MSEP Controller
Instruction Manual Fourth Edition
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.
To ensure the safe operation of this product, please read and fully understand this manual.
The enclosed DVD in this product package includes the Instruction Manual for this product.
For the operation of this product, print out the necessary sections in the Instruction Manual or
display them using the personal computer.
After reading through this manual, keep this Instruction Manual at hand so that the operator of this
product can read it whenever necessary.
[Important]
x This Instruction Manual is original.
x The product cannot be operated in any way unless expressly specified in this Instruction
Manual. IAI shall assume no responsibility for the outcome of any operation not specified
herein.
x Information contained in this Instruction Manual is subject to change without notice for the
purpose of product improvement.
x If you have any question or comment regarding the content of this manual, please contact
the IAI sales office near you.
x Using or copying all or part of this Instruction Manual without permission is prohibited.
x The company names, names of products and trademarks of each company shown in the
sentences are registered trademarks.
x DeviceNet is a registered mark of ODVA.
x CC-Link is a registered mark of Mitsubishi Electric Corporation.
x PROFIBUS is a registered mark of Siemens.
x CompoNet is the registered trademark of OMRON Corporation.
x MECHATROLINK is a registered trademark of MECHATROLINK Members Association.
x EtherCAT® is a registered mark of Beckoff Automation GmbH.
x EtherNet/IP is a trademark used under the license of ODVA.
Table of Contents
Safety Guide ·····················································································································1
Precautions in Operation ··································································································8
International Standards Compliances············································································· 11
Name for Each Parts and Their Functions······································································12
Actuator Axes··················································································································16
Starting Procedures ········································································································18
Chapter 1 Specifications Check ···················································································19
1.1 Product Check ············································································································19
1.1.1 Parts ····················································································································19
1.1.2 Teaching Tool······································································································· 19
1.1.3 Instruction manuals related to this product, which are contained in the
instruction manual (DVD). ··················································································· 20
1.1.4 How to read the model plate················································································20
1.1.5 How to read the model························································································· 21
1.2 List of Basic Specifications ························································································· 22
1.3 Calculation for Power Capacity··················································································· 23
1.4 Specifications for each Fieldbus ················································································· 24
1.4.1 Specifications of DeviceNet Interface··································································24
1.4.2 Specifications of CC-Link Interface······································································24
1.4.3 Specifications of PROFIBUS-DP Interface·························································· 25
1.4.4 Specifications of CompoNet Interface ·································································25
1.4.5 Specifications of MECHATROLINK-I/II Interface················································· 25
1.4.6 Specifications of EtherNet/IP Interface ································································26
1.4.7 Specifications of EtherCAT Interface ··································································· 26
1.4.8 PIO Input and Output Interface············································································27
1.5 External Dimensions··································································································· 28
1.5.1 Controller Main Unit·····························································································28
1.5.2 Absolute Battery Box ···························································································29
1.6 Option ························································································································· 30
1.6.1 Absolute Battery Box ···························································································30
1.6.2 Regenerative Resistor Unit··················································································31
1.7 Installation and Storage Environment········································································· 32
1.8 Noise Elimination and Mounting Method ···································································· 33
Chapter 2 Wiring ·········································································································· 35
2.1 Wiring Diagram (Connection of construction devices)················································ 35
2.1.1 For PIO Control····································································································35
2.1.2 When Controlled by Fieldbus ·············································································· 36
2.1.3 For RC Gateway Control ·····················································································37
2.2 Operation Pattern Selected ························································································ 38
2.2.1 Outline for Operation Patterns············································································· 38
2.2.2 PIO Pattern Selection and PIO Signal································································· 39
2.3 Circuit Diagram ··········································································································· 42
2.4 Wiring Method············································································································· 56
2.4.1 Connection to Power Input Connector································································· 56
2.4.2 Wiring Layout of System I/O Connector ······························································ 57
2.4.3 Connection of Drive Cutoff/Emergency Stop Input Connector ···························· 58
2.4.4 Connecting with Actuator ·····················································································59
2.4.5 Connection of Absolute Battery Connector·························································· 60
2.4.6 Connection of External Brake Connector ···························································· 61
2.4.7 Connection of SIO Connector··············································································62
2.4.8 Connection of PIO (for PIO Type)········································································63
2.4.9 Wiring Layout of Fieldbus Connector ··································································64
Chapter 3 Operation·····································································································69
3.1 Basic Operation ··········································································································69
3.1.1 Basic Operation Methods ···················································································· 69
3.1.2 Parameter Settings······························································································75
3.2 Initial Setting ···············································································································76
3.3 Setting of Position Data ······························································································ 85
3.4 Fieldbus Type Address Map························································································90
