IAI America MSEP User Manual

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.

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

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

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

(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

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

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

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

䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃

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 Specications 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 Specications 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 Specications 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

1 to 8 : Number of driver axes

[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

* There is no identification in some

cases

ABB : Simple Absolute Type

(with absolute battery)

ABBN : Simple Absolute Type

(with no absolute battery)

No description : Incremental Type

0: 24V DC

0 : No cable 2 : 2m (Standard) 3 : 3m 5 : 5m

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 Specications 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

Chapter 1 Specications Check

23

Specification Item Driver for Servo Motor Driver for Pulse Motor

Ambient Temperature

0 to 40qC

Ambient Humidity 85%RH or less (non-condensing) Ambient Environment [Refer to Installation Environment] Ambient Storage

Temperature

-20 to 70qC (0 to 40qC for absolute battery)

Ambient Storage Humidity

85%RH or less (non-condensing)

Usable Altitude 1000m or lower above sea level

Vibration Durability

Frequency 10 to 57Hz / Swing width: 0.075mm Frequency 57 to 150Hz / Acceleration: 9.8m/s

2

XYZ Each direction Sweep time: 10 min. Number of sweep: 10 times

Shock Resistance 150mm/s2 11ms Semi-sine wave pulse three times to each of the directions X, Y and Z

Environment

Protection Class IP20

Note 1 Maximum current draw is realized during the excitation phase following the initial servo power ON. (Normal: Approx.

1 to 2 sec, MAX: 10 sec).

Note 2 The current is maximized at the excitation phase detection conducted in the first servo-on process after the power is

supplied (ordinary 100ms). However, approximately 6A current flows at the recovery (when the drive power is

supplied) from an emergency stop (approx. 1 to 2ms). Note 3 For servo motor, the over-current protection is triggered at 1.4 times the maximum load current. Note 4 It is not applicable for the high output setting even if RCP4 is connected.

1.3 Calculation for Power Capacity

For the calculation of 24V DC power capacity, figure out the numbers for (1) to (6) below, and then follow Step (7). (1) Control Power Current Consumption : 0.8A ·······································································1) (2) Motor Power Current Consumption :

Add the total motor current consumption of all connected actuators.·································2)

(3) Current Consumption at Excitation Phase Detection :

Add the inrush current for all connected axes. ···································································3) (4) Add the Control Power Inrush Current : Number of slots × 5A each.·································4) (5) Add the Motor Power Inrush Current : Number of slots × 10A each. ·································5) (6) Current consumption of brake power supply : Number of actuators with brake × 0.15A····6) (7) Selection of Power Supply :

Usually, the rated current is to be approximately 1.3 times higher than the total of Control

Power (1) and Motor Power (2) and brake power (6) above considering approximately 30%

of margin to the load current. However, considering the inrush currents [excitation (3),

control (4) and motor power (5)], even though it is a short time, select a power supply with

“sufficient peak load capacity. High cumulative inrush currents can be avoided by taking

precautions to phase the initial servo ON condition and e-stop recovery so that they occur

at different times. If a power supply with insufficient peak capacity is utilized, voltage

drooping may occur. This may present issues with power supplies providing remote sensing

functionality.

(Note) Ensure motor and control power supplies reference the same potential when using

multiple power supplies.

(Reference) Selection of Power Supply Protection Circuit Breaker

It is recommended that the power supply protection is conducted on the primary side (AC power side) of the 24V DC power supply unit. When selecting the protection breaker, consider the rated cutoff current of the circuit breaker so a cutoff is surely performed even in the case of inrush current of 24V DC power supply unit or a short-circuit of the power supply.

• Rated Breaking Current > Short-circuit Current = Primary Power Supply Capacity/Power

Voltage

• (Reference) In-rush Current of IAI Power Supply Unit PS241 = 50 to 60A, 3msec

Chapter 1 Specications Check

24

1.4 Specifications for each Fieldbus

1.4.1 Specifications of DeviceNet Interface

Item Specification

DeviceNet2.0

Group 2 Dedicated Server

Communication Protocol

Network-Powered Insulation Node

Baud Rate Automatically follows the master

Communication System Master-Slave System (Polling)

Number of Occupied Channels Refer to 3.4.1 PLC Address Construction by each Operation Mode

Number of Occupied Nodes 1 Node

Baud Rate

Max. Network

Length

Total Branch Line

Length

Max. Branch Line

Length

500kbps 100m 39m

250kbps 250m 78m

Communication Cable Length

(Note 2)

125kbps 500m 156m

6m

Communications Cable Use the dedicated cable.

Connector

(Note 1)

MSTBA2.5/5-G-5.08-ABGY AU (Manufactured by PHOENIX CONTACT or equivalent)

Consumption Current of Communication Power Supply

60mA

Communication Power Supply 24V DC (Supplied from DeviceNet)

Note 1 The cable-side connector is a standard accessory. (PHOENIX CONTACT MSTB2.5/5-ST-5.08ABGY AU) Note 2 For T branch communication, refer to the Instruction Manuals for the master unit and programmable controller (PLC)

to be mounted.

1.4.2 Specifications of CC-Link Interface

Item Specification

Communication Protocol CC-Link ver1.1 or ver2

Station Type Remote Device Station (MAX. four stations occupied)

Baud Rate 10M/5M/2.5M/625k/156kbps

Communication System Broadcast Polling System

Number of occupied stations Refer to 3.4.1 PLC Address Construction by each Operation Mode

Baud Rate (bps) 10M 5M 2.5M 625k 156k Communication Cable Length

(Note 2)

Total Cable Length (m) 100 160 400 900 1200

Communications Cable Apply the dedicated cable

Connector

(Note 1)

MSTBA2.5/5-G-5.08-ABGY AU (Manufactured by PHOENIX CONTACT or equivalent)

Note 1 The cable-side connector is a standard accessory. (PHOENIX CONTACT MSTBA2.5/5-ST-5.08-ABGY AU) Note 2 For T branch communication, refer to the Instruction Manuals for the master unit and PLC to be mounted.

Chapter 1 Specications Check

25

1.4.3 Specifications of PROFIBUS-DP Interface

Item Specification

Communication Protocol PROFIBUS-DP

Baud Rate Automatically follows the master

Communication System Hybrid System (Master-Slave System or Token Passing System)

Number of occupied stations Refer to 3.4.1 PLC Address Construction by each Operation Mode

MAX. Total Network Baud Rate Cable Type

100m 12,000/6,000/3,000kbps

200m 1,500kbps

400m 500kbps

1000m 187.5kbps

Communication Cable Length

1200m 9.6/19.2/93.75kbps

Type A Cable

Communications Cable STP cable AWG18

Connector

(Note 1)

9-pin female D-sub Connector

Transmission Path Format Bus/Tree/Star

Note 1 Please prepare a 9-pin male D-sub connector for the cable-end connector.

1.4.4 Specifications of CompoNet Interface

Item Specification

Communication System CompoNet dedicated protocol

Communication Type Remote I/O communication

Baud Rate Automatically follows the master

Communication Cable Length Follows CompoNet specifications

Slave Type Word-Mixed Slave

Available Node Addresses for Setting 0 to 63 (Setting conducted on controller parameter)

Number of occupied channels Refer to 3.4.1 PLC Address Construction by each Operation Mode

Communications Cable

(Note 1)

Round Cable (JIS C3306, VCTF2-core) Flat cable I (with no sheathed) Flat cable II (sheathed)

Connector (Controller Side) XW7D-PB4-R (Manufactured by OMRON or equivalent)

Note 1 Prepare the communication cable separately.

1.4.5 Specifications of MECHATROLINK-II Interface

Item Specification

Slave Type Intelligent I/O

Baud Rate MECHATROLINK II 10Mbps

Max. Transmittable Distance 50m

Min. Distance between Stations 0.5m

Number of occupied bytes Refer to 3.4.1 PLC Address Construction by each Operation Mode

Transmission Frequency 1 to 8ms

Data Length MECHATROLINK II 32 bytes

Settable Node Address Range 61 to 7F [hex.]

Communications Cable

(Note 1)

STP cable with a Shield (characteristic impedance 130:)

Connector Controller Side DUSB-ARB82-T11A-FA (Manufactured by DDK or equivalent)

Note 1 Prepare the communication cable separately.

Chapter 1 Specications Check

26

1.4.6 Specifications of EtherNet/IP Interface

Item Specification

Communication Protocol IEC61158 (IEEE802.3)

Baud Rate 10BASE-T/100BASE-T (Autonegotiation setting is recommended)

Communication Cable Length

Follows EtherNet/IP specifications (Distance between hub and each node: 100m max.)

Number of Connection Master Unit

Available Node Addresses for Setting 0.0.0.0 to 255.255.255.255

Communications Cable

(Note 1)

Category 5e or more (Double shielded cable braided with aluminum foil recommended)

Connector RJ45 Connector × 1pc

Note 1 Prepare separately for the communication cable.

1.4.7 Specifications of EtherCAT Interface

Item Specification

Communication Protocol IEC61158 type 12

Physical Layer 100Base-TX (IEEE802.3)

Baud Rate Automatically follows the master

Communication Cable Length Follows EtherCAT® specifications (Distance between each node: 100m max.)

Slave Type I/O slave

Available Node Addresses for Setting

0 to 127 (17 to 80: When connected to the master (CJ1W-NC*82) manufactured by OMRON)

Communications Cable

(Note 1)

Category 5e or more (Double shielded cable braided with aluminum foil recommended)

Connector RJ45 Connector × 2pcs (Input × 1, Output × 1)

Connect Daisy chain only

Note 1 Prepare separately for the communication cable.

Chapter 1 Specications Check

27

1.4.8 PIO Input and Output Interface

Input section Output section

Input Voltage

24V DC r10%

Load Voltage

24V DC r10%

Input Current 5mA 1 circuit

Peak Load

Electric Current

50mA 1 circuit

ON/OFF

voltage

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

Leak Current MAX 2mA/1 point

Specification

External circuit insulation with Photocoupler

NPN

Internal

Power Source

680

5.6K

P24

MSEP

Input Terminal

External Power Source 24V DC

15

P24

N

MSEP

Internal

Power Source

External Power Source 24V DC

Output Terminal

Load

PNP

680

5.6K

N

MSEP

Internal

Power Source

Input Terminal

External Power Source 24V DC

15

P24

N

MSEP

Internal

Power Source

External Power Source 24V DC

Output Terminal

Load

I/O Cable Refer to 2.4.7 Connection of PIO

24V NPN Type 0V 24V PNP Type 0V

Pin No.

A1 A2 A3

A16 A17 A18 A19

A32 A33 A34

B1 B2 B3

B16 B17 B18 B19

B32 B33 B34

Pin No.

A1 A2 A3

A16 A17 A18 A19

A32 A33 A34

B1 B2 B3

B16 B17 B18 B19

B32 B33 B34

Load

Chapter 1 Specications Check

28

1.5 External Dimensions

1.5.1 Controller Main Unit

123

115

95

111

108

7.5

59 from DIN rail center

10.5

φ5

φ

5

(4)

4

10.5

Front View

Rear View

Side View

Chapter 1 Specications Check

29

1.5.2 Absolute Battery Box

111

108

59 from DIN rail center

10.5

φ

5

φ

5

(4)

4

123

115

98

Front View

Rear View

Side View

Chapter 1 Specications Check

30

1.6 Option

1.6.1 Absolute Battery Box

For Simple Absolute type, an absolute battery box capable for the batteries for 8 axes is used. The battery is to be attached only to the axes for Simple Absolute Type. The connection to MSEP controller is to be made with the dedicated cable (CB-MSEP-AB005).

(Note) Cable length: 0.5m

Front View when Cover ON

#:

#:

#:

#:#:#:#:

#:#: #:#:

#:

#:

#:

#:

#:

5th Axis Battery

(Axis No.4)

7th Axis Battery

(Axis No.6)

1st Axis Battery

(Axis No.0)

3rd Axis Battery

(Axis No.2)

6th Axis Battery

(Axis No.5)

8th Axis Battery

(Axis No.7)

2nd Axis Battery

(Axis No.1)

4th Axis Battery

(Axis No.3)

Front View when Cover OFF

Connector to connect with MSEP (Note) Do not apply force

not being perpendicular to the connector when insert or detach the cable.

Chapter 1 Specications Check

31

1.6.2 Regenerative Resistor Unit

This unit is necessary to be connected in the case that the regenerative energy cannot be consumed by the regenerative resistor built into the MSEP controller. It is necessary to connect the unit in the following case:

φ

4.2

8

12

3

6

9.5

14

0.6

48

(25) (20)

500

(20) (30)

0.3SQ SPMCU-2(K) (Kaneko Cord) Cable Diameter φ4.6

2.8

Rectangular Wire-wound Resistor: BGR10THA12RJ (KOA)

Condition to Require Regenerative Units

Number of Connected Actuator 3 to 8 units of high acceleration/deceleration type

actuators

Number of Regenerative Unit 1

Caution: The regenerative resistor consumes regenerative current and converts it to heat.

