) Approximately 3 years (It may vary depending on the usage condition.) Charging Time Approximately 72 hours

Note: About Battery Charge and Discharge

When using for the ﬁ rst time or the ﬁ rst time after the battery is replaced, do not charge the battery for more than 72 hours in a row. The battery can be charged when 24V is supplied to the controller. The encoder data will be able to be retained for the duration

(Note)

stated below as per hour of battery charge. The data will be lost if the controller is turned OFF for longer than the data retained duration. Start charging the battery as early as possible. The battery has a limited product life and the data retained duration will gradually decrease. If a sudden huge decrease started to occur to the retained duration, replace the battery.

(Note) Data Retained Duration per Hour Battery Charge

* The values stated below are the reference values of when the battery is new.

Setting in user parameter No. 19 0 1 2 3 Data Retained Duration

(reference)

6.6H 5.0H 3.3H 1.6H

[Refer to section 3.4 for the user parameter No.19.]

3. Operation

3.1 Setting

3.1.1 Initial Setting

Conduct the following initial settings on the PC software or Touch Panel Teaching. Refer to the Instruction Manual for the PC software or Touch Panel Teaching for the details of the settings.

• Initial Setting Items

* There may be some items that are not displayed depending on the selected operation patterns.

No. Setting Items

Setting Range

(Set in delivery)

Contents

PIO Pattern

012345

1 PIO Pattern

(Operation Pattern)

0 to 5 (0) Set it to the pattern to be used.

○○○○○○

2 Operation

Mode (Solenoid System)

Single/Double (Double)

It is selectable only when the PIO pattern is set to “0”, “1” or “2”. Select “Single” (Single Solenoid System) or “Double” (Double Solenoid System).

○○○

3 Stop Signal Enable/Disable

(Disable)

It is selectable only when “Single” is selected in “2. Operation Mode (Solenoid System)”. When the PAUSE signal (*STP) is used, select “Enable”.

○○○ ○

4 Input Signal

System (Solenoid Type)

Continuous Operation Type /Momentary Operation Type (Continuous Operation Type)

It is selectable only when “Double” is selected in “2. Operation Mode (Solenoid System)”. For the signal sent from PLC to ASEP, PSEP or DSEP, select “Continuous Operation” (level signal) or “Momentary Operation” (edge signal).

○○○ ○

5 Intermediate

Stop System

Both Solenoids ON /Both Solenoids OFF (Both Solenoids OFF)

It is selectable only when the PIO pattern is set to “3”. In the case the same use procedure as for 5-port 3-position electromagnetic valve is applied, select “Both Solenoid OFF”. In the case that the same use procedure as the time when two units of the 3-port single solenoid electromagnetic valve, are used, select “Both Solenoid ON”.

○

6 Servo-motor

Control

Enable/Disable (Disable)

When “Disable” is selected, the servo-motor is automatically turned ON after the power input. When “Enable” is selected, the servo-motor is turned ON by means of turning ON the SON signal on INPUT IN3.

○○○○○○

7 Home

Position Operation (Home Return Operation Procedure)

AUTO/MANU (MANU)

If AUTO is selected, the home-return operation is started automatically when the servo is turned for the ﬁ rst time after the power is supplied. When “MANU” is selected, the home return operation is performed with the ﬁ rst ST0 input.

○○○○○○

3. Operation

No. Setting Items

Setting Range

(Set in delivery)

Contents

PIO Pattern

012345

8 Output Signal

Type

Limit Switch /Positioning (Limit Switch)

The actuator is moved and the signal output system after the positioning completion is selected.

• Limit Switch : When the actuator reaches the target position, it is turned ON. (Even when the servo-motor is turned ON and if the current position is within the positioning width, the ON mode is continued. In the Intermediate Position, when the actuator pass through the point, the position is within the range (within the positioning width), it is turned ON. Intermediate Position is reached. :LS2 ON Forward Position is reached. :LS1 ON Backward Position is reached. :LS0 ON

• Positioning : When the actuator reaches the target position, it is turned ON. (When the servo-motor is turned OFF, this signal is turned OFF. When the servo-motor is turned ON again and the current position is within the positioning width, it is turned ON. Intermediate Position is reached. :PE2 ON Forward Position is reached. :PE1 ON Backward Position is reached. :PE0 ON

○○○○○○

9 Output Signal

Selection

0 to 2 (0)

When “Enable” is selected for “6. Servo-motor Control”, select whether or not the servo-motor ON signal STATUS is output. Select the following combination parameter “0”, “1” or “2”, when the PIO pattern “0”, “1”, “2” or “5” is selected. 0 : OUT2  HEND OUT3  *ALM

(

There is no “Servo-motor ON” signal output

) 1 : OUT2  SV, OUT3  *ALM 2 : OUT2  HEND, OUT3  SV Select the following combination parameter “0” or “1”, when the PIO pattern “3” or “4” is selected. 0 : OUT3  *ALM

(

There is no “Servo-motor ON” signal output

) 1 : OUT3  SV * When “Disable” is selected for “6. Servo-motor

Control”, this signal is allocated to “0” (There is no “Servo-motor ON” signal output).

○○○○○○

3. Operation

3.1.2 Position Data Setting

Set the following items in the position data editing window of the PC software menu or by selecting

“Position Setting” in the Touch Panel Teaching menu. [Refer to the PC Software or Touch Panel

Teaching Instruction Manual for the details]

Backward

Position

Intermediate

Position

Forward Position

Motor

ctuator

Position Data

Position Data 1) Position 2) Velocity 3)

Acceleration

Deceleration

5) Pressing Force

6) Pressing Band

Energy-Saving

Function

Forward Position 200.00 50.00 0.1 0.1 70 1.00 Effective

Backward Position 0.00 50.00 0.1 0.1 0 0 Effective

Intermediate

Position

100.00 50.00 0.1 0.1 0 0 Effective

1) Position … Set the position where the actuator is moved. Setting Range : 0 to Actuator Stroke Range (Unit 0.01mm)

Operation Pattern Name

: PIO Pattern No.

Displacement

Set Position

Forward

Position

Backward

Position

Intermediate

Position

Standard Point-to-Point Movement :0 Point-to-Point Movement ○○

Movement Speed Setting :1 Point-to-Point Movement ○○

Target Position Setting Change :2 Point-to-Point Movement ○○

2-Input, 3-Point Movement :3 3-Point Movement ○○○

3-Input, 4-Point Movement :4 3-Point Movement ○○○

Continuous Reciprocating Operation :5 Point-to-Point Movement ○○

2) Velocity … Set the actuator speed. [Refer to Appendix in this manual or the Instruction Manual for the actuator.] Setting Range : Actuator’s min. speed to Actuator’s max. speed

(Unit: 0.01mm/sec)

3) Acceleration … Set the actuator acceleration. [Refer to Appendix in this manual or the Instruction Manual for the actuator.] Setting Range : 0.01 to Actuator’s rated Value Range (Unit: 0.1G)

4) Deceleration … Set the actuator deceleration. [Refer to Appendix in this manual or the Instruction Manual for the actuator.] Setting Range : 0.01 to Actuator’s rated Value Range (Unit: 0.1G)

3. Operation

Note:

Regarding to Acceleration/Deceleration Speed Setting (1) Do not have the setting to exceed the rated acceleration/deceleration speed that is speciﬁ ed

in the catalog or this Instruction Manual. The setting that exceeds the rated acceleration/ deceleration speed may shorten the actuator life remarkably.

(2) Consider to lower the acceleration/deceleration speed when a shock or vibration is applied to

the actuator or work. In such a case, keeping the use under such a condition may shorten the actuator life remarkably.

5) Pressing Force … Set the pressing torque (current limit value) in % for the pressing operation. Having a bigger power limit value gives bigger pressing force. It is set to the positioning operation when setting to “0”. [Refer to Appendix in this manual or the Instruction Manual for the actuator.] Setting Range : 0 (pressing operation is disabled), 20 to 70%

(Note 1)

(Unit: 1%) It differs depending on the actuator. [Refer to Appendix in this manual or the Instruction Manual for the actuator.]

6) Pressing Width … Set the position for starting the pressing operation. The position moved as much distance as the pressing width to the center

from the movement target position (forward position or backward position), is regarded as the starting position, the pressing operation is started.

Pressing Width

ctuator Operation

(2) Setting by Speed

(1) Setting by Position

Set the pressing speed in Parameter No. 7

Pressing operation completes when the pressing force reaches the specified value within the pressing band range.

Velocity

Time

Pressing Width

Pressing Complete

(Positioning complete

signal output)

Pressing

Start Position

[Pressing towards Forward Position or Intermediate Position]

Backward

Position

Forward Position

(Intermediate Position)

3. Operation

[Pressing towards Backward Position or Intermediate Position  Pulling Action]

Velocity

Time

Pressing Complete

(Positioning complete

signal output)

Pressing Width

Pressing

Start Position

Backward

Position

(Intermediate

Position)

Forward

Position

7) Energy-Saving Function … When it is set to “Enable”, the servo-motor is turned OFF

automatically after the positioning is completed and the speciﬁ ed time period passes. (Because the holding current does not pass in the stop mode, the power consumption can be saved). The servo-motor is turned ON with the next movement command, and the actuator movement is started.



The movement speed is to be changed for the Operation Pattern (PIO Pattern) No.1, in addition to

position data, the position where the speed is changed and the velocity parameters are set.

Position Data 8) Changed Position 9) Changed Speed

Forward Position 60.00 30.00

Backward Position 40.00 30.00

8) Changed Position … The position where the velocity is changed in the course of moving to the

forward position or backward position, is set.

9) Changed Speed … The changed speed is set.

3. Operation



When the position data is to be changed for the Operation Pattern (PIO Pattern) No. 2, in addition

to the position data items for the forward position and backward position, the position data items for the changed forward position and changed backward position, are set.



In the case that the CN1 is turned OFF, the position data for the Forward Position turns to be the

data in 1 Forward Position.

In the case of “ON”, the position data for the forward position are the data speciﬁ ed in “ 3 Forward

Position”.



In the case that the CN1 is turned OFF, the position data for the forward position turns to be the

data in 0 Backward Position.

In the case of “ON”, the position data for the forward position are the data speciﬁ ed in “

Backward Position”.

Position Data Position Velocity

Acceleration Deceleration

Pressing

Force

Pressing

Width

Energy-

Saving

Function

Backward Position

0.00 50.00 0.1 0.1 0 0 Effective

Forward Position 200.00 50.00 0.1 0.1 70 1.00 Effective

Backward Position

10.00 50.00 0.1 0.1 0 0 Effective

Forward Position 100.00 50.00 0.1 0.1 60 1.00 Effective

3. Operation

3.1.3 Absolute Reset

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

When the power to the machine is turned ON for the ﬁ rst time, perform the Absolute Reset. Procedure : After the power is turned ON, an absolute encoder error detection error occurs. Turn ON

the RES signal (IN2), reset the alarm on the alarm window displayed on the PC software, or touch “RES” on the Alarm window in the Touch Panel Teaching mode to remove the error. Then, perform the home return operation (In the case that the Absolute Reset has been performed, the home return window is not displayed).

3. Operation

3.2 Power-up and PIO Control

3.2.1 Control of Input Signal

The input signal of this controller has the input time constant of 7msec considering the prevention of wrong operation by chattering and noise. Therefore, ensure the continuous signal for more than 7msec for each input signal. The signal cannot be identiﬁ ed if it is less than 7msec.

Input Signal

7msec

Identify

Not Identify

3. Operation

3.2.2 Power Input

1) Release the emergency stop status or enable the motor driving power supply.

2) Supply 24V DC for the I/O.

3) Supply 24V DC for the controller.

4) Input the Servo-motor ON signal from the PLC side

(*3)

5) Input the Backward Position movement command and signals at ﬁ rst from the PLC side.

[Refer to 3.2.3 Home-return]

Note 1

. When the home return operation is set to “MANU” in the initial setting and the ﬁ rst ST0 is turned ON, the

actuator is returned to the home position and the operation is started. When it is set to “AUTO”, the actuator is returned to the home position automatically after the servo-motor ON is input.

The above are effective only when the actuator is incremental type (for the absolute type, the home return

operation is not required).