3.4.1 PLC Address Construction by each Operation Mode·········································· 90
3.4.2 Example for each Fieldbus Address Map····························································92
3.4.3 Gateway Control Signals (in common for all operation modes) ························ 104
3.4.4 Control Signals for Positioner 1/Simple Direct Mo ············································ 107
3.4.5 Control Signals for Direct Indication Mode ························································ 112
3.4.6 Control Signals for Positioner 2 Mode······························································· 119
3.4.7 Control Signals for Positioner 3 Mode·······························································123
3.4.8 Control Signals for SEP I/O Mode ·····································································126
3.4.9 About Commands (Position Data Read/Write and Alarm Axis Read) ··············· 128
3.5 Control Signals for PIO Operation ············································································143
3.6 Control of Input Signal ······························································································ 146
3.6.1 PIO Input Signal Process··················································································· 146
3.6.2 Input and Output Signal Process for Fieldbus Type ··········································147
3.7 Power Supply············································································································149
3.8 I/O Signal Controls and Function··············································································150
3.8.1 Input and Output Signal for Fieldbus Type (except for SEP I/O Mode)············· 150
3.8.2 SEP I/O Mode and PIO Operation for Fieldbus Type········································163
3.9 About Gateway Parameter Setting Tool····································································175
3.9.1 Startup of Tool ···································································································· 175
3.9.2 Explanation of each Menu················································································· 176
3.9.3 Description of Functions ····················································································178
3.9.4 Operation Mode Setting·····················································································185
3.10 Status LED ················································································································185
Chapter 4 Absolute Reset and Absolute Battery························································ 195
4.1 Absolute Reset··········································································································195
4.2 Absolute Battery········································································································ 198
4.2.1 Absolute encoder backup specifications ···························································199
4.2.2 Absolute Battery Charge···················································································· 199
4.2.3 Absolute Battery Voltage Drop Detection ·························································· 200
Chapter 5 I/O Parameter ···························································································· 201
5.1 I/O Parameter List····································································································· 202
5.2 Detail Explanation of Parameters ·············································································204
5.3 Servo Adjustment······································································································ 215
Chapter 6 Troubleshooting·························································································217
6.1 Action to Be Taken upon Occurrence of Problem·····················································217
6.2 Fault Diagnosis ·········································································································218
6.2.1 Impossible operation of controller······································································218
6.2.2 Positioning and speed of poor precision (incorrect operation)·························· 219
6.2.3 Generation of noise and/or vibration ·································································220
6.2.4 Impossible Communication ··············································································· 220
6.3 Alarm Level ···············································································································221
6.4 Alarm List ·················································································································· 222
6.4.1 Gateway Alarm Codes ·······················································································222
6.4.2 Simple Alarm Code···························································································· 225
6.4.3 Alarm Codes for Driver Board (Each Axis) ························································227
Chapter 7 Appendix····································································································237
7.1 Fan Replacement······································································································ 237
7.2 List of Specifications of Connectable Actuators························································ 238
7.2.1 Specifications for Servo Motor Type Actuator···················································· 238
7.2.2 Specifications for Pulse Motor Type Actuator ····················································250
Chapter 8 Warranty ···································································································· 283
8.1 Warranty Period········································································································283
8.2 Scope of the Warranty ······························································································ 283
8.3 Honoring the Warranty······························································································ 283
8.4 Limited Liability ·········································································································283
8.5 Conditions of Conformance with Applicable Standards/Regulations,
Etc., and Applications································································································ 284
8.6 Other Items Excluded from Warranty········································································ 284
Change History ············································································································· 285
1
Safety Guide
“Safety Guide” has been written to use the machine safely and so prevent personal injury or
property damage beforehand. Make sure to read it before the operation of this product.
Safety Precautions for Our Products
The common safety precautions for the use of any of our robots in each operation.
No.
Operation
Description
Description
1 Model
Selection
Ɣ 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.)
Ɣ Do not use the product outside the specifications. Failure to do so may
considerably shorten the life of the product.
Ɣ Do not use it in any of the following environments.
1) Location where there is any inflammable gas, inflammable object or
explosive
2) Place with potential exposure to radiation
3) Location with the ambient temperature or relative humidity exceeding
the specification range
4) Location where radiant heat is added from direct sunlight or other
large heat source
5) Location where condensation occurs due to abrupt temperature
changes
6) Location where there is any corrosive gas (sulfuric acid or
hydrochloric acid)
7) Location exposed to significant amount of dust, salt or iron powder
8) Location subject to direct vibration or impact
Ɣ 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.
2
No.
Operation
Description
Description
2 Transportation Ɣ When carrying a heavy object, do the work with two or more persons or
utilize equipment such as crane.
Ɣ 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.
Ɣ 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.
Ɣ 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.
Ɣ Do not step or sit on the package.
Ɣ Do not put any heavy thing that can deform the package, on it.
Ɣ When using a crane capable of 1t or more of weight, have an operator
who has qualifications for crane operation and sling work.
Ɣ When using a crane or equivalent equipments, make sure not to hang a
load that weighs more than the equipment’s capability limit.