Therefore, the temperature may get high in some operational conditions. Attach on the metal part of the device with a screw to radiate the heat.

Chapter 1 Specications Check

32

1.7 Installation and Storage Environment

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

conductive pollution by frost (IEC60664-1)

[1] Installation Environment

Do not use this product in the following environment.

x Location where the surrounding air temperature exceeds the range of 0 to 40qC x Location where condensation occurs due to abrupt temperature changes x Location where relative humidity exceeds 85%RH x Location exposed to corrosive gases or combustible gases x Location exposed to significant amount of dust, salt or iron powder x Location subject to direct vibration or impact x Location exposed to direct sunlight x Location where the product may come in contact with water, oil or chemical droplets x Environment that blocks the air vent [Refer to 1.8 Noise Elimination and Mounting Method]

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

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

[2] Storage and Preservation Environment

x Storage and preservation environment follows the installation environment. Especially, when the

product is to be left for a long time, pay special attention to condensed water. Unless specially specified, moisture absorbency protection is not included in the package when the machine is delivered. In the case that the machine is to be stored in an environment where dew condensation is anticipated, take the condensation preventive measures from outside of the entire package, or directly after opening the package.

Chapter 1 Specications Check

33

1.8 Noise Elimination and Mounting Method

(1) Noise Elimination Grounding (Frame Ground)



(2) Precautions regarding wiring method

1) Wire is to be twisted for the power supply.

2) Separate the signal and encoder lines from the power supply and power lines.

(3) Noise Sources and Elimination

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

1) AC solenoid valves, magnet switches and relays [Measure] Install a Surge absorber parallel with the coil.

2) DC solenoid valves, magnet switches and relays [Measure] Mount the windings and diodes in parallel.

Select a diode built-in type for the DC relay.

Earth Terminal Class D grounding (Formerly Class-III grounding : Grounding resistance at 100: or less)

Copper wire: Connect a ground wire with a diameter of 1.6 mm (2mm

2

: AWG14) or larger.

Connect the ground line to the FG terminal block on the controller unit.

Controller

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

Controller

Other

equipment

Controller

Other

equipment

Other

equipment

Surge absorber

Relay coil

R

C

+24V 0V

+ -

Chapter 1 Specications Check

34

(4) Cooling Factors and Installation

Design and Build the system considering the size of the controller box, location of the controller and cooling factors to keep the ambient temperature around the controller below 40qC. Pay a special attention to the battery unit since the performance of it would drop both in the low and high temperatures. Keep it in a room temperature environment as much as possible. (Approximately 20qC is the recommended temperature.)

20mm or more

50mm or more

Ensure enough space for wiring.

50mm or more

Air outlet

(Heat

Radiation)

Air outlet

(Heat

Radiation)

Air inlet

For the attachment of the unit, use the fixture holes on the four corners or attach on the DIN rail. (Attachment should be the same for the absolute battery box.)

Rear View

I5 fixture hole

DIN rail

I5 fixture hole

Lever for attachment to DIN rail

Chapter 2 Wiring

35

Chapter 2 Wiring

2.1 Wiring Diagram (Connection of construction devices)

2.1.1 For PIO Control

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

connector that connects the PC software or teaching pendant to the controller. (For touch panel teaching (CON-PTA), insertion and removal of the active line is available.) Inserting or removing the connector while the power is turned ON causes a controller failure.

Teaching Pendant Touch Panel Teaching (to be purchased separately)

Host System (PLC, etc.…Please prepare separately)

Power Supply for I/O (24V DC

…Please prepare separately)

A

ctuato

r

Emergency Stop Circuit

PC software (to be purchased separately)

A

bsolute Battery Box

Control/Drive Power Supply (24V DC

…Please prepare separately)

CB-MSEP

-AB005

Flat Cable (Accessories)

Chapter 2 Wiring

36

2.1.2 When Controlled by Fieldbus

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

connector that connects the PC software or teaching pendant to the controller. (For touch panel teaching (CON-PTA), insertion and removal of the active line is available.) Inserting or removing the connector while the power is turned ON causes a controller failure.

Teaching Pendant Touch Panel Teaching (to be purchased separately)

Host System (Master Unit) (PLC, etc.…Please prepare separately)

Communication power supply (if necessary) (24V DC

…Please prepare separately)

A

ctuator

Emergency Stop Circuit

Control/Drive Power Supply (24V DC

…Please prepare separately)

PC software (to be purchased separately)

A

bsolute Battery Box

Each Fieldbus communication cable

Follow the specifications of each Fieldbus for how to lay out wiring.

CB-MSEP

-AB005

Chapter 2 Wiring

37

2.1.3 For RC Gateway Control

This product is capable for the connection to RC Gateway Function (Fieldbus type) equipped in XSEL controller to make an operation in harmony with XSEL controller.

XSEL-P/Q

MSEP

24V DC Power Supply

When RC controller is connected additionally

PCON-DV

ACON-DV

Junction Unit for DeviceNet

Chapter 2 Wiring

38

2.2 Operation Pattern Selected

2.2.1 Outline for Operation Patterns

PIO type MSEP units provide 6 varying patterns of PIO operation. Fieldbus type MSEP units provide 6 varying modes of fieldbus operation. Select an appropriate pattern or fieldbus mode based upon your application requirements. See Section 3 Operation for the details of the operation patterns.

Interface Operation Pattern Number of position points Description Details

Single Solenoid System

Control is performed with one input signal as it is done for the single solenoid.

0 : Point-to-Point

Movement

2 (Forward end, Backward end)

Double Solenoid System

Control is performed with two input signals as it is done for the double solenoid.

Single Solenoid System

Speed is available to change during a movement. Control is performed with one input signal as it is done for Single Solenoid, however, the speed can be changed while in move if a movement speed change signal is input.

1 : Point-to-Point

Movement, Movement Speed Setting

2 (Forward end, Backward end)

Double Solenoid System

Speed is available to change during a movement. Control is performed with two input signals as it is done for Double Solenoid, however, the speed can be changed while in move if a movement speed change signal is input.

Single Solenoid System

Control is performed with one input signal as it is done for Single Solenoid, however, the target position and operational condition can be changed while in move if a target position change signal is input.

2 : Point-to-Point

Movement, Target Position Change

2 (Forward end, Backward end)

Double Solenoid System

Control is performed with two input signals as it is done for Double Solenoid, however, the target position and operational condition can be changed while in move if a target position change signal is input.

3 : 2-Input, 3-Point

Movement

3 (Forward end, Backward end, Intermediate)

Movement is made among three points with the combination of two input signals.

4 : 3-Input, 3-Point

Movement

3 (Forward end, Backward end, Intermediate)

Movement is made among three points with three input signals.

PIO Type

5 : Continuous

Reciprocating Operation

2 (Forward end, Backward end)

Movement is made between the forward end and backward end repeatedly while one input signal is ON.

3.1.1 (1)

0 to 5 SEP I/O 2 or 3 The same control as PIO stated previously is available

if the interface is Fieldbus.

Positioner 1 256 The position data can be registered at 256 points at

the maximum and a stop can be made at the registered points. Monitoring of the current position is also available.

Simple Direct

The target position can be indicated directly with

inputting a number. Monitoring of the current position is also available.

Number of direct numerical specification

The target position, speed acceleration/deceleration

and pressing current limit can be indicated with inputting a number. Monitoring of not only the current position, but also the current speed and indicated current are available.

Positioner 2 256 The position data can be registered at 256 points at

the maximum and a stop can be made at the registered points. The monitoring of the current position is not available. This mode is that the transferred data is reduced from Positioner 1 Mode.

Fieldbus Type

6

Positioner 3 256 The position data can be registered at 256 points at

the maximum and a stop can be made at the registered points. The monitoring of the current position is not available. This mode is that the transferred data is reduced from Positioner 2 Mode to control only the minimum signals necessary only for the movement operation.

3.1.1 (2)

Chapter 2 Wiring

39

2.2.2 PIO Pattern Selection and PIO Signal

1) PIO Patterns and Signal Assignment The signal assignment of I/O flat cable by the PIO pattern is as shown below. Follow the following table to connect the external equipment (such as PLC).

Operation Pattern (PIO pattern)

0 1 2 3 4 5

2.3 Circuit Diagram

Sample circuit diagrams are shown below.

[1] Power Supply and Emergency Stop

The diagram shown below is an example of a circuit for when reflecting the emergency stop switch on a teaching pendant to the emergency stop circuit of the system.

Note 1 When the teaching pendant is not connected, S1 and S2 become short-circuited inside the controller. Note 2 When the motor power must be disconnected externally for safety category compliance, apply a safety rated

contactor between MPISLOT* and MPOSLOT*. Choose one that is capable to open and close with the motor

current consumption of the connected actuator [Refer to 1.2 List of Basic Specifications.]. Note 3 The rating for the emergency stop signal (EMG-) to turn ON/OFF at contact CR1 is 24V DC and 10mA. Note 4 For CR1, select the one with coil current 0.1A or less. Note 5 If supplying power with using a 24V DC, having it turned ON/OFF, keep the 0V connected and have the +24V

supplied/cut (cut one side only). Note 6 By cutting out the connection between EMG+SLOT* and EMGINSLOT*, only the disconnected slot number can be

made in the condition of an emergency stop. (*: Slot Number)

EMGINSLOT0

EMGINSLOT1

EMGINSLOT2

EMGINSLOT3

Emergency Stop Reset Switch

Emergency Stop Switch

CR1

SIO Connector

CR1

24V

0V

Emergency Stop Control Circuit

Motor Power Supply (Slot 3) (Axis No.6 and 7)

MPISLOT3

MPOSLOT3

CR2

(Note2)

MPISLOT2

MPOSLOT2

CR2

(Note2

)

MPOSLOT1

MPISLOT1

CR2

(Note2)

MPISLOT0

MPOSLOT0

CR2

(Note2)

Motor Power Supply (Slot 2) (Axis No.4 and 5)

Motor Power Supply (Slot 1) (Axis No.2 and 3)

Motor Power Supply (Slot 0) (Axis No.0 and 1)

MP+24V

0V

CP+24V 0V

Control

Powe

r

External Drive Cutoff • Emergency Stop Input Connector

Power Line Input Connecto

r

EMG+SLOT0

(Note6

)

S1

4

3

2

1

12

11

10

9

7

8

5

6

15

16

13

14

1

3

4

2

Emergency Stop Switch on Teaching Pendant

S2

(Note1)

EMG A EMG B

MSEP

85

EMG-

EMG+SLOT1

(Note6

)

EMG+SLOT2

(Note6

)

EMG+SLOT3

(Note6

)

3

2

4

CR1

(Note4

)

CR2

(Note2

)

CR1

System I/O Connector

Chapter 2 Wiring

43

Check the previous page for Notes 1 to 6.

EMGINSLOT0

EMGINSLOT1

EMGINSLOT2

EMGINSLOT3

Emergency Stop Reset Switch

Emergency Stop Switch

CR1

SIO Connector

CR1

24V 0V

S1

Emergency Stop Control Circuit

Motor Power Supply (Slot 3) (Axis No.6 and 7)

MPISLOT3

MPOSLOT3

CR2

(Note2)

MPISLOT2

MPOSLOT2

CR2

(Note2)

MPOSLOT1

MPISLOT1

CR2

(Note2)

MPISLOT0

MPOSLOT0

CR2

(Note2)

Motor Power Supply (Slot 2) (Axis No.4 and 5)

Motor Power Supply (Slot 1) (Axis No.2 and 3)

Motor Power Supply (Slot 0) (Axis No.0 and 1)

MP+24V 0V

CP+24V 0V

Control

Powe

r

External Drive Cutoff • Emergency Stop Input Connector

Power Line Input Connecto

r

System I/O Connector

MSEP

MPISLOT3

MPOSLOT3

CR2

(Note 2)

MPISLOT2

MPOSLOT2

CR2

(Note 2)

MPOSLOT1

MPISLOT1

CR2

(Note 2)

MPISLOT0

MPOSLOT0

CR2

(Note 2)

MP+24V 0V

CP+24V 0V

EMG+SLOT0

(Note6

)

EMG+SLOT0

EMGINSLOT0

EMG+SLOT1

EMGINSLOT1

EMG+SLOT2

EMGINSLOT2

EMG+SLOT3

EMGINSLOT3

S1

4

3

2

1

12

11

10

9

7

8

5

6

15

16

13

14

1

3

4

2

3

4

3

2

1

12

11

10

9

7

8

5

6

15

16

13

14

1

3

4

2

External Drive Cutoff • Emergency Stop Input Connecto

r

Power Line Input Connecto

r

Emergency Stop Switch on Teaching Pendant

(Note6

)

S2

(Note1)

EMG A EMG B

MSEP

85

EMG-

EMG+SLOT2

(Note6

)

EMG+SLOT3

(Note6

)

3

2

4

SIO Connector

S2

EMG-

2

4

85

(Note1)

(Note6

)

(Note6

)

(Note6

)

CR1

(Note4

)

CR2

(Note2

)

CR1

System I/O Connector

EMG+SLOT1

(Note6

)

Chapter 2 Wiring

44

Motor • Encoder Circuit

There is an axis number (AX0 to AX7) shown on the actuator cables. Refer to the figure below to plug the actuators correctly. Wrong connection will issue an error such as the encoder wire breakage. Check in the instruction manual of each actuator for the details (connection layout diagram) of each cable.