Note

2. The Servo-motor ON signal is input for the ﬁ rst time after the power input, input the movement command after the delay time of 1.6sec or more. In the second time or later, make the delay time of 60ms or more.

Note

3. When the Servo-motor Control is set to “Enable” in the initial setting, the servo-motor is turned ON by means of inputting the SON signal. When it is set to “Disable” the servo-motor is turned ON automatically.

Warning: For ASEP and 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.

Safety Circuit Status

I/O Power 24V DC Supply

Controller Power 24V DC Supply

Servo-on Input

Note 3

(SON)

LED for STATUS Indication

(Backward Position) Movement Signal (1,2) Input

(ST0)

Home Return Completion Output

(HEND)

Backward Position Detection Output

(LS0)

Backward Positioning Completion Output

(PE0)

Actuator Operation

Mechanical

end

Home

Position

6ms or less

1.6sec or less

Note 2

Note 1

Home return

Forward Position (Single Solenoid System) Backward Position (Double Solenoid System)

3. Operation

3.2.3 Home-return

Home-return operation is performed when turning the Movement Signal 1 (ST0) on if the home return has not yet done since the power is turned on.

1) If the operation pattern is “Point-to-Point Movement (Single Solenoid)” If the home return is not conducted on the operation panel yet, the ﬁ rst Movement Signal (ST0) will bring the actuator to the home position. After home return operation, it moves to the forward position and stops (for positioning).

2) If the operation pattern is “Point-to-Point Movement (Double Solenoid) and 3-Point Movement” After returning to home position, the actuator stops at the backward position (for positioning). (Home Return Completion) Movement signal to the forward position (ST1) is invalid till the home-return operation is complete.

Forward Position Detection Output (LS0)

Movement Signal (ST0)

Home Return Completion (HEND)

Actuator Operation

Reverse at Mechanical End

Home Position

Forward Position

Backward Position Detection Output (LS0)

Movement Signal (ST0)

Actuator Operation

Home Position

Backward Position

Reverse at Mechanical End

3. Operation

3.3 Timing Chart

[1] Point-to-Point Movement (For Single Solenoid System) ••• PIO Pattern 0 to 2

When the ST0 is turned “ON”, the positioning to the backward position is performed and when the

ST0 is turned “OFF”, the positioning to the forward position is performed.

[2] Point-to-Point Movement (For Double Solenoid System) ••• PIO Pattern 0 to 2

With the combination of ST0 and ST1, the actuator is moved to the target position.

* The movement command is to be issued, make sure to turn OFF both ST0 and ST1 and issue the

movement command to the target position.

If it is set to the continuous operation t ype in the initial setting, and both ST0 and ST1 are turned off during

a movement, the actuator decelerates and stops on the spot.

If both ST0 and ST1 are turned on during a movement, the actuator operates following the signal that was

previously on.

Movement Signal (ST0)

Backward Position Detection Output (LS0)

Forward Position Detection Output (LS1)

Backward Positioning Completion Output

(PE0)

Forward Positioning Completion Output

(PE0)

Actuator Operation

Backward Position Movement Signal (ST0)

Positioning Band (Parameter No. 1)

Forward

Position

Backward

Position

Backward

Position

Forward Position Movement Signal (ST1)

Backward Position Detection Output (LS0)

Forward Position Detection Output (LS1)

Backward Positioning Completion Output (PE0)

Forward Positioning Completion Output (PE1)

Actuator Operation

Positioning Band (Parameter No. 1)

Positioning Band

(Parameter No. 1)

Positioning Band (Parameter No. 1)

Backward Position Forward Position

Backward Position

3. Operation

[3] Pause during Movement (For Single Solenoid System) ••• PIO Pattern 0 to 2

* Inputting the STP signal pauses the actuator motion. A forward position movement example is

shows as follows.

Positioning Band (Parameter No. 1)

Pause

Forward Position

[4] Pause during Movement (For Double Solenoid System) ••• PIO Pattern 0 to 2

The actuator motion is paused by means of tuning OFF both of ST0 and ST1. The following ﬁ gure shows an example of forward position movement.

Positioning Band (Parameter No. 1)

Pause Forward Position

ST0 and ST1 are off

[5]

Speed Change during the Movement (For Single Solenoid System)

••• PIO Pattern 1

The movement speed is changed during the actuator’s movement to the target position. When the movement command is issued with SPDC turned ON, the actuator is moved at the changed speed speciﬁ ed using the Speed Change function from the position set for the speed change in the position setting operation. The following figure shows an example of forward position movement.

Position Set as the Change Position

Positioning Band (Parameter No. 1)

Forward Position

Movement Signal (ST0)

Pause Signal (*STP)

Forward Position Detection Output (LS1)

Forward Positioning Completion Output (PE1)

Actuator Operation

Backward Position Movement Signal (ST0)

Forward Position Movement Signal (ST1)

Forward Position Detection Output (LS1)

Forward Positioning Completion Output (PE1)

Actuator Operation

Movement Signal (ST0)

Movement Speed Change Signal (SPDC)

Forward Position Detection Output (LS1)

Forward Positioning Completion Output (PE1)

Actuator Operation

3. Operation

[6]

Speed Change during the Movement (For Double Solenoid System)

••• PIO Pattern 1

The movement speed is changed during the actuator’s movement to the target position. When the movement command is issued with SPDC turned ON, the actuator is moved at the changed speed speciﬁ ed using the Speed Change function from the position set for the speed change in the position setting operation. The following ﬁ gure shows an example of forward position movement.

Position Set as the Change Position

Positioning Band (Parameter No. 1)

Forward Position

[7] Target Position Change (For Single Solenoid System) ••• PIO Pattern 2

When the operation is to be performed with the two types of works set differently each other, the setting change is easy by means only of sending a single signal from PLC. When the movement command is issued after CN1 is turned ON, the actuator is moved using the Position Setting 3, in the case of moving to the forward position. In the case of moving to the backward position, the Position Setting 2 is used. The following ﬁ gure shows an example of forward position movement.

Positioning Band (Parameter No. 1)

Position Settin

Position Setting 3

Positioning Band

(Parameter No. 1)

Positioning Band (Parameter No. 1)

[8] Target Position Change (For Double Solenoid System) ••• PIO Pattern 2

Positioning Band (Parameter No. 1)

Position Settin

1 Position Setting 3

Positioning Band

(Parameter No. 1)

Positioning Band (Parameter No. 1)

Backward Position Movement Signal (ST0)

Forward Position Movement Signal (ST1)

Movement Speed Change Signal (SPDC)

Forward Position Detection Output (LS1)

Forward Positioning Completion Output (PE1)

Actuator Operation

Movement Signal (ST0)

Target Position Change Signal (CN1)

Forward Position Detection Output (LS1)

Forward Positioning Completion Output (PE1)

Actuator Operation

Backward Position Movement Signal (ST0)

Forward Position Movement Signal (ST1)

Target Position Change Signal (CN1)

Forward Position Detection Output (LS1)

Forward Positioning Completion Output (PE1)

Actuator Operation

3. Operation

[9] 3-Point Movement (For Single Solenoid System) ••• PIO Pattern 3

With the combination of ST0 and ST1, the actuator is moved to the target position.

Refer to the table below for the combination of movement signals.

*Positioning Band (Parameter No. 1)

Passing

the Intermediate

Position

Passing

the Intermediate

Position

Forward

Position

Backward

Position

Intermediate

Position

***

Backward Position Movement Signal (ST0)

Forward Position Movement Signal (ST1)

Intermediate Position Movement Signal (ST2)

(PIO Pattern 4 only)

Backward Position Detection Output (LS0)

Forward Position Detection Output (LS1)

Intermediate Position Detection Output (LS2)

Backward Positioning Completion Output (PE0)

Forward Positioning Completion Output (PE1)

Intermediate Positioning Completion Output (PE2)

Actuator Operation

Following table shows the combination of the movement signals by each PIO pattern and the destination determined by it.

PIO Pattern 3

Input

Signal

Forward Position

Movement

Backward Position

Movement

Intermediate Position

Movement

ST0 OFF ON

Both being on or both off

(selected in the initial setting)

ST1 ON OFF

PIO Pattern 4

Input

Signal

Forward Position

Movement

Backward Position

Movement

Intermediate Position

Movement ST0 OFF ON OFF ST1 ON OFF OFF ST2 OFF OFF ON

3. Operation

[10] Reciprocating Operation between 2 Points ••• PIO Pattern 5

Reciprocating operation is performed continuously between the forward and backward positions while ASTR signal is ON. Once ASTR signal is turned OFF, the actuator positions at the current target position and stops.

[11] Pressing Operation ••• All PIO Patterns

If the pressing force and pressing band is set in the position data and perform a movement operation, the actuator performs a pressing movement towards the target position. The following shows the pressing operation towards the forward position as an example.

Movement Signal (ST0, ST1, ST2)

Backward Positioning Completion Output (PE0)

Forward Positioning Completion Output (PE1)

Actuator Operation

Refer to the timing chart of each PIO pattern for the movement signal

Pressing Complete Target Position

Pressing Band

Note:

For the pressing operation, use the positioning complete signal (PE*). Even the operation ﬁ nishes with a miss-pressing and reaches the end point, PE* signal will turn ON. Set the pressing band wider when miss-pressing detection is required and identify with a timer.

(ASTR)

(LS0)

(LS1)

(PE0)

(PE1)

Continuous Reciprocating Operation Signal

Positioning Band (Parameter No. 1)

Forward Position

Backward Position

Backward Position Detection Output

Backward Positioning Completion Output

Forward Positioning Completion Output

Actuator Operation

Forward Position Detection Output

3. Operation

3.4 User Parameters

No Name Initial Value Setting Range Remarks

Positioning Width [mm]

Dependent on

Actuator

0.01 to

Dependent on

Actuator

Set the output range of LS signal and PE signal toward the target position.

Jog Speed [mm/sec]

Dependent on

Actuator

0.01 to

Dependent on

Actuator

Set the movement speed in using the jog.

Servo-Motor Gain No. 6 0 to 31

These items are set to the standards when the machine is delivered.

(Note 1)

[Refer to 3.5]

Torque Filter Time Constant

Dependent on

Actuator

0 to 2500

Velocity Loop Proportional Gain

Dependent on

Actuator

1 to 27661

Velocity Loop Integrated Gain

Dependent on

Actuator

1 to 217270

Pressing Speed [mm/sec]

Dependent on

Actuator

1 to Dependent

on Actuator

Set the velocity in the pressing operation.

Pressing Stop Judgment Time [msec]

255 0 to 9999

Set the time period from hitting the work in the pressing operation to judged operation completion.

Current Limitation in Pressing and Bridging [0:

Current limitation value while moving (ASEP, DSEP), Current limitation value while in operation stop (PSEP)

1: Current limitation value

while pressing]

0 0 to 1

Set the torque after the actuator reaches the target position without hitting the work in the pressing operation in midway. * If set to 0, the current limitation value is different for

ASEP/DSEP and PSEP.

Auto Servo-motor OFF Delay Time [sec]

1 0 to 9999

In the case that the energy-saving function is enabled, set the time period from positioning completion to automatic servo-motor turning OFF.

Stop Mode Selection [0: Complete Shutdown /1: Servo-Motor Stop]

0 0 to 1

It is effective only for PSEP. When “0” is selected, the current position is retained with the torque set with Parameter No.12, after the positioning operation. When “1” is selected, the current position is retained with the servo-motor control.

Current Limit Value in Positioning Stop [%]

35 0 to 70

It is effective only for PSEP. It is enabled when the Parameter No.11 is set to “0”. When the value is increased, the stop holding torque is increased. In the case that a great external force is given when the actuator is stopped and knocking is caused, increase the value.

Current Limit Value in Home Return [%]

Dependent on

Actuator

0 to 100

In the case that a sliding resistance is increased due to the load conditions, etc., in the vertical use, and the home return operation is completed at the position before the speciﬁ ed position, increase the value.

Automatic Positioning Execution Waiting Time [sec]

0.01 0.01 to 60.000

It is enabled when the PIO Pattern is set to “5”. Set the duration after reaching the target position and before the movement starts toward the next target when the automatic operation signal (ASTR) is on.

Soft Limit [mm]

Dependent on

Actuator

0.01 to

9999.99

Set the effective stroke range.