Ɣ Use a hook that is suitable for the load. Consider the safety factor of the
hook in such factors as shear strength.
Ɣ Do not get on the load that is hung on a crane.
Ɣ Do not leave a load hung up with a crane.
Ɣ Do not stand under the load that is hung up with a crane.
3 Storage and
Preservation
Ɣ The storage and preservation environment conforms to the installation
environment. However, especially give consideration to the prevention
of condensation.
Ɣ 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.
Ɣ Make sure to securely hold and fix the product (including the work part).
A fall, drop or abnormal motion of the product may cause a damage or
injury.
Also, be equipped for a fall-over or drop due to an act of God such as
earthquake.
Ɣ 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.
Ɣ When using the product in any of the places specified below, provide a
sufficient shield.
1) Location where electric noise is generated
2) Location where high electrical or magnetic field is present
3) Location with the mains or power lines passing nearby
4) Location where the product may come in contact with water, oil or
chemical droplets
3
No.
Operation
Description
Description
(2) Cable Wiring
Ɣ Use our company’s genuine cables for connecting between the actuator
and controller, and for the teaching tool.
Ɣ Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not
coil it around. Do not insert it. Do not put any heavy thing on it. Failure to
do so may cause a fire, electric shock or malfunction due to leakage or
continuity error.
Ɣ Perform the wiring for the product, after turning OFF the power to the
unit, so that there is no wiring error.
Ɣ When the direct current power (+24V) is connected, take the great care
of the directions of positive and negative poles. If the connection
direction is not correct, it might cause a fire, product breakdown or
malfunction.
Ɣ Connect the cable connector securely so that there is no disconnection
or looseness. Failure to do so may cause a fire, electric shock or
malfunction of the product.
Ɣ Never cut and/or reconnect the cables supplied with the product for the
purpose of extending or shortening the cable length. Failure to do so
may cause the product to malfunction or cause fire.
4 Installation
and Start
(3) Grounding
Ɣ 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.
Ɣ 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
2
(AWG20 or equivalent) or more for
grounding work. For security grounding, it is necessary to select an
appropriate wire thickness suitable for the load. Perform wiring that
satisfies the specifications (electrical equipment technical standards).
Ɣ Perform Class D Grounding (former Class 3 Grounding with ground
resistance 100: or below).
4
No.
Operation
Description
Description
4 Installation
and Start
(4) Safety Measures
Ɣ 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.
Ɣ 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.
Ɣ Make sure to install the emergency stop circuit so that the unit can be
stopped immediately in an emergency during the unit operation.
Ɣ 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.
Ɣ 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.
Ɣ 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.
Ɣ Take the measure so that the work part is not dropped in power failure or
emergency stop.
Ɣ Wear protection gloves, goggle or safety shoes, as necessary, to secure
safety.
Ɣ Do not insert a finger or object in the openings in the product. Failure to
do so may cause an injury, electric shock, damage to the product or fire.
Ɣ 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 Ɣ 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.
Ɣ 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.
Ɣ 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.
Ɣ 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.
Ɣ Place a sign “Under Operation” at the position easy to see.
Ɣ 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.
5
No.
Operation
Description
Description
6 Trial
Operation
Ɣ 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.
Ɣ After the teaching or programming operation, perform the check
operation one step by one step and then shift to the automatic
operation.
Ɣ When the check operation is to be performed inside the safety
protection fence, perform the check operation using the previously
specified work procedure like the teaching operation.
Ɣ 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.
Ɣ 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
Ɣ Check before starting the automatic operation or rebooting after
operation stop that there is nobody in the safety protection fence.
Ɣ Before starting automatic operation, make sure that all peripheral
equipment is in an automatic-operation-ready state and there is no
alarm indication.
Ɣ Make sure to operate automatic operation start from outside of the
safety protection fence.
Ɣ In the case that there is any abnormal heating, smoke, offensive smell,
or abnormal noise in the product, immediately stop the machine and
turn OFF the power switch. Failure to do so may result in a fire or
damage to the product.
Ɣ 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.
6
No.
Operation
Description
Description
8 Maintenance
and
Inspection
Ɣ 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.
Ɣ 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.
Ɣ When the work is to be performed inside the safety protection fence,
basically turn OFF the power switch.
Ɣ 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.
Ɣ 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.
Ɣ Place a sign “Under Operation” at the position easy to see.
Ɣ For the grease for the guide or ball screw, use appropriate grease
according to the Instruction Manual for each model.
Ɣ Do not perform the dielectric strength test. Failure to do so may result in
a damage to the product.
Ɣ 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.
Ɣ 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.
Ɣ Pay attention not to lose the cover or untightened screws, and make
sure to put the product back to the original condition after maintenance
and inspection works.
Use in incomplete condition may cause damage to the product or an
injury.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
9 Modification
and Dismantle
Ɣ Do not modify, disassemble, assemble or use of maintenance parts not
specified based at your own discretion.