1) Connection to RCP2 Series

2) Connection to RCP3, RCP4, RCA2 and RCL Series

3) Connection to RCP2 Small Rotary Series

MSEP

AX0 to 7 Actuator Connector

Connection Cable

(Note 1)

MSEP

AX0 to 7 Actuator Connector

Connection Cable

(Note 1)

MSEP

AX0 to 7 Actuator Connector

Connection Cable

(Note 1)

AX0 (1st axis)

AX1 (2nd axis)

AX2 (3rd axis)

AX3 (4th axis)

AX4 (5th axis)

AX5 (6th axis)

AX6 (7th axis)

AX7 (8th axis)

Chapter 2 Wiring

45

4) Connection to RCA Series

Note 1 Applicable Connection Cable Model Codes ƑƑƑ: Cable length Example) 030 = 3m

Model Cable Remarks

RCP2 (Except for small rotary)

CB-PSEP-MPAƑƑƑ Robot cable from 0.5 to 20m

Small rotary type RCP2-RTBL/RTCL

/RTBSL/RTCSL /RTBBL/RTCBL

CB-RPSEP-MAƑƑƑ Robot cable from 0.5 to 20m

RCA CB-ASEP-MPAƑƑƑ Robot cable from 0.5 to 20m RCP3, RCA2, RCL CB-APSEP-MPAƑƑƑ Robot cable from 0.5 to 20m RCP3, RCA2, RCL CB-APSEP-MPAƑƑƑ-LC Standard cable from 0.5 to 20m RCP4 CB-CA-MPAƑƑƑ-RB Robot cable from 0.5 to 20m RCP4 CB-CA-MPAƑƑƑ Standard cable from 0.5 to 20m

[2] Connection to Absolute Battery Unit (for Simple Absolute Type Only)

       

(Note) Do not apply force not being perpendicular to the connector when insert or detach the

cable.



[3] Layout for Mode Switchover (AUTO/MANU) Circuit

When a switchover of the operation modes (AUTO/MANU) is required with an external input, connect a device such as a switch between AUTO/MANU + terminal and AUTO/MANU – terminal. If not switching externally, apply a jumper on AUTO/MANU + terminal and AUTO/MANU – terminal.

            

MSEP

AX0 to 7 Actuator Connector

Connection Cable

(Note 1)

MSEP

A

bsolute Battery

Connector

Absolute Battery Box

CB-MSEP-AB005

The cable length should be 0.5m.

MSEP

A

UTO/MANU-

A

UTO/MANU+

System I/O Connector

Operation Mode Setting (AUTO/MANU) Switch

MANU

20K:

A

UTO

100K:

24V

External Operation Mode Setting (AUTO/MANU) Switch

5.6K:

OFF: AUTO ON : MANU

Internal Power Supply

5

6

Chapter 2 Wiring

46

[4] Layout for External Brake Input Circuit

Lay out the circuit when an external compulsory brake release with using an actuator equipped with a brake is desired. It is not necessary if an external release is not required. It is possible to release the brake as long as the control power is supplied to MSEP even without the main power being supplied to the controller.

  

             

[5] Layout of Regenerative Resistor (Option)

Condition to Require Regenerative Units

Number of Connected Actuator 3 to 8 units of high acceleration/deceleration type

actuators

Number of Regenerative Unit 1

Caution: The regenerative resistor consumes regenerative current and converts it to heat.

Therefore, the temperature may get high in some operational conditions. Attach on the metal part of the device with a screw to radiate the heat.

A

xis No.0 Brake Release Input Circuit

A

xis No.7 Brake Release Input Circuit

A

xis No.6 Brake Release Input Circuit

A

xis No.4 Brake Release Input Circuit

A

xis No.5 Brake Release Input Circuit

A

xis No.3 Brake Release Input Circuit

A

xis No.2 Brake Release Input Circuit

A

xis No.1 Brake Release Input Circuit

MSEP

GND for Brake Release

BKRLS AXIS No.3

BKRLS AXIS No.0

BKRLS AXIS No.2

0V

BKRLS AXIS No.5

BKRLS AXIS No.1

BKRLS AXIS No.4

BKRLS AXIS No.7

BKRLS AXIS No.6

24V

0V

External Brake Input Connector

MSEP

RB-

RB+

System I/O Connector

External Regenerative Resistor Units

(

RER-1

)

4

3

2

1

9

8

7

6

5

10

7

8

Chapter 2 Wiring

47

[6] Wiring Layout for PIO (lay out the circuit for PIO type)

Ɣ Operation pattern 0 ······Point-to-Point Movement (Standard)

A1

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

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

24V Supply (for I/O)

Movement/Backward End Movement

Pause/Forward End Movement

Reset

No function/Servo ON

Movement/Backward End Movement

Pause/Forward End Movement

Reset

No function/Servo ON

Movement/Backward End Movement

Pause/Forward End Movement

Reset

No function/Servo ON

Movement/Backward End Movement

Pause/Forward End Movement

Reset

No function/Servo ON

24V Supply (for I/O)

Movement/Backward End Movement

Pause/Forward End Movement

Reset

No function/Servo ON

Movement/Backward End Movement

Pause/Forward End Movement

Reset

No function/Servo ON

Movement/Backward End Movement

Pause/Forward End Movement

Reset

No function/Servo ON

Movement/Backward End Movement

Pause/Forward End Movement

Reset

No function/Servo ON

Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Home Return Completion/Servo ON Alarm Output/Servo ON Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Home Return Completion/Servo ON Alarm Output/Servo ON Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Home Return Completion/Servo ON Alarm Output/Servo ON Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Home Return Completion/Servo ON Alarm Output/Servo ON 0V Supply (for I/O) Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Home Return Completion/Servo ON Alarm Output/Servo ON Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Home Return Completion/Servo ON Alarm Output/Servo ON Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Home Return Completion/Servo ON Alarm Output/Servo ON Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Home Return Completion/Servo ON Alarm Output/Servo ON 0V Supply (for I/O)

A18

MSEP

24V ST0 *STP/ST1 RES

-/SON ST0 *STP/ST1 RES

-/SON 24V ST0 *STP/ST1 RES

-/SON ST0 *STP/ST1 RES

-/SON

PIO Connector

A2 A3 A4 A5 A6 A7 A8

A9 A10 A11 A12 A13 A14 A15 A16 A17

B2

B1

B3 B4 B5 B6 B7 B8

B9 B10

B11 B12 B13 B14 B15 B16 B17

A19

A20

A21

A22

A23

A24

A25

A26

A27

A28

A29

A30

A31

A32

A33

B18

B19

B20

B21

B22

B23

B24

B25

B26

B27

B28

B29

B30

B31

B32

B33

B34

A34

A

xis No.0

A

xis No.1

A

xis No.2

A

xis No.3

A

xis No.4

A

xis No.5

A

xis No.6

A

xis No.7

Axis No.0

Axis No.1

Axis No.2

Axis No.3

Axis No.4

Axis No.5

Axis No.6

Axis No.7

LS0/PE0 LS1/PE1

HEND/SV

*ALM/SV LS0/PE0 LS1/PE1

HEND/SV

*ALM/SV LS0/PE0 LS1/PE1

HEND/SV

*ALM/SV LS0/PE0 LS1/PE1

HEND/SV

*ALM/SV

0V LS0/PE0 LS1/PE1

HEND/SV

*ALM/SV LS0/PE0 LS1/PE1

HEND/SV

*ALM/SV LS0/PE0 LS1/PE1

HEND/SV

*ALM/SV LS0/PE0 LS1/PE1

HEND/SV

*ALM/SV

0V

“*” in codes above shows the signal of the active low. Processing occurs when an input signal of the type is turned OFF. An output signal of the type is normally ON in the power-on status and turned OFF at signal output.

Use the attached cable for the I/O connection. Model : CB-MSEP-PIOƑƑƑ (ƑƑƑ indicates the cable length L. Example. 020 = 2m)

Flat Cable (34-core) × 2

YW-8 (34B)

BR-5 (1B)

YW-4 (34A)

BR-1 (1A)

34A 34B

1A 1B

Half Pitch MIL Socket HIF6-68D-1.27R (Hirose Electric)

A

B

L

No treatment conducted

Chapter 2 Wiring

48

Ɣ Operation pattern 1 ······Point-to-Point Movement (Moving Speed Setting)

A1

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

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

24V Supply (for I/O)

Movement/Backward End Movement

Pause/Forward End Movement

Movement Speed Change/Reset

No function

/Servo ON

Movement/Backward End Movement

Pause/Forward End Movement

Movement Speed Change/Reset

No function

/Servo ON

Movement/Backward End Movement

Pause/Forward End Movement

Movement Speed Change/Reset

No function

/Servo ON

Movement/Backward End Movement

Pause/Forward End Movement

Movement Speed Change/Reset

No function

/Servo ON

24V Supply (for I/O)

Movement/Backward End Movement

Pause/Forward End Movement

Movement Speed Change/Reset

No function

/Servo ON

Movement/Backward End Movement

Pause/Forward End Movement

Movement Speed Change/Reset

No function

/Servo ON

Movement/Backward End Movement

Pause/Forward End Movement

Movement Speed Change/Reset

No function

/Servo ON

Movement/Backward End Movement

Pause/Forward End Movement

Movement Speed Change/Reset

No function

/Servo ON

Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Home Return Completion/Servo ON Alarm Output/Servo ON Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Home Return Completion/Servo ON Alarm Output/Servo ON Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Home Return Completion/Servo ON Alarm Output/Servo ON Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Home Return Completion/Servo ON Alarm Output/Servo ON 0V Supply (for I/O) Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Home Return Completion/Servo ON Alarm Output/Servo ON Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Home Return Completion/Servo ON Alarm Output/Servo ON Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Home Return Completion/Servo ON Alarm Output/Servo ON Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Home Return Completion/Servo ON Alarm Output/Servo ON 0V Supply (for I/O)

A18

MSEP

24V ST0 *STP/ST1 SPDC(RES)

-/SON ST0 *STP/ST1 SPDC(RES)

-/SON 24V ST0 *STP/ST1 SPDC(RES)

-/SON ST0 *STP/ST1 SPDC(RES)

-/SON

PIO Connector

A2 A3 A4 A5 A6 A7 A8

A9 A10 A11 A12 A13 A14 A15 A16 A17

B2

B1

B3 B4 B5 B6 B7 B8

B9 B10

B11 B12 B13 B14 B15 B16 B17

A19 A20 A21 A22 A23 A24 A25 A26 A27 A28 A29 A30 A31 A32 A33

B18 B19 B20 B21 B22 B23 B24

B25 B26 B27 B28 B29 B30 B31 B32 B33 B34

A34

A

xis No.0

A

xis No.1

A

xis No.2

A

xis No.3

A

xis No.4

A

xis No.5

A

xis No.6

A

xis No.7

Axis No.0

Axis No.1

Axis No.2

Axis No.3

Axis No.4

Axis No.5

Axis No.6

Axis No.7

LS0/PE0 LS1/PE1

HEND/SV

*ALM/SV

LS0/PE0 LS1/PE1

HEND/SV

*ALM/SV

LS0/PE0 LS1/PE1

HEND/SV

*ALM/SV

LS0/PE0 LS1/PE1

HEND/SV

*ALM/SV

0V LS0/PE0 LS1/PE1

HEND/SV

*ALM/SV

LS0/PE0 LS1/PE1

HEND/SV

*ALM/SV

LS0/PE0 LS1/PE1

HEND/SV

*ALM/SV

LS0/PE0 LS1/PE1

HEND/SV

*ALM/SV

0V

“*” in codes above shows the signal of the active low. Processing occurs when an input signal of the type is turned OFF. An output signal of the type is normally ON in the power-on status and turned OFF at signal output.