Home Return Offset Level [mm]

Dependent on

Actuator

0.00 to

Dependent on

Actuator

It is changed when the ﬁ ne adjustment is to be performed for the home position.

Home Return Direction [0: Reverse/1: Normal]

Dependent on

Actuator

0 to 1

“Normal” shows the motor side and “Reverse” shows the opposite side of the motor. * For the rod type, the home return direction can not be

changed.

Simpliﬁ ed Absolute Function [0: Disable/1: Enable]

Dependent on

Actuator

0 to 1

In the case that the absolute function is disabled for the simpliﬁ ed absolute unit, set it to “0”.

3. Operation

No Name Initial Value Setting Range Remarks

Absolute Battery Retention Time

2 0 to 3

Set the standard for the absolute data storage time.

Parameter No.19 Setting

Encoder Max. Rotation Speed [rpm]

Reference for Battery Retention Time (reference) [day]

When the connected actuator is a model other than RCA2-***N;

When the connected actuator is RCA2-***N;

0 100 75 20 1 200 150 15 2 400 300 10 3 800 600 5

Position Data Change Password

0000 0000 to 9999 When “0000” is set, the password input is not required.

(Note 1) Please refer to the next section if the servo-motor gain adjustment is required.

3. Operation

3.5 Servo Adjustment

The parameters are preset at the factory before shipment to perform a stable operation in response to the position command in the range of the actuator use with the rated (maximum) transportable weight. However, the preset setting cannot always be the optimum load condition in the actual use. It is considered that the actuator needs to be operated under various conditions including resonance, vibration trigger, load ﬂ uctuation, etc. It is clear that the servo performs a more stable operation with the optimum adjustment that best suits to the actual installation, load and operation conditions. Please note such a product like our actuator that is designed to enable the operation in a large number of situations may need a servo adjustment in a use under certain conditions.

3.5.1 Adjustment for ASEP and PSEP

(Note) Make an adjustment following Section 3.5.2 if using DSEP.

No.

Situation that Requires

Adjustment

How to Adjust

1 Takes time to ﬁ nish

positioning/Positioning accuracy is not appropriate / Shorter takt time is desired

Increase the “Servo-Motor Gain Number”. By setting a bigger number, the follow-up ability to the position command becomes better. Try to increase one by one. If the value is too large, an overshoot is caused easily and may cause noise or vibration. If the “Servo-Motor Gain Number” is increased, also adjust the “Velocity Loop Proportional Gain” in increasing direction to ensure the stability in the control system.

2 Vibration is generated

at acceleration/ deceleration

Decrease the numbers for “Acceleration/Deceleration Setting” and “Servo-Motor Gain Number”. The cause of the problem is the lack of strength in the mechanical structure. Reinforce the mechanical structure, ﬁ rst. If the “Servo-Motor Gain Number” setting is too low, it takes long time to ﬁ nish the positioning.

3 Speed is uneven

during the movement/ Speed accuracy is not appropriate

Increase the “Velocity Loop Proportional Gain” value. By setting a bigger number, the follow-up ability to the speed command becomes better. Setting the value too big makes the mechanical components easy to vibrate. As a reference for the setting, increase the value little by little by 20% from the initial setting.

4 Abnormal noise is

generated/Especially, when stop and operation in low speed (less than 50mm/sec), comparatively high noise is generated.

Input the “Torque Filter Time Constant”. Try to increase by 50 as a reference for the setting. If the setting is too large, it may cause a loss of control system stability and lead the generation of vibration.

• Prior to Adjustment: This phenomenon is likely to occur when the stiffness of the mechanical components is not sufﬁ cient. The actuator itself may also resonate if its stroke is over 600mm or it is belt-driven type. Before having an adjustment, check if:

1) The settings for “Servo-Motor Gain Number”, “Velocity Loop Proportional Gain” and “Velocity Loop Integrated Gain” values are extreme.

2) The stiffness of the load is sufﬁ cient as much as possible, or the attachments are not loosened.

3) The actuator unit is properly mounted with no looseness.

4) There is no waviness on the actuator mounting surface.

3. Operation

3.5.2 Adjustment for DSEP

No.

Situation that Requires

Adjustment

How to Adjust

1 Hunching occurs during

the positioning stop

Set the parameters following the procedure below and check the operation. Finish the adjustment once the operation is improved. There is no need to proceed to the next step.

2 Speed is uneven

during the movement / Speed accuracy is not appropriate

Step 1 : Change “Velocity Loop Integrated Gain”

Set the 5 types of values below in the following order and check the operation.

Setting

Order

Velocity Loop Integrated Gain

Settings 1 925 2 1645 3 2368 4 3700

If no improvement in operation is conﬁ rmed, proceed to Step 2.

Step 2 : Change “Velocity Loop Proportional Gain” and “Velocity

Loop Integrated Gain” Set the 6 types of values below in the following order and check the operation.

● If load is 0.3kg or lower;

Setting

Order

Velocity Loop

Integrated Gain

Settings

Velocity Loop

Integrated Gain

Settings 1 32 453 2 32 708 3 32 1259 4 32 2368 5 32 2833

● If load is above 0.3kg;

Setting

Order

Velocity Loop

Integrated Gain

Settings

Velocity Loop

Integrated Gain

Settings 1 42 749 2 42 1171 3 42 2081 4 42 2997 5 42 4683

If no improvement in operation is conﬁ rmed, please contact IAI.

3. Operation

No.

Situation that Requires

Adjustment

How to Adjust

3 Abnormal noise is

generated/Especially, when stop and operation in low speed (less than 20mm/sec), comparatively high noise is generated.

Change “Velocity Loop Proportional Gain” and “Velocity Loop Integrated Gain” to the following values and check the operation.

Speed Loop Proportional Gain : 32 Velocity Loop Integrated Gain : 231

3. Operation

3.5.3 Servo Parameter

• User Parameter No. 3 Servo-Motor Gain Number

This parameter decides the responsibility to the position control loop. When the set value is increased, the follow-up ability to the position command becomes better. However, if the value is too large, an overshoot is caused easily. When the set value is too low, the follow-up ability to the position command is degraded and it takes longer time to complete the positioning.

Velocity

When the set value is high: (overshoot)

When the set value is low:

Time

• User Parameter No. 4 Torque Filter Time Constant

This parameter decides the ﬁ lter time constant for the torque command. In the case that the machine’s resonance frequency is the same as or lower than the servo-motor loop response frequency, the motor causes a vibration. When the set value is increased, this mechanical resonance can be controlled. However, when this value is increased too much, the stability in the control system might be damaged.

• User Parameter No. 5 Velocity Loop Proportional Gain

This parameter decides the responsibility to the velocity control loop. When the set value is increased, the follow-up ability to the velocity command becomes better (the servo-motor rigidity is enhanced). As the load inertia is larger, increase the set value. However, if the set value is increased too much, an over-chute or oscillation is caused, which might easily cause a vibration in the mechanical system.

Velocity

When the set value is high: (overshoot)

When the set value is low:

Time

• User Parameter No. 6 Velocity Loop Integrated Gain

This parameter decides the responsibility to the velocity control loop. Having a bigger setting value enables higher response ability to the speed command. Also, repulsion to the load ﬂ uctuation becomes higher. If the setting value is too large, it may cause overshooting or generates vibration and makes the mechanical system easy to generate vibration. When the set value is too low, the follow-up ability to the position command is degraded and it takes longer time to complete the positioning.

Velocity

When the set value is low: (overshoot)

When the set value is high:

Time

3. Operation

3.6 Alarm

3.6.1 Alarm Level

The alarms are classiﬁ ed to 2 types of levels by the content of the error.

Alarm Level Status Lamp

Condition in Error Occurrence

Cancellation Method

Operation

Cancellation

Red Light is

turned ON.

Actuator compulsory stop (Motor power (servo) turns off after deceleration and stop.)

Perform a reset with the reset signal (RES) or by using a teaching tool such as PC software

Cold Start

Red Light is

turned ON.

Actuator compulsory stop (Motor power (servo) turns off after deceleration and stop.Home-return completion status will be cancelled.)

Cut and supply the power again

(Home-return operation is required again for Incremental Type.)

When cancelling the alarm, always ﬁ nd the cause and remove it before cancelling the alarm in any case. If you have a difﬁ culty in removing the cause of alarm or the alarm cannot be cancelled even after the cause is removed, please contact us.

Note

If the same error occurs again after the alarm is cancelled, it means the cause of the alarm is not removed. Try to remove the cause again, and redo the cancel process.

3. Operation

3.6.2 Alarm Codes and Trouble Shooting

Error

Level

Code Alarm Name Cause/Treatment

Operation

Cancellation

080

Movement Command in Servo-Motor OFF

Cause : The movement command is input while the servo-motor is turned OFF. Treatment : Input “SON” signal to turn ON the servo-motor.

082

Movement Command in Incomplete Home Return

Cause : The movement command is input while the home return has not been completed. Treatment : Input ST0 signal to perform the home return operation.

084

Movement Command during Home Return Operation

Cause : The movement command is input during the home return operation. Treatment : Input the command after conﬁ rming the home return completion (LS0 or PE0 is

turned ON).

085

Position Data Error in the Movement

Cause : The value corresponding to the speciﬁ ed position, is not set. Treatment : Set the effective value in the Position Setting operation.

Cold Start 0A1 Parameter Data Error

Cause : The data input range in the parameter domain is not correct. Treatment : Change the value to the correct one referring to the user parameter table.

Operation

Cancellation

0A2 Position Data Error

Cause : (1) The movement command is issued while the target position has not set on the

Position Data.

(2)

The target position value set on the Position Data exceeds the soft limit set value.

Treatment : (1) Set the target position.

(2) Change the target position value to the one within the soft limit set value.

0A3

Position Command Data Error

Cause : The velocity value or acceleration value exceeds the maximum set value. Treatment : Change the value to the appropriate one.

0A7

Command Deceleration Error

In the case that the velocity is changed (increased) close to the forward position or backward position and the acceleration/deceleration has been set lower, the actuator might exceed the soft limit. Cause : The command issue timing for velocity change during the movement, is too late. Treatment : Issue the command much earlier so that the actuator does not exceed the soft limit

and an over-chute is not caused.

Cold Start

0A8

Motor · Encoder Type not Corresponding

Cause : The type of the motor or encoder set to the parameter is not corresponding to the

system.

Treatment : Redo the parameter settings.

0B4

Electric Angling Mismatching

Cause : The position deviation counter is over-ﬂ own. Treatment : Conﬁ rm about the load conditions, that the work does not interfere with any object

nearby or the (brake has been released, etc. Also, the counter overﬂ ow before the electric angle determination (in the Z-Phase Indetectable condition) can be considered. In such case, the motor cable broken or encoder wire output error is supposed, so check the cable connection.

Operation

Cancellation

0B5 Z-Phase Position Error

The position where the Z-phase is detected before the home return operation, is out of the speciﬁ ed range. Cause : Encoder Error Treatment : Contact our company.

0B6

Z-Phase Detection Time Out

For this controller, when the servo-motor is turned ON for the ﬁ rst time after the power is input, the magnetic pole phase detection (pole sensing) is performed. At that time, the encoder Z-phase signal is not detected after the speciﬁ ed time period. Cause : (1) A looseness in the connection section of the actuator connecting cable or wire

breakage is considered. (2) In the case of the unit with the brake, the brake is not released. (3) The motor load might be too large due to the external force. (4) The sliding resistance in the actuator itself might be too large. Treatment : (1) and (2) Check for the actuator cable wiring condition. (3) Conﬁ rm that there is no error in the mechanical part assembly condition. (4) In the case that the load weight is normal, move the actuator by hand to check

the sliding resistance after the power is turned OFF. In the case that there is any

error in the actuator itself, contact our company.