10 Disposal Ɣ When the product becomes no longer usable or necessary, dispose of it
properly as an industrial waste.
Ɣ When removing the actuator for disposal, pay attention to drop of
components when detaching screws.
Ɣ Do not put the product in a fire when disposing of it.
The product may burst or generate toxic gases.
11 Other Ɣ 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.
Ɣ See Overseas Specifications Compliance Manual to check whether
complies if necessary.
Ɣ For the handling of actuators and controllers, follow the dedicated
instruction manual of each unit to ensure the safety.
7
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
8
Precautions in Operation
1. Make sure to follow the usage condition, environment and specification range
of the product.
Not doing so may cause a drop of performance or malfunction of the product.
2. Use an appropriate teaching tool.
Use the PC Software for RoboCylinder or an appropriate teaching pendant to interface with this
controller.
[Refer to 1.1.2 Teaching Tool]
3. Create a secure data backup for use in case of a 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 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 using the PC software
(2) Hard-copy the information of position tables and parameters on paper
4. Set the operation patterns.
This product can be applied an various ways according to application requirements. It can be
controlled via PIO or a fieldbus, with multiple patterns of operation available in either mode.
The setup can be performed in the initial setting. [Refer to Chapter 3 Operation and Chapter 5
Parameter]
The PIO pattern is set to “0” (Standard Type) when the unit is delivered. Set the operation
pattern setting to the logic that suits 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 each other. The normal operation might not occur. There may be no
movement, or there may be unexpected movement.
9
5. Actuator would not operate without servo-on and pause signals.
(1) Servo ON Signal (SON)
The servo-on signal (SON) is available to select whether to enable or disable in the initial
setting process “Servo Control”.
If it is set to “Enable”, the actuator would not operate unless turning this signal ON.
If parameter No.21 is set to “Not to use”, SON is made disable. 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.
Have the setting that suits to the desirable control logic.
(2) Pause Signal (STP, *STP)
If Single Solenoid is selected and the stop signal is set to “Use” in the initial setting, unless
this signal is enabled, the actuator would not operate.
If this signal is not to be used, set the stop signal to “Not to use” in the initial setting
process.
If not in use, the operation of the actuator is available even with this signal not being
enabled.
6. Clock Setting in Calendar Function
There may be a case in the first time to supply the power after delivery that Gateway Error
Code 4A “Real Time Clock Vibration Stop Detected” is generated. In the case this happens, set
the current time with a teaching tool.
If the battery is fully charged, the clock data is retained for approximately 10 days after the
power is turned OFF.
Even though the time setting is conducted before the product is shipped, the battery is not fully
charged. Therefore, there may be a case that the clock data is lost even if the days described
above have not passed.
7. Rotary actuator cannot be set to Multi-Rotation Specification.
Rotary actuator cannot be set to Multi-Rotation Specification since the index mode setting
cannot be performed.
8. The controller is not applicable for the high output function.
This controller does not respond to the high output even if it is connected to an actuator that is
applicable for the high output function. It provides the operation in normal output.
10
9. According to Sequence Program Creation
Please note the following things when creating a sequence program.
When data transfer is necessary between two devices that have a different scan time from
each other, duration more than the longer scan time is required to certainly read the signal. (It is
recommended to have a timer setting of at least twice as long as the scan time in order for the
PLC to adequately perform the reading process.)
䎃
Ɣ Operation Image
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䎃
䎃
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Also, if one tries to read the signal that is being re-written by the other, the signal may be read wrong.
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.
10. 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”.
This controller
(scan time 1msec)
PLC
(e.g. scan time is 20msec)
Output
Process
Input
Process
As shown in the diagram, the input and output
timings of two devices that have different scan
time do not match, 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
succeeds 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 identifies the same
output status for that entire time period.
11
International Standards Compliances
MSEP with the following overseas standard.
Refer to Overseas Standard Compliance Manual (ME0287) for more detailed information.
RoHS Directive CE Marking UL
{
To be scheduled To be scheduled
12
Name for Each Parts and Their Functions
9) Operation Mode
Setting Switch
10) SIO Connector
17) Slot 0
Actuator Connector
Upper side (1st axis) : Axis No.0 (AX0)
Lower side (2nd axis) : Axis No.1 (AX1)
7) Status LEDs for Driver
6) Absolute Battery Connector
5) External Brake Input
Connector
4) Drive Cutoff/Emergency
Stop Input Connector
2) Power Line Input Connector
1) FG Terminal Block
3) Model Code Record Card
11) System I/O
Connector
12) Status LED
13) Fieldbus
/PIO Connector
8) Fan Unit
16) Slot 1
Actuator Connector
Upper side (3rd axis) : Axis No.2 (AX2)
Lower side (4th axis) : Axis No.3 (AX3)
15) Slot 2
Actuator Connector
Upper side (5th axis) : Axis No.4 (AX4)
Lower side (6th axis) : Axis No.5 (AX5)
14) Slot 3
Actuator Connector
Upper side (7th axis) : Axis No.6 (AX6)
Lower side (8th axis) : Axis No.7 (AX7)
13
1) FG Terminal Block
This is the terminal block for frame grounding. Since this controller is made of plastic, it is
necessary to ground from this terminal block. Ground Type should be Class D (formally
Class 3 grounding = ground resistance 100ȍ or less).