Use the attached cable for the I/O connection. Model : CB-MSEP-PIOƑƑƑ (ƑƑƑ indicates the cable length L. Example. 020 = 2m)

Flat Cable (34-core) × 2

YW-8 (34B)

BR-5 (1B)

YW-4 (34A)

BR-1 (1A)

34A 34B

1A 1B

Half Pitch MIL Socket HIF6-68D-1.27R (Hirose Electric)

A

B

L

No treatment conducted

Chapter 2 Wiring

49

Ɣ Operation pattern 2 ······Point-to-Point Movement (Target Position Change)

A1

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

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

24V Supply (for I/O)

Movement/Backward End Movement

Pause/Forward End Movement

Target Position Change/Reset

No function/Servo ON

Movement/Backward End Movement

Pause/Forward End Movement

Target Position Change/Reset

No function/Servo ON

Movement/Backward End Movement

Pause/Forward End Movement

Target Position Change/Reset

No function/Servo ON

Movement/Backward End Movement

Pause/Forward End Movement

Target Position Change/Reset

No function/Servo ON

24V Supply (for I/O)

Movement/Backward End Movement

Pause/Forward End Movement

Target Position Change/Reset

No function/Servo ON

Movement/Backward End Movement

Pause/Forward End Movement

Target Position Change/Reset

No function/Servo ON

Movement/Backward End Movement

Pause/Forward End Movement

Target Position Change/Reset

No function/Servo ON

Movement/Backward End Movement

Pause/Forward End Movement

Target Position Change/Reset

No function/Servo ON

Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Home Return Completion/Servo ON Alarm Output/Servo ON Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Home Return Completion/Servo ON Alarm Output/Servo ON Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Home Return Completion/Servo ON Alarm Output/Servo ON Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Home Return Completion/Servo ON Alarm Output/Servo ON 0V Supply (for I/O) Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Home Return Completion/Servo ON Alarm Output/Servo ON Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Home Return Completion/Servo ON Alarm Output/Servo ON Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Home Return Completion/Servo ON Alarm Output/Servo ON Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Home Return Completion/Servo ON Alarm Output/Servo ON 0V Supply (for I/O)

A18

MSEP

24V ST0 *STP/ST1 CN1(RES)

-/SON ST0 *STP/ST1 CN1(RES)

-/SON 24V ST0 *STP/ST1 CN1(RES)

-/SON ST0 *STP/ST1 CN1(RES)

-/SON

PIO Connector

A2 A3 A4 A5 A6 A7 A8

A9 A10 A11 A12 A13 A14 A15 A16 A17

B2

B1

B3

B4

B5

B6

B7

B8

B9

B10

B11 B12 B13 B14 B15 B16 B17

A19 A20 A21 A22 A23 A24 A25 A26 A27 A28 A29 A30 A31 A32 A33

B18 B19 B20 B21 B22 B23 B24

B25 B26 B27 B28 B29 B30 B31 B32 B33 B34

A34

A

xis No.0

A

xis No.1

A

xis No.2

A

xis No.3

A

xis No.4

A

xis No.5

A

xis No.6

A

xis No.7

Axis No.0

Axis No.1

Axis No.2

Axis No.3

Axis No.4

Axis No.5

Axis No.6

Axis No.7

LS0/PE0 LS1/PE1

HEND/SV

*ALM/SV LS0/PE0 LS1/PE1

HEND/SV

*ALM/SV LS0/PE0 LS1/PE1

HEND/SV

*ALM/SV LS0/PE0 LS1/PE1

HEND/SV

*ALM/SV

0V LS0/PE0 LS1/PE1

HEND/SV

*ALM/SV LS0/PE0 LS1/PE1

HEND/SV

*ALM/SV LS0/PE0 LS1/PE1

HEND/SV

*ALM/SV LS0/PE0 LS1/PE1

HEND/SV

*ALM/SV

0V

“*” in codes above shows the signal of the active low. Processing occurs when an input signal of the type is turned OFF. An output signal of the type is normally ON in the power-on status and turned OFF at signal output.

Use the attached cable for the I/O connection. Model : CB-MSEP-PIOƑƑƑ (ƑƑƑ indicates the cable length L. Example. 020 = 2m)

Flat Cable (34-core) × 2

YW-8 (34B)

BR-5 (1B)

YW-4 (34A)

BR-1 (1A)

34A 34B

1A 1B

Half Pitch MIL Socket HIF6-68D-1.27R (Hirose Electric)

A

B

L

No treatment conducted

Chapter 2 Wiring

50

Ɣ Operation pattern 3 ······2-Input, 3-Point Movement

A1

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

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

24V Supply (for I/O) Movement Command 1 Movement Command 2

Reset

No function

/Servo ON Movement Command 1 Movement Command 2

Reset

No function

/Servo ON Movement Command 1 Movement Command 2

Reset

No function

/Servo ON Movement Command 1 Movement Command 2

Reset

No function

/Servo ON

24V Supply (for I/O) Movement Command 1 Movement Command 2

Reset

No function

/Servo ON Movement Command 1 Movement Command 2

Reset

No function

/Servo ON Movement Command 1 Movement Command 2

Reset

No function

/Servo ON Movement Command 1 Movement Command 2

Reset

No function

/Servo ON

Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Intermediate Point Detection/Intermediate Point Positioning Completion Signal Alarm Output/Servo ON Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Intermediate Point Detection/Intermediate Point Positioning Completion Signal Alarm Output/Servo ON Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Intermediate Point Detection/Intermediate Point Positioning Completion Signal Alarm Output/Servo ON Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Intermediate Point Detection/Intermediate Point Positioning Completion Signal Alarm Output/Servo ON 0V Supply (for I/O) Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Intermediate Point Detection/Intermediate Point Positioning Completion Signal Alarm Output/Servo ON Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Intermediate Point Detection/Intermediate Point Positioning Completion Signal Alarm Output/Servo ON Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Intermediate Point Detection/Intermediate Point Positioning Completion Signal Alarm Output/Servo ON Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Intermediate Point Detection/Intermediate Point Positioning Completion Signal Alarm Output/Servo ON 0V Supply (for I/O)

A18

MSEP

24V ST0 ST1 RES

-/SON ST0 ST1 RES

-/SON 24V ST0 ST1 RES

-/SON ST0 ST1 RES

-/SON

PIO Connector

A2 A3 A4 A5 A6 A7 A8

A9 A10 A11 A12 A13 A14 A15 A16 A17

B2

B1

B3

B4

B5

B6

B7

B8

B9

B10

B11 B12 B13 B14 B15 B16 B17

A19 A20 A21 A22 A23 A24 A25 A26 A27 A28 A29 A30 A31 A32 A33

B18 B19 B20 B21 B22 B23 B24

B25 B26 B27 B28 B29 B30 B31 B32 B33 B34

A34

A

xis No.0

A

xis No.1

A

xis No.2

A

xis No.3

A

xis No.4

A

xis No.5

A

xis No.6

A

xis No.7

Axis No.0

Axis No.1

Axis No.2

Axis No.3

Axis No.4

Axis No.5

Axis No.6

Axis No.7

LS0/PE0 LS1/PE1 LS2/PE2 *ALM/SV LS0/PE0 LS1/PE1 LS2/PE2 *ALM/SV LS0/PE0 LS1/PE1 LS2/PE2 *ALM/SV LS0/PE0 LS1/PE1 LS2/PE2 *ALM/SV

0V LS0/PE0 LS1/PE1 LS2/PE2 *ALM/SV LS0/PE0 LS1/PE1 LS2/PE2 *ALM/SV LS0/PE0 LS1/PE1 LS2/PE2 *ALM/SV LS0/PE0 LS1/PE1 LS2/PE2 *ALM/SV

0V

“*” in codes above shows the signal of the active low. Processing occurs when an input signal of the type is turned OFF. An output signal of the type is normally ON in the power-on status and turned OFF at signal output.

Use the attached cable for the I/O connection. Model : CB-MSEP-PIOƑƑƑ (ƑƑƑ indicates the cable length L. Example. 020 = 2m)

Flat Cable (34-core) × 2

YW-8 (34B)

BR-5 (1B)

YW-4 (34A)

BR-1 (1A)

34A 34B

1A 1B

Half Pitch MIL Socket HIF6-68D-1.27R (Hirose Electric)

A

B

L

No treatment conducted

Chapter 2 Wiring

51

Ɣ Operation pattern 4 ······3-Input, 3-Point Movement

A1

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

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

24V Supply (for I/O) Movement Command 1 Movement Command 2

Intermediate Point Movement/Reset

No function

/Servo ON Movement Command 1 Movement Command 2

Intermediate Point Movement/Reset

No function

/Servo ONN Movement Command 1 Movement Command 2

Intermediate Point Movement/Reset

No function

/Servo ON Movement Command 1 Movement Command 2

Intermediate Point Movement/Reset

No function

/Servo ON

24V Supply (for I/O) Movement Command 1 Movement Command 2

Intermediate Point Movement/Reset

No function

/Servo ON Movement Command 1 Movement Command 2

Intermediate Point Movement/Reset

No function

/Servo ON Movement Command 1 Movement Command 2

Intermediate Point Movement/Reset

No function

/Servo ON Movement Command 1 Movement Command 2

Intermediate Point Movement/Reset

No function

/Servo ON

Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Intermediate Point Detection/Intermediate Point Positioning Completion Signal Alarm Output/Servo ON Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Intermediate Point Detection/Intermediate Point Positioning Completion Signal Alarm Output/Servo ON Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Intermediate Point Detection/Intermediate Point Positioning Completion Signal Alarm Output/Servo ON Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Intermediate Point Detection/Intermediate Point Positioning Completion Signal Alarm Output/Servo ON 0V Supply (for I/O) Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Intermediate Point Detection/Intermediate Point Positioning Completion Signal Alarm Output/Servo ON Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Intermediate Point Detection/Intermediate Point Positioning Completion Signal Alarm Output/Servo ON Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Intermediate Point Detection/Intermediate Point Positioning Completion Signal Alarm Output/Servo ON Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Intermediate Point Detection/Intermediate Point Positioning Completion Signal Alarm Output/Servo ON 0V Supply (for I/O)

A18

MSEP

24V ST0 ST1 ST2(RES)

-/SON ST0 ST1 ST2(RES)

-/SON 24V ST0 ST1 ST2(RES)

-/SON ST0 ST1 ST2(RES)

-/SON

PIO Connector

A2 A3 A4 A5 A6 A7 A8

A9 A10 A11 A12 A13 A14 A15 A16 A17

B2

B1

B3

B4

B5

B6

B7

B8

B9

B10

B11 B12 B13 B14 B15 B16 B17

A19 A20 A21 A22 A23 A24 A25 A26 A27 A28 A29 A30 A31 A32 A33

B18 B19 B20 B21 B22 B23 B24

B25 B26 B27 B28 B29 B30 B31 B32 B33 B34

A34

A

xis No.0

A

xis No.1

A

xis No.2

A

xis No.3

A

xis No.4

A

xis No.5

A

xis No.6

A

xis No.7

Axis No.0

Axis No.1

Axis No.2

Axis No.3

Axis No.4

Axis No.5

Axis No.6

Axis No.7

LS0/PE0 LS1/PE1 LS2/PE2

*ALM/SV

LS0/PE0 LS1/PE1 LS2/PE2

*ALM/SV

LS0/PE0 LS1/PE1 LS2/PE2

*ALM/SV

LS0/PE0 LS1/PE1 LS2/PE2

*ALM/SV

0V LS0/PE0 LS1/PE1 LS2/PE2

*ALM/SV

LS0/PE0 LS1/PE1 LS2/PE2

*ALM/SV

LS0/PE0 LS1/PE1 LS2/PE2

*ALM/SV

LS0/PE0 LS1/PE1 LS2/PE2

*ALM/SV

0V

“*” in codes above shows the signal of the active low. Processing occurs when an input signal of the type is turned OFF. An output signal of the type is normally ON in the power-on status and turned OFF at signal output.

Use the attached cable for the I/O connection. Model : CB-MSEP-PIOƑƑƑ (ƑƑƑ indicates the cable length L. Example. 020 = 2m)

Flat Cable (34-core) × 2

YW-8 (34B)

BR-5 (1B)

YW-4 (34A)

BR-1 (1A)

34A 34B

1A 1B

Half Pitch MIL Socket HIF6-68D-1.27R (Hirose Electric)

A

B

L

No treatment conducted

Chapter 2 Wiring

52

Ɣ Operation pattern 5 ······Continuous Reciprocating Operation

A1

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

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

24V Supply (for I/O)

Continuous Reciprocating Operation

Pause Reset

No function

/Servo ON

Continuous Reciprocating Operation

Pause Reset

No function

/Servo ON

Continuous Reciprocating Operation

Pause Reset

No function

/Servo ON

Continuous Reciprocating Operation

Pause Reset

No function

/Servo ON

24V Supply (for I/O)

Continuous Reciprocating Operation

Pause Reset

No function/

Servo ON

Continuous Reciprocating Operation

Pause Reset

No function

/Servo ON

Continuous Reciprocating Operation

Pause Reset

No function

/Servo ON

Continuous Reciprocating Operation

Pause Reset

No function

/Servo ON

Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Home Return Completion/Servo ON Alarm Output/Servo ON Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Home Return Completion/Servo ON Alarm Output/Servo ON Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Home Return Completion/Servo ON Alarm Output/Servo ON Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Home Return Completion/Servo ON Alarm Output/Servo ON 0V Supply (for I/O) Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Home Return Completion/Servo ON Alarm Output/Servo ON Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Home Return Completion/Servo ON Alarm Output/Servo ON Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Home Return Completion/Servo ON Alarm Output/Servo ON Backward End Position Detection/Backward End Point Positioning Completion Forward End Position Detection/Forward End Point Positioning Completion Home Return Completion/Servo ON Alarm Output/Servo ON 0V Supply (for I/O)

A18

MSEP

24V ASTR *STP RES

-/SON ASTR *STP RES

-/SON 24V ASTR *STP RES

-/SON ASTR *STP RES

-/SON

PIO Connector

A2 A3 A4 A5 A6 A7 A8

A9 A10 A11 A12 A13 A14 A15 A16 A17

B2

B1

B3

B4

B5

B6

B7

B8

B9

B10

B11 B12 B13 B14 B15 B16 B17

A19 A20 A21 A22 A23 A24 A25 A26 A27 A28 A29 A30 A31 A32 A33

B18 B19 B20 B21 B22 B23 B24

B25 B26 B27 B28 B29 B30 B31 B32 B33 B34

A34

A

xis No.0

A

xis No.1

A

xis No.2

A

xis No.3

A

xis No.4

A

xis No.5

A

xis No.6

A

xis No.7

Axis No.0

Axis No.1

Axis No.2

Axis No.3

Axis No.4

Axis No.5

Axis No.6

Axis No.7

LS0/PE0 LS1/PE1

HEND/SV

*ALM/SV

LS0/PE0 LS1/PE1

HEND/SV

*ALM/SV

LS0/PE0 LS1/PE1

HEND/SV

*ALM/SV

LS0/PE0 LS1/PE1

HEND/SV

*ALM/SV

0V LS0/PE0 LS1/PE1

HEND/SV

*ALM/SV

LS0/PE0 LS1/PE1

HEND/SV

*ALM/SV

LS0/PE0 LS1/PE1

HEND/SV

*ALM/SV

LS0/PE0 LS1/PE1

HEND/SV

*ALM/SV

0V

“*” in codes above shows the signal of the active low. Processing occurs when an input signal of the type is turned OFF. An output signal of the type is normally ON in the power-on status and turned OFF at signal output.