3. Operation

Error

Level

Code Alarm Name Cause/Treatment

Cold Start

0B7

Magnetic Pole Indeterminate

For this controller, when the servo-motor is turned ON for the ﬁ rst time after the power is input, the magnetic pole phase detection (pole sensing) is performed. At that time, the magnetic pole phase is not detected after the speciﬁ ed time period. Cause : (1) A looseness in the connection section of the actuator connecting cable or wire

breakage is considered. (2) In the case of the unit with the brake, the brake is not released. (3) The motor load might be too large due to the external force. (4) The sliding resistance in the actuator itself might be too large. Treatment : (1) and (2) Check for the actuator connecting cable wiring condition. (3) Conﬁ rm that there is no error in the mechanical part assembly condition. (4) In the case that the load weight is normal, move the actuator by hand to check

the sliding resistance after the power is turned OFF. In the case that there is any

error in the actuator itself, contact our company.

0B8

Excitement Detection Error

For this controller, when the servo-motor is turned ON for the ﬁ rst time after the power is input, the magnetic pole phase detection (pole sensing) is performed. However, the speciﬁ ed encoder signal level is not detected after the excitement for the speciﬁ ed time period. Cause : (1) A looseness in the connection section of the actuator connecting cable or wire

breakage is considered. (2) In the case of the unit with the brake, the brake is not released. (3) The motor load might be too large due to the external force. (4) The power is input while the actuator hits the mechanical end. (5) The sliding resistance in the actuator itself might be too large. Treatment : (1) and (2) Check for the motor connecting cable wiring condition. (3) Conﬁ rm that there is no error in the mechanical part assembly condition. (4) Move the actuator away from the mechanical end and re-input the power. (5) In the case that the load weight is normal, move the actuator by hand to check

the sliding resistance after the power is turned OFF. In the case that there is any

error in the actuator itself, contact our company.

Operation

Cancellation

0BA

Home Position Sensor Indetectable

For the actuator for which the home return sensor is used, the home return operation has not been completed normally. Cause : (1) The work interferes with the surrounding object in the course of the actuator’s

home return operation. (2) The actuator’s sliding resistance might be partly too high. (3) The home return check sensor installation error, breakdown or wire breakage is

supposed. Treatment : In the case that the work does not interfere with anything, the cause (2) or (3) is

supposed. In such case, contact our company.

0BE Home Return Time Out

Cause : Even when the speciﬁ ed time period has passed after the home return operation

start, the home return operation is not completed (It never occurs in the normal operation).

Treatment : It is considered that the combination of the controller and actuator is not correct.

Contact our company.

0C0 Actual Speed Excessive

Cause : The motor speed exceeds the maximum motor speed set using the maker’s set

parameters. (1) The actuator’s sliding resistance might be partly too high. (2) The load is increased too much due to the momentary external force.

It might be caused when the load is lightened before detecting the servo-motor error due to the above causes (1) and (2), and the actuator is moved suddenly.

Treatment : Check that there is no error in the mechanical part assembly condition.

In the case that there is any error in the actuator itself, contact our company.

3. Operation

Error

Level

Code Alarm Name Cause/Treatment

Operation

Cancellation

0C1 Servo-Motor Error

The motor operation is not available for 2 seconds or more after the movement command is received and before the actuator reaches the target position. Cause : (1) A looseness in the connection section of the actuator connecting cable or wire

breakage is considered. (2) In the case of the unit with the brake, the brake is not released. (3) The motor load might be too large due to the external force. (4) The sliding resistance in the actuator itself might be too large. Treatment : (1) and (2) Check for the actuator connecting cable wiring condition. (3) Conﬁ rm that there is no error in the mechanical part assembly condition. (4) In the case that the load weight is normal, move the actuator by hand to check

the sliding resistance after the power is turned OFF. In the case that there is any

error in the actuator itself, contact our company.

Cold Start 0C8 Overcurrent

Cause : The output current in the power circuit section is increased abnormally. The motor

coil insulation degradation might be considered.

Treatment : Measure the resistance between the motor connecting cable U, V and W and

insulation resistance with earth cable and conﬁ rm whether or not there is insulation degradation.

When the measurement is performed, consult with our company.

Operation

Cancellation

0C9 Overvoltage

An over-voltage is caused in the 24V input power (24V  20%: 28.8V or more). Cause : (1) The source voltage in the 24V power unit is too high. (2) A breakdown of the part inside the controller is considered. Treatment : Check for the input source voltage. In the case that the voltage is normal, contact our company.

Cold Start

0CA Overheat

Cause : (1) The temperature inside the controller is too high. (95C or more) (2) When the actuator is vertically installed, in the case that the deceleration setting

is too high when it is moved downward, the regenerative resistance energy

might be insufﬁ cient. (3) The defective part inside the controller is considered. Treatment : (1) Lower the surrounding temperature around the controller. (2) Review the setting conditions so that the deceleration curve becomes linear. In the case that the cause is not applicable to (1) or (2), contact our company.

0CB

Current Sensor Offset Adjustment Error

An error is found in the current detection sensor in the initialization in the start-up operation. Cause : (1) A breakdown of the current detection sensor or peripheral component is

supposed. (2) An error in the offset adjustment is supposed. Treatment : A work (PC board) change or offset adjustment is required. Contact our company.

Operation

Cancellation

0CC

Control Power Source Voltage Error

An over-voltage is caused in the 24V input power (24V 20%: 28.8V or more). Cause : (1) The source voltage in the 24V power unit is too high. (2) A breakdown of the part inside the controller is considered. Treatment : Check for the input source voltage. In the case that the voltage is normal, contact our company.

0CE

Control Power Source Voltage Drop

The source voltage from the 24V power unit is decreased (24V 20%: 19.2V or less). Cause : (1) The source voltage from the 24V power unit is too low. (2) A breakdown of the part inside the controller is considered. Treatment : Check for the input source voltage. In the case that the voltage is normal, contact our company.

0D2

Motor Power Source Voltage Excessive

An over-voltage is caused in the motor power source (24V 20%: 38V or more). Cause : (1) The source voltage in the 24V power unit is too high. (2) A breakdown of the part inside the controller is considered. Treatment : Check for the input source voltage. In the case that the voltage is normal, contact our company.

0D8 Deﬂ ection Overﬂ ow

The position deviation counter is over ﬂ own. Cause : The velocity might be lowered in the movement operation due to an external force. Treatment : Conﬁ rm about the load conditions, that the work does not interfere with any object

nearby or the brake has been released, etc., and if any, remove the cause.

3. Operation

Error

Level

Code Alarm Name Cause/Treatment

Operation

Cancellation

0D9

Software Stroke LimitOver Error

Cause : (1) In the case that the actuator is vertically installed and the target position is close

to the soft limit, because the load is too high, or the deceleration setting is too

high, an over-chute might occur and the actuator might exceed the soft limit. (2) The actuator is moved out of the soft limit range when the servo-motor is turned

OFF, and then the servo-motor turning ON operation is performed. Treatment : (1) Set the deceleration curve so that an over-chute is not caused when the actuator

is stopped. (2) Return the actuator within the soft limit range and perform the servo-motor

turning ON operation.

0DC

Pressing Motion Range Over Error

This alarm is generated when the reaction force after the pressing operation complete is too high and the actuator is pushed back to the start point of pressing operation. Revise the construction of the whole system.

Cold Start

0E0 Overload

Cause : (1) The load is increased too much due to a external force. (2) In the case of the unit with the brake, the brake is not released. (3) The actuator’s sliding resistance might be partly too large. Treatment : (1) In the case that an abnormal external force is impressed, remove it. (2) Check that the brake is released when the servo-motor is turned ON. If not, a

breakdown of the brake, cable breakage, or defective part inside the controller,

etc., is considered. (3) In the case that the work can be moved by hand, move it. Then, check that there

is no location where a sliding resistant is too large. If the error is caused by the above item (2) or (3), contact our company. Note : Restart the operation after making sure to remove the cause. Also, in the case that

the power is turned OFF, turn ON the power again after 30 minutes or to prevent motor coil burning.

0E5

Encoder Signal Receipt Error

Cause : The missing connector inside the controller is considered. Treatment : In the case that the same error is caused after the power to the controller is re-input,

contact our company.

0E7

A, B or Z-phase Wire Breakage

The encoder signal is not detected normally. Cause : A looseness or wire breakage in the connector section of the actuator connecting

cable is considered.

Treatment : Check for the connection condition of the actuator connecting cable and perform the

continuity test. If normal, contact our company.

0E8

A or B-phase Wire Breakage

The encoder signal is not detected normally. Cause : A looseness or wire breakage in the connector section of the actuator connecting

cable is considered.

Treatment : Check for the connection condition of the actuator connecting cable and perform the

continuity test. If normal, contact our company.

0E9 A -phase Wire Breakage

0EA B-phase Wire Breakage

0EC PS-phase Wire Breakage

Cause : A looseness or wire breakage in the connector section of the actuator connecting

cable is considered.

Treatment : Check for the connection condition of the actuator connecting cable and perform the

continuity test. If normal, contact our company.

Operation

Cancellation

0ED

Absolute Encoder Error Detection 1

Cause : (1) When the absolute unit reset is completed and the power is re-input, the current

position might be changed due to an external force. (2) When the absolute unit is reset, the current position might be changed due to an

external force. Treatment : (1) Turn OFF the power and arrange so that a vibration is not added to the actuator

and turn ON the power again. (2) Arrange so that a vibration is not added to the actuator and perform the home

return operation again.

0EE

Absolute Encoder Error Detection 2

Cause : (1) It might be caused in the simpliﬁ ed absolute type when the power is turned ON

for the ﬁ rst time after the battery is connected. (2)

The battery voltage is too much decreased to keep the encoder counter operation. (3) The encoder cable is disconnected during the power failure, or a wire breakage

occurs in the encoder cable. (4) The parameter is changed. Treatment : In the case of (1), (2) or (4), perform the Absolute Reset operation according to the

procedure.

(2) Supply the power for 72 hours or more to charge the battery sufﬁ ciently and then

perform the Absolute Reset operation.

3. Operation

Error

Level

Code Alarm Name Cause/Treatment

Operation

Cancellation

0EF

Absolute Encoder Error Detection 3

Cause : The current value is increased to the velocity value more than speciﬁ ed in the motor

speed setting due to an external force, etc., while the power is turned OFF.

Treatment : Take the measure so that the actuator is not moved at the speed more than the set

value while the power is turned OFF.

In the case that there is still enough time before the battery shutoff, increase the set

value for the parameter No.19.

After any error occurs, perform the Absolute Reset operation.

Cold Start

0F0 Driver Logic Error

Cause : An overload, parameter (Motor Type) setting not correct, or noise controller

breakdown, etc., is supposed.

Treatment : Contact our company.

0F4

PC Board Mismatching Error

In this controller, because of the motor capacity, the divided placement is performed on a single PC board. This error might be caused when it is found in the check before the startup that the motor type does not appropriate for the PC board. Cause : A parameter setting error or PC board setup error is considered. Treatment : When this error occurs, contact our company.

Operation

Cancellation

0F5

Non-Volatile Memory Write Veriﬁ cation Error

When the data is written on the non-volatile memory (EEPROM), the original data is compared to the written data to conﬁ rm whether if it is the same or not. This error is caused when the data is not the same. Cause : (1) A breakdown of the non-volatile memory is considered. (2) The reload times might exceed 100,000.

(The standard nominal reload times for non-volatile memory is 100,000). Treatment : When the error is caused even when the power is re-input, contact our company.

0F6

Non-Volatile Memory Write Time Out

This shows that no response is received within the speciﬁ ed time period when the data is written on the non-volatile memory. Cause : (1) A breakdown of the non-volatile memory is considered. (2) The reload times exceed 100,000.

(The standard nominal reload times for non-volatile memory is 100,000). Treatment : When the error is caused even when the power is re-input, contact our company.

Cold Start

0F8

Non-Volatile Memory Data Breakdown

A data error is detected in the non-volatile memory check in the startup operation. Cause : (1) A breakdown of the non-volatile memory (2) The reload times exceed 100,000.

(The standard nominal reload times for non-volatile memory is 100,000). Treatment : When the error is caused even when the power is re-input, contact our company.

0FA CPU Error

The CPU operation is not normal. Cause : (1) A breakdown of the CPU itself is supposed. (2) An operation error due to a noise is supposed. Treatment : When the error is caused even when the power is re-input, contact our company.

0FC Logic Error

Inside the controller does not function normally. Cause :

A part breakdown inside the controller or operation error due to a noise is considered.

Treatment : When the error is caused even when the power is re-input, contact our company.