2) Power Line Input Connector
This is the connector to supply 24V DC power supply to the controller. The control power
supply and the motor power supply are to be input separately. This enables external drive
cutoff that cuts only the motor power supply.
3) Model Code Record Card
This is a card with information of the connected axes recorded on for eight axes at the
maximum. It is available to pull out from the controller and check the information.
4) Drive Cutoff/Emergency Stop Input Connector
External drive cutoff and emergency stop can be performed individually for each slot (2
axes).
5) Compulsory Brake Release Signal Input Connector
An external compulsory brake release can be performed on each axis. The brake is
ordinarily released with the servo ON and activated with the servo OFF. In the tuning at the
startup or in the maintenance work, have a brake release switch for each axis connected to
this connector to make a compulsory brake release available, and the actuator can be
moved manually while the servo is OFF.
6) Absolute Battery Connector
This connector is mounted on the absolute type. An external absolute battery box for eight
axes can be connected with one cable. This is not mounted on the incremental type.
7) Status LEDs for Driver
These lamps indicate the status of the driver and that for absolute type for each slot (in 2
axes unit). There is no absolute status display for the incremental type.
Part Name Description
SYS I System status of driver for axis connected to
upper connector
(Servo ON: GN,
Servo OFF: OFF,
Alarm generated: RD)
SYS II System status of driver for axis connected to
lower connector
(Servo ON: GN,
Servo OFF: OFF,
Alarm generated: RD)
I–0 Absolute status of driver for axis connected
to upper connector 0
I–1 Absolute status of driver for axis connected
to upper connector 1
I–2 Absolute status of driver for axis connected
to upper connector 2
II–0 Absolute status of driver for axis connected
to lower connector 0
II–1 Absolute status of driver for axis connected
to lower connector 1
II–2 Absolute status of driver for axis connected
to lower connector 2
SYS
I II
0
1
2
0
1
2
I
II
14
8) Fan Unit
This is the fan unit to cool down the controller. This unit can be detached from the controller
for maintenance by removing the screw on the hook in the front of the controller.
9) Operation Mode Setting Switch
This is a switch to change the operation mode between Automatic Operation (AUTO) and
Manual Operation (MANU). The operation modes are provided to avoid the duplication of
the SIO (Serial) communication operation using PC software or a teaching pendant
(described as teaching tool from now on) and the operation with Fieldbus or PIO (Parallel
I/O)
For the details of the mode selection, refer to 11) System I/O Connector.
10) SIO Connector
This is a connector dedicated for the teaching tool connection.
11) System I/O Connector
This is a connector for additional devices for the input of all-axes external emergency stop,
AUTO/MANU switchover and external regenerative resistor.
It is connected in a series with the operation mode setting switch (AUTO/MANU) on the front
panel. The controller can be in the following modes by the mode selection on each switch
and teaching tool.
Condition
MSEP status
Switch on Front Panel Teaching Tool
Note 1
Operation Mode
Switchover Input
Note 2
AUTO Prohibit PIO Startup OFF (Input 0V)
AUTO Accept PIO Startup OFF (Input 0V)
AUTO Accept PIO Startup ON (Release)
MANU Accept PIO Startup ON (Release)
AUTO
MANU Accept PIO Startup OFF (Input 0V)
AUTO Prohibit PIO Startup ON (Release)
MANU Prohibit PIO Startup ON (Release)
MANU
MANU Prohibit PIO Startup OFF (Input 0V)
Note 1 : “Accept PIO Startup” and “Prohibit PIO Startup” are the functions to select the
operation mode of when the teaching tool is connected.
Note 2 : Refer to 2.3 [4] for the details.
Caution : (1) If “Accept PIO Startup” is selected on the teaching tool, the AUTO operation
becomes available no matter the condition of the front panel or external
switchover signal input, thus attention may have to be paid. In such a
condition, the actuator may get activated by following the signal from the host.
(2) The information of “Accept PIO Startup” or “Prohibit PIO Startup” is remained
when the teaching tool is removed from the controller. Do not fail to select
“Prohibit PIO Startup” when removing the teaching tool after finishing the
teaching operation or debugging.
15
12) Status LED
They are the LED lamps to show the status of the controller and PIO or Fieldbus.
The layout and the content of LED display differ depending on PIO or each Fieldbus.
Refer to the operation of each mode for the details.
[Refer to 3.10 Status LEDs.]