Use the attached cable for the I/O connection. Model : CB-MSEP-PIOƑƑƑ (ƑƑƑ indicates the cable length L. Example. 020 = 2m)

Flat Cable (34-core) × 2

YW-8 (34B)

BR-5 (1B)

YW-4 (34A)

BR-1 (1A)

34A 34B

1A 1B

Half Pitch MIL Socket HIF6-68D-1.27R (Hirose Electric)

A

B

L

No treatment conducted

Chapter 2 Wiring

53

[7] Wiring Layout for Fieldbus (for Fieldbus Type)

Follow the instruction manual of the master unit for each Fieldbus and the constructing PLC for the details of how to connect the cables.



1) DeviceNet Type

Slave Devices

MSEP-DeviceNet Type

V+

Drain

(Shield)

CAN_H

CAN_L

V-

RD

WT

BL

BK

RD

WT

BL

BK

V+

Drain

(Shield)

CAN_H

CAN_L

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

V+

Drain

(Shield)

CAN_H

CAN_L

V-

RD

WT

BL

BK

Communication power needs to be supplied by an external device.

Terminal Resistance is required to be mounted on the terminal.

V-

Terminal Resistance 121

Ω

Master Unit

Terminal Resistance

121

Ω

24V Power Supply

2) CC-Link Type

Slave Devices

MSEPCC-Link Type

SLD and FG are internally connected.

Terminal Resistance is required to be mounted on the terminal.

The terminal resistor differs depending on the type of the dedicated cable for CC-Link.

• Cable FANC-SBH···130Ω1/2W (High Performance Cable dedicated for CC-Link)

• Cable FANC-SB······110Ω1/2W (CC-Link Dedicated Cable)

Master Unit

Terminal Resistance

Terminal

Resistance

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

3) PROFIBUS-DP Type

MSEP-PROFIBUS Type

Slave Devices

Master Unit

Terminal Resistance is required to be mounted on the terminal.

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

Chapter 2 Wiring

54

4) CompoNet Type

5) EtherNet/IP Type

Master Unit

Switching Hub

Slave Devices

EtherNet Straight Cable, Category 5e or more Double shielded cable braided with aluminum foil recommended

MSEP Unit EtherNet/IP Type

BS+

BDL

BDH

BS-

BS+

BDL

BDH

BS-

BS+

BDL

BDH

BS-

Master Unit

Slave Devices

Terminal

Resistance

121

Ω

MSEPCompoNet Type

Connect the terminal resistor if the unit is placed at the end of the network.

24V

Power Supply

Supply power separately to the slave devices that requires the communication power supply. It is not necessary to supply communication power to MSEP Unit, however, there is no problem even if communication power is supplied.

Chapter 2 Wiring

55

6) MECHATROLINK Type

7) EtherNetCAT Type

4

3

2

1

4

3

2

1

4

3

2

1

A4

A3

A2

A1

B4

B3

B2

B1

Master Unit

Slave Devices

MECHATROLINK Cable

MSEP MECHATROLINK Type

Terminal Resistance JEPMC-W6022

Connect the terminal resistor if the unit is placed at the end of the network.

130

Ω

SH

DATA

/DATA

NC

Connect shield to connector shell

SH

DATA

/DATA

NC

SH

DATA

/DATA

NC

Master Unit

Slave Devices

EtherNet Straight Cable Category 5e or more Double shielded cable braided with aluminum foil recommended (Note) Terminal resistance is not required

MSEP Unit EtherCAT Type

Chapter 2 Wiring

56

2.4 Wiring Method

2.4.1 Connection to Power Input Connector

The wire of the power supply is to be connected to the enclosed connector (plug). Strip the sheath of the applicable wires for 10mm and insert them to the connector. Push a protrusion beside the cable inlet with a small slotted screwdriver to open the inlet. Once the cable is inserted, take the slotted screwdriver OFF the protrusion to fix the cable to the terminal.

㩷

Connector Name Power Line Input Connector Cable Side FKC2.5HC/4-ST-5.08 Enclosed in standard

package Manufactured by PHOENIX CONTACT

Controller Side MSTBA2.5HC/4-G-5.08

Pin No. Signal Name Description Applicable cable diameter

1 0V

1

2

3

4

2 CP+24V

Power Input for Control (24V DC ±10%)

KIV0.3mm

2

(AWG22)

3 0V

Front view of connector on

controller side

4 MP+24V

Power Input for Motor Drive (24V DC ±10%)

KIV2.5 to 0.5mm

2

(AWG12 to 20) Select the cable thickness allowable for the current figured out in the power capacity.

(Note) If supplying power with using a 24V DC, having it turned ON/OFF, keep the 0V

connected and have the +24V supplied/cut (cut one side only).

Accessory Connector (Plug)

Chapter 2 Wiring

57

2.4.2 Wiring Layout of System I/O Connector

The connector consists of the emergency stop input for the whole controller, changeover of the operation modes (AUTO/MANU) externally and the external regenerative resistor connection terminals. Insert the wires to the enclosed connector (plug). Strip the sheath of the applicable wires for 10mm and insert them to the connector. Push a protrusion beside the cable inlet with a small slotted screwdriver to open the inlet. Once the cable is inserted, take the slotted screwdriver OFF the protrusion to fix the cable to the terminal.

Connector Name System I/O Connector Cable Side FMCD1.5/4-ST-3.5 Enclosed in standard

package Manufactured by PHOENIX CONTACT

1

2

3

4

6

7

8

5

Controller Side

MCDN1.5/4-G1-3.5P26THR

Pin No. Signal Name Description Applicable cable diameter

1 EMG+24V

+24V power output for emergency stop

2 S2

For external emergency stop signal input

3 S1

For external emergency stop signal output

4 EMG-

Emergency Stop Input (available for all the slots)

5 AUTO/MANU+

For operation mode (AUTO/MANU) switchover

6 AUTO/MANU-

Operation mode (AUTO/MANU) switchover signal input

KIV0.5 to 0.2mm (AWG20 to 24)

7 RB+

Regenerative resistor connection +

Front view of connector on

controller side

8 RB-

Regenerative resistor connection -

Dedicated regenerative resistor connection

Chapter 2 Wiring

58

2.4.3 Connection of Drive Cutoff/Emergency Stop Input Connector

Insert wires if an emergency stop input is desired individually for each slot or drive cutoff for each slot. Unless it is desired, the controller can be used in the condition that the enclosed short-circuit line is connected. Insert the wires to the enclosed connector (plug). Strip the sheath of the applicable wires for 10mm and insert them to the connector. Push a protrusion beside the cable inlet with a small slotted screwdriver to open the inlet. Once the cable is inserted, take the slotted screwdriver OFF the protrusion to fix the cable to the terminal.

㩷㩷

Connector Name Drive Cutoff/Emergency Stop Input Connector Cable Side

FMCD1.5/8-ST-3.5

Enclosed in standard package Manufactured by PHOENIX CONTACT

Controller Side MCDN1.5/8-G1-3.5P26THR

Pin No. Signal Name Description

Applicable cable

diameter

1 MPOSLOT1

For motor power output slot 1 (Axis No. 2 and 3)

2 MPISLOT1

For motor power input slot 1 (Axis No. 2 and 3)

3 MPOSLOT0

For motor power output slot 0 (Axis No. 0 and 1)

4 MPISLOT0

For motor power input slot 0 (Axis No. 0 and 1)

KIV1.25 to 0.5mm

2

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

1

2

3

4

5

7

8

6

9

10

11

12

13

14

15

16

Front view of connector

on controller side

5

EMG+24VSLOT1

For emergency stop power output slot 1 (Axis No. 2 and 3)

6 EMGINSLOT1

For emergency stop power input slot 1 (Axis No. 2 and 3)

7

EMG+24VSLOT0

For emergency stop power output slot 0 (Axis No. 0 and 1)

8 EMGINSLOT0

For emergency stop power input slot 0 (Axis No. 0 and 1)

KIV0.5 to 0.2mm (AWG20 to 24)

9 MPOSLOT3

For motor power output slot 3 (Axis No. 6 and 7)

10 MPISLOT3

For motor power input slot 3 (Axis No. 6 and 7)

11 MPOSLOT2

For motor power output slot 2 (Axis No. 4 and 5)

12 MPISLOT2

For motor power input slot 2 (Axis No. 4 and 5)

KIV1.25 to 0.5mm

2

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

13

EMG+24VSLOT3

For emergency stop power output slot 3 (Axis No. 6 and 7)

14 EMGINSLOT3

For emergency stop power input slot 3 (Axis No. 6 and 7)

15

EMG+24VSLOT2

For emergency stop power output slot 2 (Axis No. 4 and 5)

16 EMGINSLOT2

For emergency stop power input slot 2 (Axis No. 4 and 5)

KIV0.5 to 0.2mm (AWG20 to 24)

Chapter 2 Wiring

59

2.4.4 Connecting with Actuator

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

㩷

Connector Name Actuator Connector Cable Side PADP-24V-1-S Controller Side S24B-PADSS-1

Pin No. Signal Name Description Applicable cable diameter

1

IA

Motor Driving A-phase 2 VMM Motor Power 3

IB

Motor Driving B-phase 4 VMM Motor Power 5

I/A

Motor Driving /A-phase 6

I/B

Motor Driving /B-phase

7 LS+

Limit Switch Positive

Side

8 LS-

Limit Switch Negative

Side

9 BK+

Brake Release Positive

Side

10 BK-

Brake Release Negative

Side

11 NC Not for use 12 NC Not for use

13 A+

Encoder A-phase

differential + input

14 A-

Encoder A-phase

differential - input

15 B+

Encoder B-phase

differential + input

16 B-

Encoder B-phase

differential - input

17 5V Encoder Power Supply

18 /PS

Encoder Line Driver

Enable Output

19 GND Ground 20 LSGND Ground for Limit Switch 21 NC Disconnected 22 NC Disconnected 23 NC Disconnected

Front view of

connector on

controller side

24 FG Grounding

Cable dedicated for IAI products

Chapter 2 Wiring

60

2.4.5 Connection of Absolute Battery Connector

Connect the absolute battery unit to the controller for Simple Absolute Type.

㩷

Connector Name Absolute Battery Connector Cable Side CZHR-20V-S Controller Side S20B-CZWHS-B-1

Pin No. Signal Name Description Applicable cable diameter

A1 GND 0V

A2

BATTMP AXIS No.0

Axis No.0 Absolute Battery Temperature Sensor

A3

BATTMP AXIS No.1

Axis No.1 Absolute Battery Temperature Sensor

A4

BATTMP AXIS No.2

Axis No.2 Absolute Battery Temperature Sensor

A5

BATTMP AXIS No.3

Axis No.3 Absolute Battery Temperature Sensor

A6 GND 0V

A7

BATTMP AXIS No.4

Axis No.4 Absolute Battery Temperature Sensor

A8

BATTMP AXIS No.5

Axis No.5 Absolute Battery Temperature Sensor

A9

BATTMP AXIS No.6

Axis No.6 Absolute Battery Temperature Sensor

A10

BATTMP AXIS No.7

Axis No.7 Absolute Battery Temperature Sensor

B10 GND 0V

B9 BAT AXIS No.0 Axis No.0 Absolute Battery B8 BAT AXIS No.1 Axis No.1 Absolute Battery B7 BAT AXIS No.2 Axis No.2 Absolute Battery B6 BAT AXIS No.3 Axis No.3 Absolute Battery B5 GND 0V B4 BAT AXIS No.4 Axis No.4 Absolute Battery B3 BAT AXIS No.5 Axis No.5 Absolute Battery B2 BAT AXIS No.6 Axis No.6 Absolute Battery

A1 A2 A3 A4

A9

A10

A6 A7

A8

A5

B10

B9 B8 B7

B6

B5 B4

B3 B2

B1

Front view of connector on

controller side

B1 BAT AXIS No.7 Axis No.7 Absolute Battery

Cable dedicated for IAI products

Chapter 2 Wiring

61

2.4.6 Connection of External Brake Connector

Connection needs to be established when an external brake release is required for the actuator. The brake can be released if the power (24V DC 150mA/axis) is supplied to this connector even without the main power supplied to the controller.