4. Appendix

4.1 List of Speciﬁ cations of Connectable Actuators

The speciﬁ cations included in this speciﬁ cation list are limited to those needed to set operating conditions and parameters. For other detailed speciﬁ cations, refer to the catalog or operation manual for your actuator.

Note:

• The push force is based on the rated push speed (factory setting) indicated in the list, and provides only a guideline.

• Make sure the actual push force is equal to or greater than the minimum push force. If not, the push force will not stabilize.

• Do not change the setting of push speed (parameter No. 7). If you must change the push speed, consult IAI.

• If, among the operating conditions, the positioning speed is set to a value equal to or smaller than the push speed, the push speed will become the set speed and the speciﬁ ed push force will not generate.

[1] PSEP

Actuator

series

Type

Feed

screw

No. of

encoder

pulses

Lead

Mounting

direction

Minimum

speed

Maximum speed

Maximum acceleration/ deceleration

Minimum

push force

Maximum

push force

Rated

push

speed

[mm] [mm/s] [mm/s] [G] [N] [N] [mm/s]

RCP2

(rod

type)

RA2C

Ball

screw

800 1

Horizontal/

vertical

1.25 25 0.05 50 100 3

RA3C

Ball

screw

800

Horizontal/

vertical

6.25 187

0.2

21 73.5

2.5

Horizontal/

vertical

3.12 114 50 156.8

RGD3C

Ball

screw

800

Horizontal/

vertical

6.25 187

0.2

21 73.5

2.5

Horizontal

vertical

3.12

114

50 156.8

RA4C

Ball

screw

800

Horizontal/

vertical

12.5

458 (at to 250st)

350 (at 300st)

0.2

30 150

Horizontal/

vertical

6.25

250 (at 50 to 200st)

237 (at 250st) 175 (at 300st)

75 284

2.5

Horizontal

3.12

125 (at 50 to 200st)

118 (at 250st)

87 (at 300st)

150 358

Vertical 114

RGS4C

Ball

screw

800

Horizontal/

vertical

12.5

458 (at to 250st)

350 (at 300st)

0.2

150

Horizontal/

vertical

6.25

250 (at 50 to 200st)

237 (at 250st) 175 (at 300st)

75 284

2.5

Horizontal

3.12

125 (at 50 to 200st)

18 (at 250st)

87 (at 300st)

150 358

Vertical 114

RGD4C

Ball

screw

800

Horizontal/

vertical

12.5

458 (at to 250st)

350 (at 300st)

0.2

30 150

Horizontal/

vertical

6.25

250 (at 50 to 200st)

237 (at 250st) 175 (at 300st)

75 284

2.5

Horizontal

3.12

125 (at 50 to 200st)

118 (at 250st)

87 (at 300st)

150 358

Vertical 114

4. Appendix

Actuator

series

Type

Feed

screw

No. of

encoder

pulses

Lead

Mounting

direction

Minimum

speed

Maximum speed

Maximum acceleration/ deceleration

Minimum

push force

Maximum

push force

Rated

push

speed

[mm] [mm/s] [mm/s] [G] [N] [N] [mm/s]

RCP2

(rod

type)

RA6C

Ball

screw

800

Horizontal

450

0.2

75 240

Vertical 400

Horizontal/

vertical

10 210 130 470

Horizontal/

vertical

5 130 300 800

RGS6C

Ball

screw

800

Horizontal

450

0.2

75 240

Vertical 400

Horizontal/

vertical

10 210 130 470

Horizontal/

vertical

5 130 300 800

RGD6C

Ball

screw

800

Horizontal

450

0.2

75 240

Vertical 400

Horizontal/

vertical

10 210 130 470

Horizontal/

vertical

5 130 300 800

SRA4R

Ball

screw

800

Horizontal/

vertical

6.25 250 0.3 26 90 20

2.5

Horizontal

3.12

124

0.2

50 170

ertical 125

RCP2 (slider

type)

SRGS4R

Ball

screw

800

Horizontal/

vertical

6.25 250 0.3 26 90 20

2.5

Horizontal

3.12

124

0.2 50 170

Vertical 125

SRGD4R

Ball

screw

800

Horizontal/

vertical

6.25 250 0.3 26 90 20

2.5

Horizontal

3.12

124

0.2 50 170

Vertical 125

4. Appendix

Actuator

series

Type

Feed

screw

No. of

encoder

pulses

Lead

Mounting

direction

Minimum

speed

Maximum speed

Maximum acceleration/ deceleration

Minimum

push force

Maximum

push force

Rated

push

speed

[mm] [mm/s] [mm/s] [G] [N] [N] [mm/s]

RCP2 (slider

type)

SA5C

Ball

screw

800

Horizontal

380 (at 50st) 540 (at 100st) 660 (at 150st) 770 (at 200st) 860 (at 250st) 940 (at 300st)

1000 (at 350 to 550st)

980 (at 600st) 850 (at 650st) 740 (at 700st) 650 (at 750st) 580 (at 800st)

0.7

11 39

Vertical

380 (at 50st) 540 (at 100st) 660 (at 150st) 770 (at 200st)

800 (at 250 to 600st)

740 (at 700st) 650 (at 750st)

580(at 800st)

0.2

Horizontal

300 (at 50st) 460 (at 100st)

600 (at 150 to 550st)

540 (at 600st) 460 (at 650st) 400 (at 700st) 360 (at 750st) 300 (at 800st)

0.7

40 115

Vertical 0.3

Horizontal

7.5

295 (at 50st)

300 (at 100 to 550st)

270 (at 600st) 230 (at 650st) 200 (at 700st) 180 (at 750st) 150 (at 800st)

0.7

70 210

Vertical 0.3

Horizontal

3.75

150 (at to 550st)

135 (at 600st)

115 (at 650st)

100 (at 700st)

90 (at 750st)

75 (at 800st)

0.7

140 330

Vertical 0.3

SA5R

Ball

screw

800

Horizontal

300 (at 50st) 460 (at 100st)

600 (at 150 to 550st)

540 (at 600st) 460 (at 650st) 400 (at 700st) 360 (at 750st) 300 (at 800st)

0.3

---

Vertical 0.2

Horizontal

7.5

295 (at 50st)

300 (at 100 to 550st)

270 (at 600st) 230 (at 650st) 200 (at 700st) 180 (at 750st) 150 (at 800st)

0.3

Vertical 0.2

Horizontal

3.75

150 (at to 550st)

135 (at 600st)

115 (at 650st)

100 (at 700st)

90 (at 750st)

75 (at 800st)

0.2

---

Vertical 0.2

4. Appendix

Actuator

series

Type

Feed

screw

No. of

encoder

pulses

Lead

Mounting

direction

Minimum

speed

Maximum speed

Maximum acceleration/ deceleration

Minimum

push force

Maximum

push force

Rated

push

speed

[mm] [mm/s] [mm/s] [G] [N] [N] [mm/s]

RCP2 (slider

type)

SA6C

Ball

screw

800

Horizontal

380 (at 50st) 540 (at 100st) 660 (at 150st) 770 (at 200st) 860 (at 250st) 940 (at 300st)

1000

(at 350 to 550st)

980 (at 600st) 850 (at 650st) 740 (at 700st) 650 (at 750st) 580 (at 800st)

0.7

11 39

Vertical

380 (at 50st) 540 (at 100st) 660 (at 150st) 770 (at 200st)

800 (at 250 to 600st)

740 (at 700st) 650 (at 750st) 580 (at 800st)

0.2

Horizontal

300 (at 50st) 460 (at 100st)

600 (at 150 to 550st)

540 (at 600st) 460 (at 650st) 400 (at 700st) 360 (at 750st) 300 (at 800st)

0.7

40 115

Vertical 0.3

Horizontal

7.5

295 (at 50st)

300 (at 100 to 550st)

270 (at 600st) 230 (at 650st) 200 (at 700st) 180 (at 750st) 150 (at 800st)

0.7

70 210

Vertical 0.3

Horizontal

3.75

150 (at to 550st)

135 (at 600st)

115 (at 650st)

100 (at 700st)

90 (at 750st)

75 (at 800st)

0.7

140 330

Vertical 0.3

SA6R

Ball

screw

800

Horizontal

300 (at 50st) 460 (at 100st)

600 (at 150 to 550st)

540 (at 600st) 460 (at 650st) 400 (at 700st) 360 (at 750st) 300 (at 800st)

0.3

---

Vertical 0.2

Horizontal

7.5

295 (at 50st)

300 (at 100 to 550st)

270 (at 600st) 230 (at 650st) 200 (at 700st) 180 (at 750st) 150 (at 800st)

0.3

Vertical 0.2

Horizontal

3.75

150 (at to 550st)

135 (at 600st)

15 (at 650st)

100 (at 700st)

90 (at 750st)

75 (at 800st)

0.2

---

Vertical 0.2

4. Appendix

Actuator

series

Type

Feed

screw

No. of

encoder

pulses

Lead

Mounting

direction

Minimum

speed

Maximum speed

Maximum acceleration/ deceleration

Minimum

push force

Maximum

push force

Rated

push

speed

[mm] [mm/s] [mm/s] [G] [N] [N] [mm/s]

RCP2 (slider

type)

SA7C

Ball

screw

800

Horizontal

380 (at 50st)

470 (at 100st)

533 (at 150 to 750st)

480 (at 800st)

0.3 90 250

Vertical 0.2

Horizontal

266 (at 50 to 700st)

240 (at 800st)

0.3

150 500

Vertical 0.2

Horizontal

133 (at 50 to 700st)

120 (at 800st)

0.2

280 800

Vertical 0.2

SA7R

Ball

screw

800

Horizontal

380 (at 50st)

470 (at 100st)

533 (at 150 to 750st)

480 (at 800st)

0.3

---

Vertical 400 0.2

Horizontal

266 (at 50 to 700st)

240 (at 800st)

0.3

---

Vertical 0.2

Horizontal

133 (at 50 to 700st)

120 (at 800st)

0.2

---

Vertical 0.2

SS7C

Ball

screw

800

Horizontal

600 (at 50 to 500st)

470 (at 600st)

0.3 40 120

ertical 0.2

Horizontal

7.5

300 (at 50 to 500st)

230 (at 600st)

0.3 75 220

Vertical 0.2

Horizontal

3.75

150 (at 50 to 500st)

115 (at 600st)

0.2

140 350

Vertical 0.2

SS7R

Ball

screw

800

Horizontal

600 (at 50 to 500st)

470 (at 600st)

0.3

---

Vertical

440 (at 50 to 500st)

440 (at 600st)

0.2

Horizontal

7.5

250 (at 50 to 500st)

230 (at 600st)

0.3

---

Vertical 0.2

Horizontal

3.75

105 (at 50 to 500st)

105 (at 600st)

0.2

---

Vertical 0.2

SS8C

Ball

screw

800

Horizontal

666 (at 50 to 800st)

625 (at to 900st)

515 (at to 1000st)

0.3

50 180

Vertical

600 (at 50 to 800st)

600 (at to 900st)

515 (at to 1000st)

0.2

Horizontal

12.5

333 (at 50 to 800st)

310 (at to 900st)

255 (at to 1000st)

0.3

95 320

Vertical

300 (at 50 to 800st)

300 (at to 900st)

255 (at to 1000st)

0.2

Horizontal

6.25

165 (at 50 to 800st)

155 (at to 900st)

125 (at to 1000st)

0.2

180 630

Vertical

150 (at 50 to 800st)

150 (at to 900st)

125 (at to 1000st)

0.2

4. Appendix

Actuator

series

Type

Feed

screw

No. of

encoder

pulses

Lead

Mounting

direction

Minimum

speed

Maximum speed

Maximum acceleration/ deceleration

Minimum

push force

Maximum

push force

Rated

push

speed

[mm] [mm/s] [mm/s] [G] [N] [N] [mm/s]

RCP2 (slider

type)

SS8R

Ball

screw

800

Horizontal

600 (at 50 to 800st)

600 (at to 900st)

515 (at to 1000st)

0.3

---

Vertical

333 (at 50 to 800st)

333 (at to 900st)

333 (at to 1000st)

0.2

Horizontal

12.5

300 (at 50 to 800st)

300 (at to 900st)

255 (at to 1000st)