13) Fieldbus/PIO Connector
A connector for Fieldbus connection is mounted for the Fieldbus. Type while PIO connector
is equipped for PIO Type.
14) to 17) Slot 0 to 3 Actuator Connector
Insert one driver board to one slot each. (Four driver boards are available to insert at the
maximum.)
Each driver board can control two axes.
Caution : (1) There are two types of driver board, one is for the pulse motor and the other
for the 24V servo motor, and each board is available for the connection of
different actuators.
(2) Do not attempt to insert the driver board to a slot other than the one that the
board was originally inserted to.
The parameter dedicated for the indicated actuator is already written to the
driver board at the purchase order. Inserting the driver board to another slot
may lead to a wrong wiring.
(3) On the slot without a driver board inserted, there is a face plate attached.
Caution : Cutoff/boot of driving source is to be done on each driver board (2 axes) (control
by one axis to another cannot be performed). Therefore, when Cold Start Level
(Drive Cutoff) Alarm is generated on one axis out of two, the other axis with the
alarm not being generated will also stop. Consider this when constructing the
system.
Driver Board
For pulse motor or 24V servo motor
(to be indicated at the purchase order considering
the connected actuator type)
16
Actuator Axes
Refer to the pictures below for the actuator axes that can be controlled by MSEP.
0 defines the home position, and items in ( ) are for the home-reversed type (option).
(1) Rod Type
(2) Slider Type
(3) Table Type
(4) Arm Type
Caution: There are some actuators that are not applicable to the origin reversed type.
Check further on the catalog or the Instruction Manual of the actuator.
+
(0)
0
(+)
0
(+)
+
(0)
+
(0)
0
(+)
+
(0)
0
(+)
17
(5) Gripper Type
(3-Finger Gripper)
Note Finger attachment is not included in the actuator package. Please prepare separately.
(6) Rotary Type
(330q Rotation Type) (360q Rotation Type)
For 360q Rotation Type with the origin reversed type, the directions of + and – are the other way
around.
0
330°
㧙
+
+
+
+
Finger Attachment
(Note)
18
Starting Procedures
When using this product for the first time, make sure to avoid mistakes and incorrect wiring by
referring to the procedure below. “PC” stated in this section means “PC software”.
Ļ
ĺ
No ĺ
ω
ĺ
No ĺ
Contact your local IAI distributor.
ĻYes
No ĺ
ĺ
Check Item
Is SYS in Status LEDs turned
ON in green?
Connect the teaching tool,
such as the PC software,
confirm the alarm code,
and remedy the indicated
situation.
Check Item
Is SYS* on the status LED display for the driver
on the axis number indicated for the servo-on
turned ON in green?
Safety Circuit Check
Does the emergency stop circuit (drive
cutoff circuit) work properly and turn the
servo OFF?
Target Position Setting [Except for simple direct mode and direct
numerical specification mode: Chapter 3]
Set the target position in “Position” Box in each position table.
ĸ
ĻYes
Test Run Adjustment 1
Cancel the emergency stop, remove the
work piece, set to low speed and check
the operation in the command of the host
controller (PLC, XSEL, etc.).
After doing so, set the speed back to the
indicated, put back the work piece and
check the operation.
Check if there is any problem with the
installation of the actuator and the condition of
the actuator use exceeds the ranges of the rated
values.
Adjust the servo if necessary.
Connect the teaching tool, such as the PC
software, confirm the alarm code, and
remedy the indicated situation.
ĻYes
ĸYes
Test Run Adjustment 2
1) Put the operation mode setting switch to AUTO side.
2) Output the operation command from PLC to the controller and check the system operation.
Check Item
Any vibration or
abnormal noise?
No ĺ
ĻYes
Check of Packed Items
Have all the items been delivered?
Installation and Wiring [Refer to Chapter 1,
Section 2 1 and 2.3]
Perform the installation of and wiring for the actuator
and controlle
r
.
Point Check Item
• Is frame ground (FG) connected?
• Has the noise countermeasure been taken?
Power Supply and Alarm Check
Connect a teaching tool such as the PC software, set
the operation mode setting switch to “MANU” side and
turn the power ON.
Select “Teach Mode 1 Safety Speed Effective/Prohibit
PIO Startup” on a teaching tool such as the PC
software.
Initial setting and operation mode select [Refer to Section 3.2]
Conduct the initial setting using the PC software, and make the operation mode select and
other necessary selections.
Register the operation mode selected in the initial setting to MSEP Gateway using
Gateway Parameter Setting Tool.
Servo ON
Turn the servo ON for all the connected axes by operating a teaching tool such as PC.
Check the emergency stop circuit.
Caution
Please perform this process with the actuator away from the mechanical end or
interfering objects as much as possible.
Move the actuator away from interfering surroundings. It may generate an alarm if the
actuator hit the mechanical end or interfering objects when the servo is turned ON.