㩷

Connector Name System I/O Connector Cable Side FMCD1.5/5-ST-3.5 Enclosed in standard

package Manufactured by PHOENIX CONTACT

Controller Side MCDN1.5/5-G1-3.5P26THR

Pin No. Signal Name Description Applicable cable diameter

1 BKRLS AXIS No.3

Axis No.3 Brake Release Input

2 BKRLS AXIS No.2

Axis No.2 Brake Release Input

3 BKRLS AXIS No.1

Axis No.1 Brake Release Input

4 BKRLS AXIS No.0

Axis No.0 Brake Release Input

5 GND 0V

6 BKRLS AXIS No.7

Axis No.7 Brake Release Input

7 BKRLS AXIS No.6

Axis No.6 Brake Release Input

8 BKRLS AXIS No.5

Axis No.5 Brake Release Input

9 BKRLS AXIS No.4

Axis No.4 Brake Release Input

1

2

3

4

5

7

8

9

10

6

Front view of

connector on

controller side

10 GND 0V

KIV0.5 to 0.2mm (AWG20 to 24)

Chapter 2 Wiring

62

2.4.7 Connection of SIO Connector

Connect an teaching tool such as the PC software. (Note) Do not attempt connect the device to the same SIO network as the CON related

controllers such as PCON.

Teaching Pendant

PC Software

MSEP

㩷

Connector Name SIO Connector Cable Side miniDIN 8-pin Controller Side TCS7587-0121077

Pin No. Signal Name Description Applicable cable diameter

1

SGA

Teaching Tool Signal +

2

SGB

Teaching Tool Signal -

3

5V

Power supply for teaching tool

4

ENB

Enable signal input 5 EMGA Emergency Stop Signal A 6 24V Power supply for teaching tool 7 0V 0V 8 EMGB Emergency Stop Signal B

Shell 0V 0V

Cable dedicated for IAI products

Chapter 2 Wiring

63

2.4.8 Connection of PIO (for PIO Type)

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. 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-MSEP-PIOƑƑƑ (ƑƑƑ indicates the cable length L. Example. 020 = 2m)

Flat Cable (34-core) × 2

YW-8 (34B)

BR-5 (1B)

YW-4 (34A)

BR-1 (1A)

34A 34B

1A 1B

Half Pitch MIL Socket HIF6-68D-1.27R (Hirose Electric)

A

B

L

No treatment conducted

No. Cable Color Wiring No. Cable Color Wiring

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

10A BK-1 10B BK-5

11A BR-2 11B BR-6 12A RD-2 12B RD-6 13A OR-2 13B OR-6 14A YW-2 14B YW-6 15A GN-2 15B GN-6 16A BL-2 16B BL-6 17A PL-2 17B PL-6 18A GY-2 18B GY-6 19A WT-2 19B WT-6 20A BK-2 20B BK-6 21A BR-3 21B BR-7 22A RD-3 22B RD-7 23A OR-3 23B OR-7 24A YW-3 24B YW-7 25A GN-3 25B GN-7 26A BL-3 26B BL-7 27A PL-3 27B PL-7 28A GY-3 28B GY-7 29A WT-3 29B WT-7 30A BK-3 30B BK-7 31A BR-4 31B BR-8 32A RD-4 32B RD-8 33A OR-4 33B OR-8 34A YW-4

Flat CableżA

(Press Welding)

AWG28

34B YW-8

Flat Cable

ż

B

(Press Welding)

AWG28

Chapter 2 Wiring

64

2.4.9 Wiring Layout of Fieldbus Connector

Check the instruction manuals for each Fieldbus master unit and mounted PLC for the details.

1) DeviceNet Type

Shield

BL (CAN L)

RD (V+)

WT (CAN H)

BK (V-)

Connector Name DeviceNet Connector Cable Side MSTB2.5/5-ST-5.08 ABGY AU Enclosed in standard

package Manufactured by PHOENIX CONTACT

Controller Side MSTBA2.5/5-G-5.08 ABGY AU

Pin No.

Signal Name

(Color)

Description

Applicable cable

diameter

1

2

3

4

5

1 V- (BK)

Power Supply Cable Negative Side

Front view of connector

on controller side

2 CAN L (BL)

Communication Data Low Side

3 Shield (None) Shield

4 CAN H (WT)

Communication Data High Side

5 V+ (RD)

Power Supply Cable Positive Side

Dedicated cable for DeviceNet

Note Connect a terminal resistor (121:) between CAN L and CAN H if

the unit comes to the end of the network. [Refer to 2.3 [8] Wiring Layout for Fieldbus.]

Chapter 2 Wiring

65

2) CC-Link Type

WT (DB)

BL (DA)

Shield (SLD)

YW (DG)

Connector Name CC-Link Connector Cable Side MSTB2.5/5-ST-5.08 ABGY AU Enclosed in standard

package Manufactured by PHOENIX CONTACT

Controller Side MSTBA2.5/5-G-5.08AU

Pin No.

Signal Name

(Color)

Description

Applicable cable

diameter

1 DA (BL) Communication Line A

1

2

3

4

5

2 DB (WT) Communication Line B 3 DG (YW) Digital GND

4

SLD Connect the shield of the

shielded cable (Connect the FG of the 5 pins and controller FG internally)

Front view of connector on

controller side

5

FG Frame Ground

(Connect the SLD of the 4 pins and controller FG internally)

Dedicated cable for CC-Link

Note Connect a terminal resistor between DA and DB if the unit comes to the

end of the network. [Refer to 2.3 [8] Wiring Layout for Fieldbus.]

Chapter 2 Wiring

66

3) PROFIBUS-DP Type

5 1

9 6

Cable

Shield

Red B line (Positive side)

Use the type A cable for PROFIBUS-DP (EN5017).

Green A line (Negative side)

Connector Name PROFIBUS-DP Connector Cable Side 9-pin D-sub Connector (Male) Please prepare separately Controller Side 9-pin D-sub Connector (Female)

Pin No. Signal Name Description

Applicable cable

diameter 1 NC Disconnected 2 NC Disconnected

1

6

9

5

3

B-Line Communication Line B

(RS485) 4 RTS Request for Sending 5 GND Signal GND (Insulation)

Front view of connector on

controller side

6 +5V +5V Output (Insulation)

7 NC Disconnected

8

A-Line Communication Line A

(RS485)

9 NC Disconnected

PROFIBUS-DP Dedicated Cable

Note Connect a terminal resistor (220:) between A-line and B-line if the unit

comes to the end of the network. [Refer to 2.3 [8] Wiring Layout for Fieldbus.]

Chapter 2 Wiring

67

4) CompoNet Type

Connector Name CompoNet Connector Cable Side Prepare a connector complied with CompoNet standards. Controller Side XW7D-PB4-R Produced by OMRON

Pin No.

Signal Name

(Color)

Description

Applicable cable

diameter

1 BS+ (RD)

Communication Power

Supply +

(Note 1)

2 BDH (WT) Signal line H side 3 BDL (BL) Signal line L side

Front view of connector on

controller side

4 BS- (BK)

Communication Power

Supply -

(Note 1)

CompoNet Dedicated Cable

Note 1 It is not necessary to supply the communication power. (Internal

power source is used.) If conducting multi power supply to other slave devices via communication cables, there is no problem with connecting the power supply to BS+ and BS- terminals.

Note 2 Connect a terminal resistor (121:) between BDH and BDL if the unit

comes to the end of the network. [Refer to 2.3 [8] Wiring Layout for Fieldbus.]

5) EtherNet/IP Type

Connector Name EtherNet/IP Connector Cable Side 8P8C Modular Plug Controller Side 8P8C Modular Jack

Pin No. Signal Name Description

Applicable cable

diameter 1 TD+ Data sending + 2 TD- Data sending 3 RD+ Data receiving +

Front view of connector on

controller side

4 – Disconnected 5 – Disconnected 6 RD- Data receiving 7 – Disconnected 8 – Disconnected

For EtherNet cable, use a straight STP cable that possesses the performance of Category 5e or more.

BK (BS-) BL (BDL)

RD (BS+)

WT (BDH)

1 2 3 4

1

8

Chapter 2 Wiring

68

6) MECHATROLINK Type

Connector Name MECHATROLINK Connector Cable Side Prepare a connector complied with MECHATROLINK

standards.

Controller Side DUSB-ARB82-T11A-FA Produced by DDK

Pin No. Signal Name Description

Applicable cable

diameter

A1/B1 NC Disconnected A2/B2 /DATA Signal line - side A3/B3 DATA Signal line + side

Front view of connector on

controller side

A4/B4 SH Shield

MECHATROLINK Dedicated Cable

Note Connect a terminal resistor unit (JEPMC-W6022) between DATA and

/DATA if the unit comes to the end of the network. [Refer to 2.3 [8] Wiring Layout for Fieldbus.]

7) EtherCAT Type

Connector Name EtherCAT Connector Cable Side 8P8C Modular Plug Controller Side 8P8C Modular Jack

Pin No. Signal Name Description

Applicable cable

diameter 1 TD+ Data sending + 2 TD- Data sending 3 RD+ Data receiving + 4 – Disconnected 5 – Disconnected 6 RD- Data receiving 7 – Disconnected

Front view of connector on

controller side

8 – Disconnected

For EtherNet cable, use a straight STP cable that possesses the performance of Category 5e or more.

B1

A1

A4

B4

8

1

8

1

Chapter 3 Operation

69

Chapter 3 Operation

3.1 Basic Operation

3.1.1 Basic Operation Methods

There are two ways for the operation; one is to control with PIO and the other with Fieldbus. Check the model code described on the model code record card inserted on the front panel of the unit to find which way is to be applied for your product. [Refer to 1.1.5] Even though there are several types for an actuator, such as slider type, rod type, rotary type, gripper type, etc., the method to control the operation is the same unless otherwise specified in this manual.



(1) Control with PIO

Edit Position Table of controller

Actuator

Controller

PLC

Teaching Tool

Complete

Signal

SignalSignal

Move

Signal

Enter a data including position, speed, acceleration or deceleration, etc.

No.

[G]

0

1 100.00 0.30 0.30 2 200.00 0.30 0.30

100.00

200.00

Acceleration DecelerationSpeed

[mm] [mm/s]

[G]

Position

1) Conduct the settings for the target position (such as forward end or backward end), speed and acceleration/deceleration data that are necessary to be filled in the position table using a teaching tool such as PC software.

2) Turn ON the movement signal of the target position from PLC.

3) The actuator is placed at the proper coordinate value according to the positioning information in the specified target position.

4) The complete signal or position detection signal is output once the positioning is complete.

That is all for the basic operation method to control with PIO.

3.1 Basic Operation

70

ƔOperation Mode Available in PIO Type

6 types of operation modes (PIO Patterns) are available to select from. Explained below is the outline. Also, in the table below, provides the relevant air cylinder circuit for reference.

Operation Pattern Description

Example for Electric Cylinder

Connection

Example for Air Cylinder

Connection (Reference)

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

PLC

+24V

Movement Signal

(ST0)

Backward Position Detection (LS0)

Forward Position Detection (LS1)

Dedicated Cable

Electric Cylinder

MSEP

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)

The actuator point-to-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.

+24V

PLC

Backward Position

Movement Signal

(ST0) Forward Position Movement Signal

(ST1)

Backward Position Detection (LS0)

Forward Position Detection (LS1)

Dedicated Cable

Electric Cylinder

MSEP

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)

+24V

PLC

Movement Signal

(ST0)

Movement Speed

Change Signal

(SPDC)

Backward Position Detection (LS0)

Forward Position Detection (LS1)

Dedicated Cable

Electric Cylinder

MSEP

Spring

R2

R1

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)

The actuator point-to-point movement is available using the same control function as for the air cylinder. The movement speed can be changed while the actuator is moving if the movement speed change signal is input. 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

PLC

Backward Position

Movement Signal

(ST0)

Forward Position

Movement Signal

(ST1)

Movement Speed

Change Signal

(SPDC)

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

Dedicated Cable

Electric Cylinder

MSEP

R2

R1

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)

3.1 Basic Operation

71

Operation Pattern Description

Example for Electric Cylinder

Connection

Example for Air Cylinder

Connection (Reference)

PIO Pattern 2 Single Solenoid System (Point-to-Point Movement, Target Position Setting (Position Data) Change)

+24V

PLC

Movement Signal

(ST0)

Target Position

Change Signal

(CN1)

Backward Position Detection (LS0)

Forward Position Detection (LS1)

Dedicated Cable

Electric Cylinder

MSEP

R2

R1

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)

The actuator point-to-point movement is available using the same control function as for the air cylinder. The target position and operation condition can be changed while the actuator is moving if the target position change signal is input. 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

PLC

Backward Position

Movement Signal

(ST0)

Forward Position

Movement Signal

(ST1 ) Target Position Change Signal

(CN1)

Backward Position Detection (LS0)

Forward Position Detection (LS1)

Dedicated Cable

Electric Cylinder

MSEP

R2

R1

B

A

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. Pressing operation is available at the points except for the intermediate point.