0.3

---

Vertical

250 (at 50 to 800st)

250 (at to 900st)

250 (at to 1000st)

0.2

Horizontal

6.25

160 (at 50 to 800st)

155 (at to 900st)

125 (at to 1000st)

0.2

---

Vertical

140 (at 50 to 800st)

140 (at to 900st)

140 (at to 1000st)

0.2

HS8C

Ball

screw

800 30

Horizontal

37.5

1200 (at 50 to 800st)

1000 (at to 900st) 800 (at to 1000st)

0.3

---

Vertical

750 (at 50 to 800st)

750 (at to 900st)

750 (at to 1000st)

0.2

RCP2

(belt

type)

BA6/

BA6U

Belt 800

Equivalent

to 54

Horizontal 67.5 1000 0.5 - - -

BA7/

BA7U

Belt 800

Equivalent

to 54

Horizontal

67.5 1500 0.5 -

- -

RCP2

(gripper

type)

GRSS - 800 1.57 - 1.96 78 - 4 14 20

GRLS - 800 12 - 15 (deg/s) 600 (deg/s) - 1.8 6.4 5 (deg/s)

GRS - 800 1 - 1.25 33.3 - 9 21 5 GRM - 800 1.1 - 1.37 36.7 - 23 80 5

GRST

- 800 1.05 - 1.31 34 - 15 40 5

- 800 2.27 - 2.83 75 - 7.5 20 5

GR3LS - 800 12 - 15 200 - 5 18 5 (deg/s)

GR3LM - 800 12 - 15 200 - 15 51 5 (deg/s)

GR3SS - 800 2.5 - 3.12 40 - 7 22 5

GR3SM - 800 3 - 3.75 50 - 30 102 5

GRHM - 800 2 - 2.5 100 - 25 125 5 GRHB - 800 2 - 2.5 100 - 60 200 5

4. Appendix

Actuator

series

Type

Feed

screw

No. of

encoder

pulses

Lead

Mounting

direction

Minimum

speed

Maximum speed

Maximum acceleration/ deceleration

Minimum

push force

Maximum

push force

Rated

push

speed

[mm] [mm/s] [mm/s] [G] [N] [N] [mm/s]

RCP2

(rotary

type)

RTBS

800

Gear ratio:

1/30

- 15 (deg/s) 400 (deg/s) - - - -

Gear ratio:

1/45

- 10 (deg/s) 266 (deg/s) - - - -

RTBSL

800

Gear ratio:

1/30

- 15 (deg/s) 400 (deg/s) - - - -

Gear ratio:

1/45

- 10 (deg/s) 266 (deg/s) - - - -

RTCS

800

Gear ratio:

1/30

- 15 (deg/s) 400 (deg/s) - - - -

Gear ratio:

1/45

- 10 (deg/s) 266 (deg/s) - - - -

RTCSL

800

Gear ratio:

1/30

- 15 (deg/s) 400 (deg/s) - - - -

Gear ratio:

1/45

- 10 (deg/s) 266 (deg/s) - - - -

RTB

800

Gear ratio:

1/20

- 22.5 (deg/s) 600 (deg/s) - - - -

Gear ratio:

1/30

- 15 (deg/s) 400 (deg/s) - - - -

RTBL

800

Gear ratio:

1/20

- 22.5 (deg/s) 600 (deg/s) - - - -

Gear ratio:

1/30

- 15 (deg/s) 400 (deg/s) - - - -

RTC

800

Gear ratio:

1/20

- 22.5 (deg/s) 600 (deg/s) - - - -

Gear ratio:

1/30

- 15 (deg/s) 400 (deg/s) - - - -

RTCL

800

Gear ratio:

1/20

22.5 (deg/s) 600 (deg/s) -

- - -

Gear ratio:

1/30

- 15 (deg/s) 400 (deg/s) - - - -

RTBB

800

Gear ratio:

1/20

- 22.5 (deg/s) 600 (deg/s) - - - -

Gear ratio:

1/30

- 15 (deg/s) 400 (deg/s) - - - -

RTBBL

800

Gear ratio:

1/20

- 22.5 (deg/s) 600 (deg/s) - - - -

Gear ratio:

1/30

- 15 (deg/s) 400 (deg/s) - - - -

RTCB

800

Gear ratio:

1/20

- 22.5 (deg/s) 600 (deg/s) - - - -

Gear ratio:

1/30

- 15 (deg/s) 400 (deg/s) - - - -

RTCBL

800

Gear ratio:

1/20

- 22.5 (deg/s) 600 (deg/s) - - - -

Gear ratio:

1/30

- 15 (deg/s) 400 (deg/s) - - - -

4. Appendix

Actuator

series

Type

Feed

screw

No. of

encoder

pulses

Lead

Mounting

direction

Minimum

speed

Maximum speed

Maximum acceleration/ deceleration

Minimum

push force

Maximum

push force

Rated

push

speed

[mm] [mm/s] [mm/s] [G] [N] [N] [mm/s]

RCP3

(rod

type)

RA2AC

Lead

screw

800

Horizontal/

vertical

180 (at 25st)

200 (at 50 to 100st)

0.2

0.9 16.1 5

2 2.5 100 1.9 28.3

1 1.25 50 3.8 39.5

RA2BC

Lead

screw

800

Horizontal/

vertical

7.5

180 (at 25st) 280 (at 50st)

300 (at 75 to 150st)

0.2

0.6 11.9

180 (at 25st)

200 (at 50 to 150st)

0.9 16.1

2 2.5 100 1.9 28.3

RA2AR

Lead

screw

800

Horizontal/

vertical

180 (at 25st)

200 (at 50 to 150st)

0.2

0.9 16.1 5

2 2.5 100 1.9 28.3 1 1.25 50 3.8 39.5

RA2BR

Lead

screw

800

Horizontal/

vertical

7.5

180 (at 25st) 280 (at 50st)

300 (at 75 to 150st)

0.2

0.6 11.9

180 (at 25st)

200 (at 50 to 150st)

0.9 16.1

2 2.5 100 1.9 28.3

RCP3 (slider

type)

SA2AC

Lead

screw

800

Horizontal

180 (at 25st)

200 (at 50 to 100st)

0.2

- -

2 2.5 100 1 1.25 50

SA2BC

Lead

screw

800

Horizontal

7.5

180 (at 25st) 280 (at 50st)

300 (at 75 to 150st)

0.2 - - -

180 (at 25st)

200 (at 50 to 150st)

2 2.5 100

SA2AR

Lead

screw

800

Horizontal

180 (at 25st)

200 (at 50 to 100st)

0.2 - - -

2 2.5 100 1 1.25 50

SA2BR

Lead

screw

800

Horizontal

7.5

180 (at 25st) 280 (at 50st)

300 (at 75 to 150st)

0.2 - - -

180 (at 25st)

200 (at 50 to 150st)

2 2.5 100

SA3C

Ball

screw

800

Horizontal

7.5 300

0.3 915

Vertical 0.2

Horizontal

5 200

0.3

14 22

Vertical 0.2

Horizontal

2.5 100

0.2

27 44

Vertical 0.2

SA3R

Ball

screw

800

Horizontal

7.5 300

0.3 915

Vertical 0.2

Horizontal

5 200

0.3

14 22

Vertical 0.2

Horizontal

2.5 100

0.2

27 44

Vertical 0.2

4. Appendix

Actuator

series

Type

Feed

screw

No. of

encoder

pulses

Lead

Mounting

direction

Minimum

speed

Maximum speed

Maximum acceleration/ deceleration

Minimum

push force

Maximum

push force

Rated

push

speed

[mm] [mm/s] [mm/s] [G] [N] [N] [mm/s]

RCP3 (slider

type)

SA4C

Ball

screw

800

Horizontal

12.5

380 (at 50st)

500 (at 100 to 500st)

0.7 20 34

Vertical 0.3

Horizontal

6.25 250

0.7 40 68

Vertical 0.3

2.5

Horizontal

3.12 125

0.7 82 136

Vertical 0.3

SA4R

Ball

screw

800

Horizontal

12.5

380 (at 50st)

500 (at 100 to 500st)

0.3 20 34

Vertical 0.2

Horizontal

6.25 250

0.3 40 68

Vertical 0.2

2.5

Horizontal

3.12 125

0.2 82 136

Vertical 0.2

SA5C

Ball

screw

800

Horizontal

380 (at 50st) 540 (at 100st) 660 (at 150st) 770 (at 200st) 860 (at 250st) 940 (at 300st)

1000 (at 350 to 600st)

910 (at 650st) 790 (at 700st) 690 (at 750st) 610 (at 800st)

0.7

17 28

Vertical

380 (at 50st) 540 (at 100st) 660 (at 150st) 770 (at 200st)

800 (at 250 to 650st)

790 (at 700st) 690 (at 750st) 610 (at 800st)

0.2

Horizontal

380 (at 50st) 540 (at 100st)

600 (at 150 to 550st)

570 (at 600st) 490 (at 650st) 425 (at 700st) 370 (at 750st) 330 (at 800st)

0.7

Vertical 0.3

Horizontal

7.5

300 (at 50 to 550st)

285 (at 600st) 245 (at 650st) 210 (at 700st) 185 (at 750st) 165 (at 800st)

0.7

Vertical 0.3

Horizontal

3.75

150 (at 50 to 550st)

140 (at 600st) 120 (at 650st) 105 (at 700st)

90 (at 750st)

80 (at 800st)

0.7

113 189

Vertical 0.3

4. Appendix

Actuator

series

Type

Feed

screw

No. of

encoder

pulses

Lead

Mounting

direction

Minimum

speed

Maximum speed

Maximum acceleration/ deceleration

Minimum

push force

Maximum

push force

Rated

push

speed

[mm] [mm/s] [mm/s] [G] [N] [N] [mm/s]

RCP3 (slider

type)

SA5R

Ball

screw

800

Horizontal

380 (at 50st)

540 (at 100st)

600 (at 150 to 550st)

570 (at 600st) 490 (at 650st) 425 (at 700st) 370 (at 750st) 330 (at 800st)

0.3

30 47

Vertical 0.2

Horizontal

7.5

300 (at 50 to 550st)

285 (at 600st) 245 (at 650st) 210 (at 700st) 185 (at 750st) 165 (at 800st)

0.3

58 95

Vertical 0.2

Horizontal

3.75

150 (at 50 to 550st)

140 (at 600st) 120 (at 650st) 105 (at 700st)

90 (at 750st) 80 (at 800st)

0.2

112 189

Vertical 0.2

SA6C

Ball

screw

800

Horizontal

380 (at 50st) 540 (at 100st) 660 (at 150st) 770 (at 200st) 860 (at 250st) 940 (at 300st)

1000 (at 350 to 600st)

910 (at 650st) 790 (at 700st) 690 (at 750st) 610 (at 800st)

0.7

17 28

Vertical

380 (at 50st) 540 (at 100st) 660 (at 150st) 770 (at 200st)

800 (at 250 to 650st)

790 (at 700st) 690 (at 750st) 610 (at 800st)

0.2

Horizontal

380 (at 50st) 540 (at 100st)

600 (at 150 to 550st)

570 (at 600st) 490 (at 650st) 425 (at 700st) 370 (at 750st) 330 (at 800st)

0.7

28 47

Vertical 0.3

Horizontal

7.5

300 (at 50 to 550st)

285 (at 600st) 245 (at 650st) 210 (at 700st) 185 (at 750st) 165 (at 800st)

0.7

57 95

Vertical 0.3

Horizontal

3.75

150 (at 50 to 550st)

140 (at 600st) 120 (at 650st) 105 (at 700st)

90 (at 750st)

80 (at 800st)

0.7

13 189

ertical 0.3

4. Appendix

Actuator

series

Type

Feed

screw

No. of

encoder

pulses

Lead

Mounting

direction

Minimum

speed

Maximum speed

Maximum acceleration/ deceleration

Minimum

push force

Maximum

push force

Rated

push

speed

[mm] [mm/s] [mm/s] [G] [N] [N] [mm/s]

RCP3 (slider

type)

SA6R

Ball

screw

800

Horizontal

380 (at 50st)

540 (at 100st)

600 (at 150 to 550st)

570 (at 600st) 490 (at 650st) 425 (at 700st) 370 (at 750st) 330 (at 800st)