The slider may get slightly dropped by self-weight if servo ON and OFF is repeatedly
performed at the same position. Be careful not to pinch the hand or damage the work.
No ĺ
ĻYes
Ļ
Chapter 1 Specications Check
19
Chapter 1 Specifications Check
1.1 Product Check
1.1.1 Parts
The standard configuration of this product is comprised of the following parts.
If you find any faulty or missing parts, contact your local IAI distributor.
No. Part Name Model Remarks
1 Controller Main Body
Refer to “How to read the model plate”,
“How to read the model”.
Accessories
2 Power Connector
FKC2.5HC/4-ST-5.08
(Supplier : PHOENIX CONTACT)
3
External Brake Input
Connector
FMCD1.5/5-ST-3.5
(Supplier : PHOENIX CONTACT)
4
Drive Cutoff/Emergency
Stop Input Connector
FMCD1.5/8-ST-3.5
(Supplier : PHOENIX CONTACT)
5 System I/O Connector
FMCD1.5/4-ST-3.5
(Supplier : PHOENIX CONTACT)
6
I/O Flat Cable
(For PIO Type)
CB-MSEP-PIO***
***shows the cable length
(Example) *** : 020 = 2 [m]
7
CC-Link Connector
(For CC-Link Type)
MSTB2.5/5-ST-5.08 ABGY AU
(Supplier : PHOENIX CONTACT)
8
DeviceNet Connector
(For DeviceNet Type)
MSTB2.5/5-ST-5.08 ABGY AU
(Supplier : PHOENIX CONTACT)
9
Absolute Battery Box
(Option)
MSEP-ABU (Battery AB-7) For Simple Absolute Type
10 First Step Guide
11 Instruction Manual (DVD)
12 Safety Guide
1.1.2 Teaching Tool
A teaching tool such as PC software is necessary when performing the setup for position
setting, parameter setting, etc. that can only be done on the teaching tool.
Please prepare either of the following teaching tools.
No. Part Name Model
1
PC Software
(Includes RS232C Exchange Adapter + Peripheral Communication
Cable)
RCM-101-MW
2
PC Software
(Includes USB Exchange Adapter + USB Cable + Peripheral
Communication Cable)
RCM-101-USB
3 Teaching Pendant (Touch Panel Teaching) CON-PTA
4
Teaching Pendant
(Touch Panel Teaching with deadman switch)
CON-PDA
5
Teaching Pendant
(Touch Panel Teaching with deadman switch + TP Adapter
(RCB-LB-TG))
CON-PGA
Chapter 1 Specications Check
20
1.1.3 Instruction manuals related to this product, which are contained in the
instruction manual (DVD).
No. Name Manual No.
1 MSEP Controller Instruction Manual ME0299
2
PC Software
RCM-101-MW/RCM-101-USB Instruction Manual
ME0155
3 Touch Panel Teaching CON-PTA/PDA/PGA Instruction Manual ME0295
4 X-SEL Controller RC Gateway Function Instruction Manual ME0188
1.1.4 How to read the model plate
Model ĺ
MODEL MSEP-C-5-20PI–N-42PI–PI-10I-20ILA-DV-2-0-ABB
Sereial No.ĺ
SERIAL No. 200307221
Manufactured date ĺ
PRODUCT DATE 2012/02/01
Manual No. ĺ
MANUAL No. MJ0299
CP INPUT DC24V 2.0A
Input power supply ĺ
MP INPUT DC24V 7.6A
AXIS No. /OUTPUT
0 0-24Vac 3ph 0-333Hz 1.0A
1
2 0-24Vac 3ph 0-333Hz 2.0A
3 0-24Vac 3ph 0-333Hz 2.0A
4 0-24Vac 3ph 0-333Hz 1.3A
5 0-24Vac 3ph 0-333Hz 1.3A
6
Information of the
connected axes ĺ
(Axis No.0 to 7)
7
CAUTION: Connect the wiring correctly and properly.
Use IAI Corporation specified cables.