+24V

PLC

Movement

Signal 1

(ST0)

Movement

Signal 2

(ST1 )

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

Intermediate Position Detection (LS2)

Dedicated Cable

Electric Cylinder

MSEP

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)

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. Pressing operation is available at the points except for the intermediate point.

+24V

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)

MSEP

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)

PIO Pattern 5 (Continuous Reciprocating Operation)

The actuator’s point-topoint 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.

+24V

PLC

Continuous

Reciprocating

Operation Signal

(ASTR)

Backward Position Detection (LS0)

Forward Position Detection (LS1)

Dedicated Cable

Electric Cylinder

MSEP

3.1 Basic Operation

72

(2) Fieldbus Type

Slave

Transfer data with Fieldbus

Actuator Controller

PLC

position, speed, etc.

Command target

Confirmation of movement complete (read status signal)

3.1 Basic Operation

73

[Basic Procedures for Operation]

[1] Establish the driver parameters with using a teaching tool such as PC software.

1) If using SEP I/O Mode in the operation modes [refer to the next page], set the operation pattern in the initial setting. [Refer to 3.2 for details.]

2) Establish such settings as the zone (Parameter No.21 to 24) and the soft limit (Parameter No.15) considering the system to be used. [Refer to chapter 5 I/O Parameter for details.]

[2] Initial Setting [Refer to 3.2 and 3.9.]

Establish the settings such as the slave addresses for the field network using Gateway Parameter Setting Tool. Set operation modes for all the connected axes.

1) Establish the settings by following the steps stated in Section 3.2.

2) Set the gateway parameters considering the system to be used. Establish such settings as whether to use the calendar function (clock setting) and the speed unit change during Direct Indication Mode.

[3] Setting of Position Data [Refer to 3.3.]

(Note) Setting is not necessary for Direct Indication Mode. Set the information such as the target position and speed to be used in the position data.

[4] Field Network Settings [Refer to 3.4.1 and 3.4.2.]

Assign MSEP as the PLC (Master Unit). [Refer to the instruction manuals of the master unit and PLC.]

[5] Link to Network

1) Set the operation mode setting switch on the front panel of MSEP to AUTO side, and reboot the power. (Field network line becomes valid by setting the switch to AUTO)

2) Once the link with the PLC (Master Unit) is established

(Note 1)

, turn ON MON signal in

the gateway control signals

(Note 2)

. While MON Signal is ON, control from field network

is available.

Note 1 Confirm the communication is established in normal condition by referring to

Display of Field Network LEDs shown in the section of Name and Function of Each Component in earlier pages of this manual.

Note 2 Refer to 3.4.3 Gateway Control Signals.

[6] Operation Control with Each Operation Mode [Refer to 3.4.4 to 3.5.]

1) Send the information of the target position, speed, acceleration/deceleration, etc. from PLC (Master Unit) to MSEP.

2) The actuator follows the received information of the target position, speed, acceleration/deceleration, etc. to perform a positioning at the specific coordinates.

3) Confirm the status of positioning complete.

3.1 Basic Operation

74

ƔOperation Mode Available in Fieldbus Type

6 types of operation modes are available to select from. Explained below is the outline.

Operation Pattern Description Overview

Positioner 1 Mode In Positioner 1 Mode, 256

points of position data can be registered at the maximum and is able to stop at the registered positions. Monitoring of the current position is also available.

Simple Direct Mode

In Simple Direct Mode, the target position can be indicated directly by inputting a value. Monitoring of the current position is also available.

Communication with Fieldbus

Dedicated Cable

+24V

Target Position Target Position No. Control Signal

PLC

Current Position Completed Position No. Status Signal

Electric Cylinder

Direct Numeric Specification Mode

The target position, speed acceleration/deceleration and pressing current limit can be indicated with inputting a number. Monitoring of not only the current position, but also the current speed and indicated current are available.

Communication with Fieldbus

+24V

Target Position Positioning Width Speed Acceleration/Deceleration Push % Control Signal

PLC

Current Position Current Value (Command Value) Current Speed (Command Value) Alarm Code Status Signal

Dedicated Cable

Electric Cylinder

Positioner 2 Mode This is the operation mode of

the position data of 256 points at maximum set in the position table. The monitoring of the current position is not available This mode is that the transferred data is reduced from Positioner 1 Mode.

Communication with Fieldbus

+24V

Target Position No. Control Signal

PLC

Completed Position No. Status Signal

Dedicated Cable

Electric Cylinder

Positioner 3 Mode This is the operation mode of

the position data of 256 points at maximum set in the position table. The monitoring of the current position is not available. This is the mode to control with the minimized number of signals to perform the positioning operation by reducing the amount of sent and received data from Positioner 2 Mode.

Communication with Fieldbus

+24V

Target Position No. Control Signal

PLC

Completed Position No. Status Signal

Dedicated Cable

Electric Cylinder

SEP I/O The same control as PIO is

available.

Refer to PIO type

3.1 Basic Operation

75

3.1.2 Parameter Settings

Parameter data should be set appropriately according to the applicaiton requirements.

(Example) Software Stroke Limit : Set a proper operation range for definition of the stroke end, prevention

of interferences with peripherals and safety.

Zone Output : Set to require signal outputs in an arbitrary position zone within the

operation zone.

Parameters should be set to meet the use of the controller prior to operation. Once set, they may not set every operation. Check the Chapter 5 for the parameter types and the details.

3.2 Initial Setting

76

3.2 Initial Setting

For this controller, it is necessary to have the initial setting and Gateway operation mode setting done in the axes one by one. The initial setting is to be performed using RC PC Software

(Note)

or touch panel teaching

(CON-PTA

(Note)

). And the operation mode is to be set using Gateway Parameter Setting Tool (Ver. 1.1.0.0 or later). (Note) See the instruction manuals of the RC PC software and the touch panel teaching for the

applicable version.

Shown below is the process for the setup. Follow the instruction to conduct the setting properly.

[Preparation] Install RC PC Software and Gateway Parameter Setting Tool. For Gateway

Parameter Setting Tool, install the file stored in the CD-ROM for PC software, or download from our website, intelligentactuator.com. [Refer to the instruction manual of the PC software for the details of the PC software.]

Make sure the power, system I/O connector wires and operation mode setting switch are in MANU condition when having the setting done.

[Step 1] Connect the PC and SIO connector on MSEP with using the cable enclosed in RC PC

Software and start up the PC software.

[Step 2] Select the initial setting of SEP from the controller menu.

[Step 3] Select the axis number which the setting is to be conducted.

3.2 Initial Setting

77

[Step 4] Select the operation pattern.

There are Operation Patterns 0 to 5 available for PIO Type. Select Operation Pattern 6 if Fieldbus Type and a mode other than SEP I/O Mode

.

Select either of Operation Patterns 0 to 5 if Fieldbus Type and SEP I/O Mode

since control is the same as PIO Type. By pressing OK after the selection is made, the display proceeds to the next step for Operation Patterns 0 to 5, and the initial setting data is sent to the controller for Operation Pattern 6.

[Step 5] (Note) For Operation Pattern 6, proceed to Step 7.

If the operation pattern is either of 0 to 5, have the following setting. The items to set vary depending on the operation pattern you have chosen, and will be some items that are not shown. Set the displayed item and click on OK button. Statement in a bracket is the setting at the delivery.

Operation Pattern

({ : Available for Setting)

No. Setting Item

Setting Range

(Set in delivery)

Description

0 1 2 3 4 5

1 Solenoid

System

Single/Double (Double)

Single : Actuator is operated with a control

same as Single Solenoid.

Double : Actuator is operated with a control

same as Double Solenoid System.

{ { {

2 Stop Signal Use/

Not to Use (Not to Use)

This is available only if Single is selected in No.1. When the PAUSE signal (*STP) is used, select “Use”.

{ { { {

3 Input Signal

System

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

This is available only if Double is selected in No.1. For the signal sent from PLC to MSEP, select “Continuous Operation” (level signal) or “Momentary Operation” (edge signal). (Reference) Double Solenoid Circuit

A B

R1 R2

Solenoid B

T T

Solenoid A

Solenoid A Control Signal

Solenoid B Control Signal

P (Air)

{ { { {

For Operation Pattern 6

For Operation Pattern 0 to 5 [Refer to Step 5 for the details]

3.2 Initial Setting

78

Operation Pattern

({ : Available for Setting)

No. Setting Item

Setting Range

(Set in delivery)

Description

0 1 2 3 4 5

4 Intermediate

Stop System

Both Solenoid ON/ Both Solenoid OFF (Both Solenoid OFF)

This is available only if Operation Pattern 3 is selected. Select whether to have the movement to the intermediate point performed with the forward end movement command and backward end movement command both being turned OFF or both turned ON. 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”.

{

5 Servo

Control

Use/ Not to Use (Not to Use)

When “Not to Use” is selected, the servo-motor is automatically turned ON after the power input. When “Use” is selected, servo is turned ON only while CON signal of the input IN3 is ON.

{ { { { { {

6 Home

Position Operation

AUTO/MANU (MANU)

If AUTO is selected, the home-return operation is started automatically when the servo is turned for the first time after the power is supplied. “MANU” is selected, the home return operation is performed with the first movement signal (ST0) input.

{ { { { { {

7 Output

Signal Type

Limit Switch Output/ Completed Position Output (Limit Switch)

Select the output system for the positioning complete signal.

• Limit Switch Output After home return operation, it turns ON when in the range of forward/intermediate/backward positioning width no matter of servo ON/OFF or the movement if there is ore there is not. Intermediate Point is reached : LS2 ON Forward End is reached. : LS1 ON Backward End is reached. : LS0 ON

• Completed Position Output When the actuator reaches the target position, it is turned ON. This signal turns OFF with the servo being OFF. When the servo-motor is turned ON again and the current position is within the positioning width, it is turned ON. Intermediate Point is reached : PE2 ON Forward End is reached. : PE1 ON Backward End is reached. : PE0 ON

(Note) It becomes OFF before home return

operation no matter which output method.

[Refer to Section 3.8.2 for the details.]

{ { { { { {

3.2 Initial Setting

79

Operation Pattern

({ : Available for Setting)

No. Setting Item

Setting Range

(Set in delivery)

Description

0 1 2 3 4 5

8 Output

Signal Selection

0 to 2 (0)

If “Use” is selected in No. 5 Servo Control, select the combination of the used output signals considering the operation pattern. Select 0 if “Not to Use” is selected.

• For Operation Patterns 0 to 2 and 5,

select from the combinations 0 to 2 below.

0 : OUT2 = HEND

OUT3 = *ALM (No servo-on signal output)

1 : OUT2 = SV

OUT3 = *ALM

2 : OUT2 = HEND

OUT3 = SV

• For Operation Patterns 3 and 4,

select from the combinations 0 and 1 below.

0 : OUT3 = *ALM

(No servo-on signal output)

1 : OUT3 = SV

[Refer to Section 3.8.2 for the details.]

{ { { { { {

3.2 Initial Setting

80

[Step 6] The confirmation window for controller reboot opens. Click “Yes”.

[Step 7] The initial setting needs to be held on all the MSEP composition axes. In the case that

multiple axes are connected, repeat the Steps 2 to 6. Once the setting on all the connected axes is finished, close RC PC Software. We now move on the Gateway operation mode setting.

[Step 8] Start up Gateway Parameter Setting Tool.

The following window appears. Select MSEP GW and click OK.

[Step 9] The connected MSEP (unit number) becomes available to select. Select the unit number to

be connected and click on the OK button.

3.2 Initial Setting

81

[Step 10] Main Window is displayed.

[Step 11] Reading is started from MSEP to PC. Click on the “Read” button and a confirmation

window appears. Click on the “Yes” button. Once the parameter reading is completed in normal condition, the reading complete window opens. Click OK.

3.2 Initial Setting

82

[Step 12] For PIO Type, proceed to Step 13.

The parameters input to MSEP are listed as shown below. Indicate the node address (station) of MSEP on field network in Address.

Caution for CC-Link Type station setting In the following slave, set the value the number of occupied station is added to the current station number.



[Step 13] Set the number of axes (two axes in unit) used in each operation mode. If the system is

used in Positioner Modes 1 to 3, Simple Direct Mode or Positioning Mode, input the total number of the axes in 1) in the figure below. Input the total number of axes in 2) if using in SEP I/O Mode. Note that 1) and 2) cannot be used at the same time.