0.3

30 47

Vertical 0.2

Horizontal

7.5

300 (at 50 to 550st)

285 (at 600st) 245 (at 650st) 210 (at 700st) 185 (at 750st) 165 (at 800st)

0.3

58 95

Vertical 0.2

Horizontal

3.75

150 (at 50 to 550st)

140 (at 600st) 120 (at 650st) 105 (at 700st)

90 (at 750st) 80 (at 800st)

0.2

112 189

Vertical 0.2

RCP3 (table

type)

TA3 C

Ball

screw

800

Horizontal

7.5

300 0.3

5.4 9

Vertical 200 0.2

Horizontal

200 0.3

8.4 14

Vertical 133 0.2

Horizontal

2.5

100 0.2

16.8 28

Vertical 67 0.2

TA3 R

Ball

screw

800

Horizontal

7.5

300 0.3

5.4 9

Vertical 200 0.2

Horizontal

200

0.3

8.4 14

ertical 133 0.2

Horizontal

2.5

100 0.2

16.8 28

Vertical 67 0.2

TA4 C

Ball

screw

800

Horizontal

7.5 300

0.3 915

Vertical 0.2

Horizontal

5 200

0.3

13.2 22

Vertical 0.2

Horizontal

2.5 100

0.2

26.4 44

Vertical 0.2

TA4 R

Ball

screw

800

Horizontal

7.5 300

0.3 915

Vertical 0.2

Horizontal

5 200

0.3

13.2 22

Vertical 0.2

Horizontal

2.5 100

0.2

26.4 44

Vertical 0.2

TA5 C

Ball

screw

800

Horizontal

12.5

465 0.3

20 34

Vertical 400 0.2

Horizontal

6.25 250

0.3

40 68

Vertical 0.2

2.5

Horizontal

3.12 125

0.2

82 136

Vertical 0.2

TA5 R

Ball

screw

800

Horizontal

12.5

465 0.3

20 34

Vertical 400 0.2

Horizontal

6.25 250

0.3

40 68

Vertical 0.2

2.5

Horizontal

3.12 125

0.2

82 136

Vertical 0.2

4. Appendix

Actuator

series

Type

Feed

screw

No. of

encoder

pulses

Lead

Mounting

direction

Minimum

speed

Maximum speed

Maximum acceleration/ deceleration

Minimum

push force

Maximum

push force

Rated

push

speed

[mm] [mm/s] [mm/s] [G] [N] [N] [mm/s]

RCP3 (table

type)

TA6 C

Ball

screw

800

Horizontal

560 0.3

30 47

Vertical 500 0.2

Horizontal

7.5 300

0.3 58 95

Vertical 0.2

Horizontal

3.75 150

0.2

112 189

Vertical 0.2

TA6 R

Ball

screw

800

Horizontal

560 0.3

30 47

Vertical 500 0.2

Horizontal

7.5 300

0.3 58 95

Vertical 0.2

Horizontal

3.75 150

0.2

112 189

Vertical 0.2

TA7 C

Ball

screw

800

Horizontal

600 0.3

30 47

Vertical 580 0.2

Horizontal

7.5 300

0.3 58 95

Vertical 0.2

Horizontal

3.75 150

0.2

112 189

Vertical 0.2

TA7 R

Ball

screw

800

Horizontal

600

0.3 30 47

Vertical 580 0.2

Horizontal

7.5 300

0.3 58 95

Vertical 0.2

Horizontal

3.75 150

0.2

112 189

Vertical 0.2

4. Appendix

[2] ASEP

Actuator

series

Type

Feed

screw

Motor

output

No. of

encoder

pulses

Lead

Mounting

direction

Minimum

speed

Maximum speed

Maximum acceleration/

deceleration

Minimum

push force

Maximum

push force

Rated

push

speed

[W] [mm] [mm/s] [mm/s] [G] [N] [N] [mm/s]

RCA

(rod

type)

RA3C

Ball

screw

20 800

Horizontal/

vertical

12.5 500

Energy-saving spec.: 0.3

---

High acc/dec spec.:1.0 - - -

Horizontal/

vertical

6.25 250

Energy-saving spec.: 0.3

---

High acc/dec spec.:1.0 - - -

2.5

Horizontal/

vertical

3.12 125

Energy-saving spec.: 0.2

---

High acc/dec spec.:0.2 - - -

RGS3C

Ball

screw

20 800

Horizontal/

vertical

12.5 500

Energy-saving spec.: 0.3

---

High acc/dec spec.:1.0 - - -

Horizontal/

vertical

6.25 250

Energy-saving spec.: 0.3

---

High acc/dec spec.:1.0 - - -

2.5

Horizontal/

vertical

3.12 125

Energy-saving spec.: 0.2

---

High acc/dec spec.:0.2 - - -

RGD3C

Ball

screw

20 800

Horizontal/

vertical

12.5 500

Energy-saving spec.: 0.3

---

High acc/dec spec.:1.0 - - -

Horizontal/

vertical

6.25 250

Energy-saving spec.: 0.3

---

High acc/dec spec.:1.0 - - -

2.5

Horizontal/

vertical

3.12 125

Energy-saving spec.: 0.2

---

High acc/dec spec.:0.2 - - -

RA3D

Ball

screw

20 800

Horizontal/

vertical

12.5 500 0.3

---

Horizontal/

vertical

6.25 250 0.3

---

2.5

Horizontal/

vertical

3.12 125 0.2

---

RGS3D

Ball

screw

20 800

Horizontal/

vertical

12.5 500 0.3

---

Horizontal/

vertical

6.25 250 0.3

---

2.5

Horizontal/

vertical

3.12 125 0.2

---

RGD3D

Ball

screw

20 800

Horizontal/

vertical

12.5 500 0.3

---

Horizontal/

vertical

6.25 250 0.3

---

2.5

Horizontal/

vertical

3.12 125 0.2

---

RA3R

Ball

screw

20 800

Horizontal/

vertical

12.5 500 0.3

---

Horizontal/

vertical

6.25 250 0.3

---

2.5

Horizontal/

vertical

3.12 125 0.2

---

RGD3R

Ball

screw

20 800

Horizontal/

vertical

12.5 500 0.3

---

Horizontal/

vertical

6.25

250 0.3

---

2.5

Horizontal/

vertical

3.12 125 0.2

---

4. Appendix

Actuator

series

Type

Feed

screw

Motor

output

No. of

encoder

pulses

Lead

Mounting

direction

Minimum

speed

Maximum speed

Maximum acceleration/

deceleration

Minimum

push force

Maximum

push force

Rated

push

speed

[W] [mm] [mm/s] [mm/s] [G] [N] [N] [mm/s]

RCA

(rod

type)

RA4C

Ball

screw

800

Horizontal/

vertical

15 600

Energy-saving spec.: 0.3

---

High acc/dec spec.:1.0 - - -

Horizontal/

vertical

7.5 300

Energy-saving spec.: 0.3

---

High acc/dec spec.:1.0 - - -

Horizontal/

vertical

3.75 150

Energy-saving spec.: 0.2

---

High acc/dec spec.:0.2 - - -

Horizontal/

vertical

15 600

Energy-saving spec.: 0.3

---

High acc/dec spec.:1.0 - - -

Horizontal/

vertical

7.5 300

Energy-saving spec.: 0.3

---

High acc/dec spec.:1.0 - - -

Horizontal/

vertical

3.75 150

Energy-saving spec.: 0.2

---

High acc/dec spec.:0.2 - - -

RGS4C

Ball

screw

800

Horizontal/

vertical

15 600

Energy-saving spec.: 0.3

---

High acc/dec spec.:1.0 - - -

Horizontal/

vertical

7.5 300

Energy-saving spec.: 0.3

---

High acc/dec spec.:1.0 - - -

Horizontal/

vertical

3.75 150

Energy-saving spec.: 0.2

---

High acc/dec spec.:0.2 - - -

Horizontal/

vertical

15 600

Energy-saving spec.: 0.3

---

High acc/dec spec.:1.0 - - -

Horizontal/

vertical

7.5 300

Energy-saving spec.: 0.3

---

High acc/dec spec.:1.0 - - -

Horizontal/

vertical

3.75 150

Energy-saving spec.: 0.2

---

High acc/dec spec.:0.2 - - -

RGD4C

Ball

screw

800

Horizontal/

vertical

15 600

Energy-saving spec.: 0.3

---

High acc/dec spec.:1.0 - - -

Horizontal/

vertical

7.5 300

Energy-saving spec.: 0.3

---

High acc/dec spec.:1.0 - - -

Horizontal/

vertical

3.75 150

Energy-saving spec.: 0.2

---

High acc/dec spec.:0.2 - - -

Horizontal/

vertical

15 600

Energy-saving spec.: 0.3

---

High acc/dec spec.:1.0 - - -

Horizontal/

vertical

7.5 300

Energy-saving spec.: 0.3

---

High acc/dec spec.:1.0 - - -

Horizontal/

vertical

3.75 150

Energy-saving spec.: 0.2

---

High acc/dec spec.:0.2 - - -

4. Appendix

Actuator

series

Type

Feed

screw

Motor

output

No. of

encoder

pulses

Lead

Mounting

direction

Minimum

speed

Maximum speed

Maximum acceleration/

deceleration

Minimum

push force

Maximum

push force

Rated

push

speed

[W] [mm] [mm/s] [mm/s] [G] [N] [N] [mm/s]

RCA

(rod

type)

RA4D

Ball

screw

800

Horizontal/

vertical

15 600 0.3

---

Horizontal/

vertical

7.5 300 0.3

---

Horizontal/

vertical

3.75 150 0.2

---

Horizontal/

vertical

15 600 0.3

---

Horizontal/

vertical

7.5 300 0.3

---

Horizontal/

vertical

3.75 150 0.2

---

RGS4D

Ball

screw

800

Horizontal/

vertical

15 600 0.3

---

Horizontal/

vertical

7.5 300 0.3

---

Horizontal/

vertical

3.75 150 0.2

---

Horizontal/

vertical

15 600 0.3

---

Horizontal/

vertical

7.5 300 0.3

---

Horizontal/

vertical

3.75 150 0.2

---

RGD4D

Ball

screw

800

Horizontal/

vertical

15 600 0.3

---

Horizontal/

vertical

7.5 300 0.3

---

Horizontal/

vertical

3.75 150 0.2

---

Horizontal/

vertical

15 600 0.3

---

Horizontal/

vertical

7.5 300 0.3

---

Horizontal/

vertical

3.75 150 0.2

---

RA4R

Ball

screw

800

Horizontal/

vertical

15 600 0.3

---

Horizontal/

vertical

7.5 300 0.3

---

Horizontal/

vertical

3.75 150 0.2

---

Horizontal/

vertical

15 600 0.3

---

Horizontal/

vertical

7.5 300 0.3

---

Horizontal/

vertical

3.75 150 0.2

---

RGD4R

Ball

screw

800

Horizontal/

vertical

600 0.3

---

Horizontal/

vertical

7.5 300 0.3

---

Horizontal/

vertical

3.75 150 0.2

---

Horizontal/

vertical

15 600 0.3

---

Horizontal/

vertical

7.5 300 0.3

---

Horizontal/

vertical

3.75 150 0.2

---

4. Appendix

Actuator

series

Type

Feed

screw

Motor

output

No. of

encoder

pulses

Lead

Mounting

direction

Minimum

speed

Maximum speed

Maximum acceleration/

deceleration

Minimum

push force

Maximum

push force

Rated

push

speed

[W] [mm] [mm/s] [mm/s] [G] [N] [N] [mm/s]

RCA

(rod

type)

SRA4R

Ball

screw

20 800

Horizontal

6.25 250

0.3 - - -

Vertical 0.2 - - -

2.5

Horizontal

3.12 125

0.2 - - -

Vertical 0.2 - - -

SRGS4R

Ball

screw

20 800

Horizontal

6.25 250

0.3 - - -

Vertical 0.2 - - -

2.5

Horizontal

3.12 125

0.2 - - -

Vertical 0.2 - - -

SRGD4R

Ball

screw

20 800

Horizontal

6.25 250

0.3 - - -

Vertical 0.2 - - -

2.5

Horizontal

3.12 125

0.2 - - -

Vertical 0.2 - - -

RCA

(slider

type)