Made In Japan
Chapter 1 Specications Check
21
1.1.5 How to read the model
(Example) Consists of 5 axes: Axes No.0, 2, 3 : Pulse motor type
Axes No.4, 5 : Servo motor type
Axis No.1 : Not connected
Axis No.3 : Inactive Axis
MSEP – C – 5 – 20PI–N–42PI–PI–10I–20ILA – DV – 2 – 0 – ABB – **
<Type>
C : Standard Type
<Connected Axes>
1 to 8 : Number of driver axes
<Detail of Connected Axis>
[Motor Type]
20P : Applicable for 20Ƒ pulse motor
28SP: Applicable for 20Ƒ pulse motor
28P : Applicable for 28Ƒ pulse motor
28SP : Applicable for 28Ƒ pulse motor
35P : Applicable for 35Ƒ pulse motor
42P : Applicable for 42Ƒ pulse motor
56P : Applicable for 56Ƒ pulse motor
2 : Applicable for 2W servo motor
5 : Applicable for 5W servo motor
5S : Applicable for 5W servo motor
10 : Applicable for 10W servo motor
20 : Applicable for 20W servo motor
20S : Applicable for 20W servo motor
30 : Applicable for 30W servo motor
A : Ineffective axis (equipped with pulse motor driver)
P : Ineffective axis (equipped with servo motor driver)
N : Not connected (not equipped with motor driver)
[Encoder Type]
I : Incremental
[Option (if servo motor is selected)]
HA : High Acceleration/Deceleration Type
LA : Low Power Consumption Type
<Identification for IAI use only>
* There is no identification in some
cases
<Applicable for Simple Absolute Type>
ABB : Simple Absolute Type
(with absolute battery)
ABBN : Simple Absolute Type
(with no absolute battery)
No description : Incremental Type
<Power Voltage>
0: 24V DC
<I/O Cable Length>
0 : No cable 2 : 2m (Standard)
3 : 3m 5 : 5m
<I/O Type>
NP : NPN PIO Type (Sink type)
PN : PNP PIO Type (Source type)
DV : DeviceNet Type
CC : CC-Link Type
PR : PROFIBUS-DP Type
CN : CompoNet Type
ML : MECHATROLINK Type
EC : EtherCAT Type
EP : EtherNet/IP Type
C
Chapter 1 Specications Check
22
1.2 List of Basic Specifications
Specification Item Driver for Servo Motor Driver for Pulse Motor
Number of Controlled Axes MAX. 8 axis
Control/Motor Power Supply Voltage 24V DC ±10%
Brake Power Supply 0.15A × Number of axes
Control Power Current Consumption 0.8A
Control Power In-Rush Current MAX. 5A 30ms or less
Motor type Rated
Low
power
MAX.
(Note 1)
Motor flange
size
Rated MAX.
(Note 2)
2W 0.8A 4.6A 20P 1.0A 2.0A
5W 1.0A 6.4A 28P 1.0A 2.0A
10W (RCL) 6.4A
10W (RCA/RCA2)
1.3A
2.5A 4.4A
35P 2.0A 2.0A
20W 1.3A 2.5A 4.4A
20W (20S type) 1.7A 3.4A 5.1A
42P 2.0A 2.0A
Motor Current Consumption
30W 1.3A 2.2A 4.4A 56P 2.0A 2.0A
Motor Power In-Rush Current Number of slots × MAX. 10A 5ms or less
Controller Heat Generation 26W
Control System Vector control Weak field-magnet vector control
RCA, RCP2, RCP3, RCP4
All types 800Pulse/rev
RCA2-ƑƑƑN 1048Pulse/rev RCA2
Other than RCA2-ƑƑƑN 800Pulse/rev
RA1L • SA1L • SA4L • SM4L 715Pulse/rev
RA2L • SA2L • SA5L • SM5L 855Pulse/rev
Encoder
Resolution
RCL
RA3L • SA3L • SA6L • SM6L 1145Pulse/rev
Actuator Cable Length MAX. 20m (Note) 10m maximum for Simple Absolute type
Serial Communication
(SIO Port: Only for teaching)
RS485 1CH (complying with Modbus Protocol) Speed 9.6 to 230.4kbps
PIO Type
PIO Type: Signal I/O dedicated for 24V DC (to be selected when purchased NPN/PNP)
Number of max. input: 4 points per axis, Number of max. output: 4 points per axis
Cable length MAX. 10m
External Interface
Fieldbus Type
DeviceNet
(Note)
, CC-Link, PROFIBUS-DP, CompoNet, MECHATROLINK, EtherNet/IP
and EtherCAT [Refer to Section 1.4 Specifications for each Fieldbus.]
An operation by RC Gateway Function is available. Refer to the other instruction
manual for more details.
Data Setting and Input PC software, Touch panel teaching, Gateway parameter setting tool
Data Retention Memory
Position data and parameters are saved in the nonvolatile memory. (There is no
limitation in number of writing)
Positioning Points
PIO Type: 2 or 3 points
Fieldbus Type: 256 points (There is no limit for simple direct and direct indication modes)
(Note) The number of positioning points differs depending on the operation mode
select by the parameter setting.
LED Display (mounted on Front
Panel)
8 LED lamps for driver status display (for each driver board)
Status LED 4 points (PIO type), 7 points (Fieldbus type)
Forcibly Releasing of Electromagnetic
Brake
Can be released with the forcibly releasing signal input (24V DC input) to each axis
Protective Functions
(Note 3)
Overcurrent Protection (Equipped with a built-in cutoff circuit using a semiconductor
for each slot)
Protection Function against Electric Shock
Class I basic insulation
Insulation Resistance
500V DC 10M:
Weight
620g, For simple absolute type, 690g plus 1950g for absolute battery box (for 8-axis type)
Cooling Method Forced air-cooling
External Dimensions 123W × 115H × 95D
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