SA4C

Ball

screw

20 800

Horizontal/

vertical

12.5 665

Energy-saving spec.: 0.3

---

High acc/dec spec.:1.0

Horizontal/

vertical

6.25 330

Energy-saving spec.: 0.3

---

High acc/dec spec.:1.0

2.5

Horizontal/

vertical

3.12 165

Energy-saving spec.: 0.2

---

High acc/dec spec.:0.2

SA4D

Ball

screw

20 800

Horizontal/

vertical

12.5 665 0.3 - - -

Horizontal/

vertical

6.25 330 0.3 - - -

2.5

Horizontal/

vertical

3.12 165 0.2 - - -

SA4R

Ball

screw

20 800

Horizontal/

vertical

12.5 665 0.3 - - -

Horizontal/

vertical

6.25 330 0.3 - - -

2.5

Horizontal/

vertical

3.12 165 0.2 - - -

SA5C

Ball

screw

20 800

Horizontal

1300

Energy-saving spec.: 0.3

---

Vertical 800 High acc/dec spec.:0.8 - - -

Horizontal/

vertical

800 (at 50 to 450st)

760 (at 500st)

Energy-saving spec.: 0.3

---

High acc/dec spec.:0.8

Horizontal/

vertical

7.5

400 (at 50 to 450st)

380 (at 500st)

Energy-saving spec.: 0.3

---

High acc/dec spec.:0.8

Horizontal/

vertical

3.75

200 (at 50 to 450st)

190 (at 500st)

Energy-saving spec.: 0.2

---

High acc/dec spec.:0.2

SA5D

Ball

screw

20 800

Horizontal/

vertical

800 (at 50 to 450st)

760 (at 500st)

0.3 - - -

Horizontal/

vertical

7.5

400 (at 50 to 450st)

380 (at 500st)

0.3 - - -

Horizontal/

vertical

3.75

200 (at 50 to 450st)

190 (at 500st)

0.2 - - -

SA5R

Ball

screw

20 800

Horizontal/

vertical

800 (at 50 to 450st)

760 (at 500st)

0.3 - - -

Horizontal/

vertical

7.5

400 (at 50 to 450st)

380 (at 500st)

0.3 - - -

Horizontal/

vertical

3.75

200 (at 50 to 450st)

190 (at 500st)

0.2 - - -

4. Appendix

Actuator

series

Type

Feed

screw

Motor

output

No. of

encoder

pulses

Lead

Mounting

direction

Minimum

speed

Maximum speed

Maximum acceleration/

deceleration

Minimum

push force

Maximum

push force

Rated

push

speed

[W] [mm] [mm/s] [mm/s] [G] [N] [N] [mm/s]

RCA

(slider

type)

SA6C

Ball

screw

30 800

Horizontal

1300 (at50 to 500st)

1160 (at 550st)

990 (at 600st)

Energy-saving spec.: 0.3

---

Vertical 800 High acc/dec spec.:0.8 - - -

Horizontal/

vertical

800 (at 50 to 450st)

760 (at 500st) 640 (at 550st) 540 (at 600st)

Energy-saving spec.: 0.3

---

High acc/dec spec.:1.0

Horizontal/

vertical

7.5

400 (at 50 to 450st)

380 (at 500st) 320 (at 550st) 270 (at 600st)

Energy-saving spec.: 0.3

---

High acc/dec spec.:1.0

Horizontal/

vertical

3.75

200 (at 50 to 450st)

190 (at 500st) 160 (at 550st) 135 (at 600st)

Energy-saving spec.: 0.2

---

High acc/dec spec.:0.2

SA6D

Ball

screw

30 800

Horizontal/

vertical

800 (at 50 to 450st)

760 (at 500st) 640 (at 550st) 540 (at 600st)

0.3 - - -

Horizontal/

vertical

7.5

400 (at 50 to 450st)

380 (at 500st) 320 (at 550st) 270 (at 600st)

0.3 - - -

Horizontal/

vertical

3.75

200 (at 50 to 450st)

190 (at 500st) 160 (at 550st) 135 (at 600st)

0.2 - - -

SA6R

Ball

screw

30 800

Horizontal/

vertical

800 (at 50 to 450st)

760 (at 500st) 640 (at 550st) 540 (at 600st)

0.3 - - -

Horizontal/

vertical

7.5

400 (at 50 to 450st)

380 (at 500st) 320 (at 550st) 270 (at 600st)

0.3 - - -

Horizontal/

vertical

3.75

200 (at 50 to 450st)

190 (at 500st) 160 (at 550st) 135 (at 600st)

0.2 - - -

SS4D

Ball

screw

20 800

Horizontal/

vertical

12.5 665 0.3 - - -

Horizontal/

vertical

6.25 330 0.3 - - -

2.5

Horizontal/

vertical

3.12 165 0.2 - - -

SS5D

Ball

screw

20 800

Horizontal/

vertical

800 (at 50 to 450st)

760 (at 500st)

0.3 - - -

Horizontal/

vertical

7.5

400 (at 50 to 450st)

380 (at 500st)

0.3 - - -

Horizontal/

vertical

3.25

200 (at 50 to 450st)

190 (at 500st)

0.2 - - -

RCA

(slider

type)

SS6D

Ball

screw

30 800

Horizontal/

vertical

800 (at 50 to 450st)

760 (at 500st) 640 (at 550st) 540 (at 600st)

0.3

- -

Horizontal/

vertical

7.5

400 (at 50 to 450st)

380 (at 500st) 320 (at 550st) 270 (at 600st)

0.3 - - -

Horizontal/

vertical

3.25

200 (at 50 to 450st)

190 (at 500st) 160 (at 550st) 135 (at 600st)

0.2 - - -

4. Appendix

Actuator

series

Type

Feed

screw

Motor

output

No. of

encoder

pulses

Lead

Mounting

direction

Minimum

speed

Maximum speed

Maximum acceleration/

deceleration

Minimum

push force

Maximum

push force

Rated

push

speed

[W] [mm] [mm/s] [mm/s] [G] [N] [N] [mm/s]

RCA (arm

type)

A4R

Ball

screw

20 800

Horizontal/

vertical

12.5 330 0.2 - - -

5 6.25 165 0.2 - - -

A5R

Ball

screw

20 800

Horizontal/

vertical

15 400 0.2 - - -

6 7.5 200 0.2 - - -

A6R

Ball

screw

30 800

Horizontal/

vertical

15 400 0.2 - - -

6 7.5 200 0.2 - - -

RCA2

(rod

type)

RN3N

Lead

screw

10 1048

Horizontal/

vertical

3.81 200

0.2 - - -2 1.9 100

1 0.95 50

RP3N

Lead

screw

10 1048

Horizontal/

vertical

3.81 200

0.2 - - -2 1.9 100

1 0.95 50

GS3N

Lead

screw

10 1048

Horizontal/

vertical

3.81 200

0.2 - - -2 1.9 100

1 0.95 50

GD3N

Lead

screw

10 1048

Horizontal/

vertical

3.81 200

0.2

- -

-2 1.9 100

1 0.95 50

SD3N

Lead

screw

10 1048

Horizontal/

vertical

3.81 200

0.2 - - -2 1.9 100

1 0.95 50

RN4N

Ball

screw

20 1048

Horizontal

5.72

270 0.3 - - -

Vertical 220 0.2 - - -

Horizontal

3.81 200

0.3 - - -

Vertical 0.2 - - -

Horizontal

1.9 100

0.2 - - -

Vertical 0.2 - - -

Lead

screw

Horizontal

5.72 220

0.2 - - -

Vertical 0.2 - - -

Horizontal

3.81 200

0.2 - - -

Vertical 0.2 - - -

Horizontal

1.9 100

0.2 - - -

Vertical 0.2 - - -

4. Appendix

Actuator

series

Type

Feed

screw

Motor

output

No. of

encoder

pulses

Lead

Mounting

direction

Minimum

speed

Maximum speed

Maximum acceleration/

deceleration

Minimum

push force

Maximum

push force

Rated

push

speed

[W] [mm] [mm/s] [mm/s] [G] [N] [N] [mm/s]

RCA2

(rod

type)

RP4N

Ball

screw

20 1048

Horizontal

5.72

270 0.3 - - -

Vertical 220 0.2 - - -

Horizontal

3.81 200

0.3 - - -

Vertical 0.2 - - -

Horizontal

1.9 100

0.2 - - -

Vertical 0.2 - - -

Lead

screw

Horizontal

5.72 220

0.2 - - -

Vertical 0.2 - - -

Horizontal

3.81 200

0.2 - - -

Vertical 0.2 - - -

Horizontal

1.9 100

0.2 - - -

Vertical 0.2 - - -

GS4N

Ball

screw

20 1048

Horizontal

5.72

270 0.3 - - -

Vertical 220 0.2 - - -

Horizontal

3.81 200

0.3 - - -

Vertical 0.2 - - -

Horizontal

1.9 100

0.2 - - -

Vertical 0.2 - - -

Lead

screw

Horizontal

5.72 220

0.2 - - -

Vertical 0.2 - - -

Horizontal

3.81 200

0.2 - - -

Vertical 0.2 - - -

Horizontal

1.9 100

0.2 - - -

ertical 0.2 - -

GD4N

Ball

screw

20 1048

Horizontal

5.72

270 0.3 - - -

Vertical 220 0.2 - - -

Horizontal

3.81 200

0.3 - - -

Vertical 0.2 - - -

Horizontal

1.9 100

0.2 - - -

Vertical 0.2 - - -

Lead

screw

Horizontal

5.72 220

0.2 - - -

Vertical 0.2 - - -

Horizontal

3.81 200

0.2 - - -

Vertical 0.2 - - -

Horizontal

1.9 100

0.2 - - -

Vertical 0.2 - - -

SD4N

Ball

screw

20 1048

Horizontal

5.72

240 (at 25st)

300 (at 50 to 75st)

0.3 - - -

Vertical

200 (at 25st)

300 (at 50 to 75st)

0.2 - - -

Horizontal

3.81 200

0.3 - - -

Vertical 0.2 - - -

Horizontal

1.9 100

0.2 - - -

Vertical 0.2 - - -

Lead

screw

Horizontal

5.72

200 (at 25st)

300 (at 50 to 75st)

0.2 - - -

Vertical 0.2 - - -

Horizontal

3.81 200

0.2 - - -

Vertical 0.2 - - -

Horizontal

1.9 100

0.2 - - -

Vertical 0.2 - - -

4. Appendix

Actuator

series

Type

Feed

screw

Motor

output

No. of

encoder

pulses

Lead

Mounting

direction

Minimum

speed

Maximum speed

Maximum acceleration/

deceleration

Minimum

push force

Maximum

push force

Rated

push

speed

[W] [mm] [mm/s] [mm/s] [G] [N] [N] [mm/s]

RCA2 (slider

type)

SA3C

Ball

screw

10 800

Horizontal

7.5 300

0.3 - - -

Vertical 0.2 - - -

Horizontal

5 200

0.3 - - -

Vertical 0.2 - - -

Horizontal

2.5 100

0.2 - - -

Vertical 0.2 - - -

SA3R

Ball

screw

10 800

Horizontal

7.5 300

0.3 - - -

Vertical 0.2 - - -

Horizontal

5 200

0.3 - - -

Vertical 0.2 - - -

Horizontal

2.5 100

0.2 - - -

Vertical 0.2 - - -

SA4C

Ball

screw

20 800

Horizontal

12.5

380 (at 50st)

500 (at 100 to 500st)

0.3 - - -

Vertical 0.2 - - -

Horizontal

6.25 250

0.3 - - -

Vertical 0.2 - - -

2.5

Horizontal

3.12 125

0.2 - - -

Vertical 0.2 - - -

SA4R

Ball

screw

20 800

Horizontal

12.5

380 (at 50st)

500 (at 100 to 500st)

0.3 - - -

Vertical 0.2 - - -

Horizontal

6.25 250

0.3 - - -

Vertical 0.2 - - -

2.5

Horizontal

3.12 125

0.2 - - -

Vertical 0.2 - - -

IAI ASEP, PSEP, DSEP Instruction Manual

Specifications and Main Features

Frequently Asked Questions

User Manual