1)

2)

3.2 Initial Setting

83

[Step 14] Once the setting of the number of axes is done, the cells for the operation mode settable to

each axis turn to blank in response. For PIO Type and SEP I/O Mode, “*” is displayed for a number equals to the number of set axis.



[Step 15] Click on a blank cell and “*” shows up. “*” mark means that an operation mode is selected

for each axis. Select an operation mode [refer to top in Chapter 3] for 2 axes in a unit. If clicking on a cell, “*” shows up for 2 axes together. If clicking a cell showing “*”, the mark turns to “(*)”. “(*)” means it is a reserved axis, which is to be set when not using even though the actuator is connected. If clicking on a cell with “(*)” mark for the reserved axes shown on the two axes, the cell turns back to blank. (Note) Even if the total number of the used axes is an odd number, make the last axis in

reservation to get an even number.



[Step 16] To be conducted only for EtherNet/IP type (If not applied, go to Step 17)

Click on Setting in the menu and select EtherNet/IP Setting, and the setting window of the IP addresses, subnet mask and default gateway. Establish the setting that suits to your use.



3.2 Initial Setting

84

[Step 17] Write the edited operation mode setting parameters to MSEP. Click on the “Write” button

shown below and a confirmation window pops up. Click on the “Yes” button. If the writing is finished in normal condition, writing complete window appears. Click OK.



[Step 18] A confirmation window for Gateway Unit reboot opens. Click “Yes” to accept the reboot.



[Step 19] After rebooting, a confirmation window for parameter reading appears for confirmation of

the written contents. Click “Yes” to accept the reading. Once the reading process is complete, confirm that the written contents are reflected. If not written properly, do the process again from Step 1.

Reference:

The settings are conducted in the special parameters for the process of communication error, change in pressing method for Fieldbus Type and speed unit change for Direct Indication Mode. Refer to 3.9 About Gateway Parameter Setting Tool for the details.



3.3 Setting of Position Data

85

3.3 Setting of Position Data

PIO Type makes an operation based on the position data (position, speed, etc.) set in advance in the position table. Set the target position (forward end, backward end and intermediate point

(Note)

) first.

(Note) The setting may not be made for some operation modes.

The values in the position table can be set as shown below.

[1] Settings in common for all operation patterns

For Operation Patterns 1 and 2, there are additional settings to be conducted separately in [2] and [3] to be referred for the setting process.

Example for Position Table Setting (when Operation Patterns 0 to 5 and Operation Pattern 6 of SEP I/O Mode)

1) Position Name

2) Position [mm]

3) Speed [mm/s]

4) Pressing Force [%]

5) Pressing Width [mm]

6) Acceleration [G]

7) Deceleration [G]

8) Energy-Saving Setting

Backward End

Position

0.00 50.00 0 0 0.1 0.1 0

Forward End

Position

200.00 50.00 70 1.00 0.1 0.1 1

Intermediate

Point Position

100.00 50.00 0 0 0.1 0.1 0

Example for Position Table Setting (when Operation Pattern 6 and except for SEP I/O Mode)

1) Position Name

2) Position [mm]

3) Speed [mm/s]

4) Pressing Force [%]

5) Pressing Width [mm]

6) Acceleration [G]

7) Deceleration [G]

8) Energy-Saving Setting

0 0.00 50.00 0 0 0.1 0.1 0 1 50.00 50.00 70 1.00 0.1 0.1 1 2 100.00 50.00 0 0 0.1 0.1 0

•

255

Caution: The input value is treated as the angle for the rotary actuator and lever type

gripper. Therefore; [mm] ĺ[deg] ······· 1.2 = 1.2deg [mm/s] ĺ[deg/s] ···· 100 = 100deg/s They are treated as above.

Please note that the display on the screen of a teaching tool such as the PC

software is in [mm].

Forward End Position

Intermediate Point Position

Backward End Position

Actuator

3.3 Setting of Position Data

86

1) Position Name (No.)·······It shows the position the actuator moves towards.

2) Position [mm] ·················It is the coordinate value for positioning. Input the position from the home position.

Caution: (1) For gripper type

Setting is to be conducted with the basis on one finger. Set the value for the movement of one finger from the home position. Stroke information in the specification is shown in the total value of movement distance of the two fingers. Therefore, the stroke is 1/2 of what is described in the specifications.

(2) For rotary type

Set the coordinates from the home position in angle.

3) Speed [mm/s]·················Set the speed in the operation. Do not attempt to input a value more than the maximum speed [refer to the caution note below] or minimum speed

(Note 1)

.

(Note 1) The minimum speed differs depending on the type of the

actuator. Refer to the values stated in the Chapter 7 appendix or the following for the calculation.

Minimum speed [mm/s] = Lead length [mm] / No. of Encoder Pluses /

0.001 [s]

4) Pressing Force [%]·········Set a value other than 0 here and the pressing operation is available. Set a pressing torque (limit current value) in %. The setting range differs depending on the actuator. Refer to the instruction manual of each actuator or the section for pressing force and current limit in the appendix for the details. If the value is set to 0, the normal positioning operation is performed. The speed for the pressing operation is set in Parameter No.7. If the setting of 3) is lower than the pressing speed, the pressing process will be conducted with the speed of 3).

Caution: If the pressing speed is changed, the pressing force may differ from that

specified in 7.2 List of Specifications of Connectable Actuators. When the pressing speed is changed, make sure to measure the actual pressing force before start using.

5) Pressing Width [mm]······ Set the width for the pressing operation. The amount of the pressing width in front of the movement target position (forward end and backward end) is the point to start pressing operation.

A

ctuator Operation

3) Set it as the “Speed”

2) Set is as the “Position”

Set the pressing speed in Parameter No. 7

When the pressing force set within the pressing width, reaches, the pressing operation is completed.

Pressing Width

3.3 Setting of Position Data

87

[Pressing towards Forward End or Intermediate Position]

Pressing Complete

(Position complete

signal output)

Speed

Backward End Pressing

Start Position

Forward End

(Intermediate)

Time

Pressing Width

[Pressing towards Backward End or Intermediate Position = Pulling Action]

Speed

Backward End

(Intermediate)

Pressing

Start Position

Forward End

Time

Pressing Width

Pressing Complete

(Position complete

signal output)

Backward

3.3 Setting of Position Data

88

6) Acceleration [G]··············Set the acceleration at operation.

7) Deceleration [G] ·············Set the deceleration at stop.

(Reference) How to set the acceleration is described below. The same idea

can be applied to the deceleration.

1G=9800mm/s

2

: Acceleration capable to accelerate up to

9800mm/s per second

0.3G: Acceleration capable to accelerate up to 9800mm/s × 0.3 = 2940mm/s per second

Caution: (1) Set the speed, acceleration and deceleration so that they do not exceed the

rating values described in the brochure or the instruction manual of the actuator. 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 cases, do not continue the use of the actuator, otherwise the product life may be shortened extremely fast.

(3) For the gripper type, have the setting done for the speed and

acceleration/deceleration in the basis of one finger. Therefore, note that the relative speed and acceleration/deceleration speed become twice as it is set for the two fingers.

8) Energy-Saving Setting ··· Set this to 1 (effective) and the servo is turned OFF automatically in a certain time after the positioning is completed for power saving. The time setting is to be conducted in Parameter No.10 Automatic Servo-OFF Delay Time, and the time setting can be selected from 1 to 9999 [sec.].

Setting

Operation after Positioning

Complete

Parameter No.

0

Keep the servo ON

–

1

Automatic servo-OFF in a certain time

10

Caution: • No retaining torque is provided in automatic servo OFF. Pay sufficient

attention to the setting because the actuator may be moved by external force applied to it.

• Do not use the automatic servo OFF in pressing. If used, the pressing force is lost.

• Automatic Servo OFF would not function in the operation with teaching mode of PC software.



Speed

Time

9800mm/s

1s

1G

2940mm/s

0.3G

3.3 Setting of Position Data

89

[2] Additional Setting Items for Operation Pattern 1

Set the position and speed for the speed change as well as the position data.

Example for Position Table Setting

Position Name 9) Speed Change

Position [mm]

10) Changed Speed [mm/s]

Backward End

Position

60.00 Input changed speed

Forward End Position 40.00 Input changed speed

9) Speed Change Position [mm] ····· It is the coordinates to change the speed during the movement to the forward end or backward end, which the value is to be input from the home position.

10) Changed Speed [mm/s] ············ Set the speed after change.

 

[3] Additional Setting Items for Operation Pattern 2

Forward End Position 2 and Backward End Position 2 after the target position change can be additionally set.

Example for Position Table Setting

1) Position Name

2) Position [mm]

3) Speed [mm/s]

4) Pressing Force [%]

5) Pressing Width [mm]

6) Acceleration [G]

7) Deceleration [G]

8) Energy-Saving Setting

Backward End

Position 1

0.00 50.00 0 0.00 0.10 0.10 1

Forward End

Position 1

200.00 50.00 70 30.00 0.10 0.10 0

11) Backward

End Position 2

10.00 50.00 0 0.00 0.10 0.10 1

12) Forward End Position 2

100.00 50.00 60 10.00 0.10 0.10 0

11) 12) Backward End Position 2, Forward End Position 2

················ The target position changes as shown below depending on ON/OFF of the target position changeover signal (CN1).



Target Position Change Signal (CN1)

ON OFF

At movement towards forward end

Forward End Position 2 Forward End Position 1

At movement towards backward end

Backward End Position 2 Backward End Position 1



3.4 Fieldbus Type Address Map

90

3.4 Fieldbus Type Address Map

3.4.1 PLC Address Construction by each Operation Mode

The PLC address domain to be occupied differs depending on the operation mode. Refer to the example in Section 3.4.2 for the assignment.

• PLC Output ĺ MSEP Input (n is PLC output top word address to MSEP)

(Note 1)

PLC Output

Area

Simple Direct

Mode

Positioner 1

Mode

Direct

Indication

Mode

Positioner 2

Mode

Positioner 3

Mode

SEP I/O

Mode

(Note 2)

Details

n Gateway Control 0

n+1 Gateway Control 1

3.4.3

n+2 Demand Command n+3 Data 0 n+4 Data 1 n+5 Data 2 n+6 Data 3

MSEP Gateway

Control Area

n+7 Occupied Domain

(Note 3)

3.4.9

n+8

Specified

Position No.

(Axis No.0)

Control Signal/

Position No.

(Axis No.0)

n+9

Target

Position

(Axis No.0)

Occupied

Domain

(Note 3)

Target

Position

(Axis No.0)

Control

Signal

(Axis No.0)

Assignment

Domain for

Axis No.1

Each axis

input port

number

0 to 4

(Axis No.0 to

7)

n+10

Specified

Position No.

(Axis No.0)

Specified

Position No.

(Axis No.0)

n+11

Control

Signal

(Axis No.0)

Control

Signal

(Axis No.0)

Positioning

Width

(Axis No.0)

Assignment

Domain for

Axis No.1

n+12

Speed

(Axis No.0)

n+13

Occupied

Domain

(Note 3)

Acceleration/

Deceleration

(Axis No.0)

n+14

Pressing

Current Limit

(Axis No.0)

n+15

Assignment

Domain for

Axis No.1

Assignment

Domain for

Axis No.1

Control

Signal

(Axis No.0)

Assignment

Domain for

Axis No.2 to 7

n+16 to

n+23

Assignment

Domain for

Axis No.1

Connected Axes Control Area

n+24 to

n+71

Assignment

Domain for

Axis No.2

and later

Assignment

Domain for

Axis No.2

and later

Assignment

Domain for

Axis No.2

and later

Assignment

Domain for

Axis No.2

and later

3.4.4 to

3.4.8

Note 1 For CC-Link, n and n+1 are for input and output bit addresses, and n+8 is for the top

address of data register. Note 2 SEP I/O Mode occupies 10 words no matter how many axes are connected. Note 3 This is the domain occupied unconditionally. Therefore, this domain cannot be used for any

other purpose.

Caution: The mode can be selected for each slot, however, SEP I/O Mode cannot used

together with other modes.

Caution: For MECHATROLINK and CompoNet, only Positioner 3 Mode and SEP I/O Mode

are available for selection.

3.4 Fieldbus Type Address Map

91

• MSEP Output ĺ PLC Input (n is PLC input top word address from MSEP)

(Note 1)

PLC Intput

Area

Simple Direct

Mode

Positioner 1

Mode

Direct

Indication

Mode

Positioner 2

Mode

Positioner 3

Mode

SEP I/O

Mode

(Note 2)

Details

n Gateway Status 0

n+1 Gateway Status 1

3.4.3

n+2 Response Command n+3 Data 0 n+4 Data 1 n+5 Data 2 n+6 Data 3

MSEP Gateway

Response Area

n+7 Occupied Domain

(Note 3)

3.4.9

n+8

Completed

Position No./

Simple Alarm

ID

(Axis No.0)

Status

Signal/

Completed

Position No.

(Axis No.0)

n+9

Current Position

(Axis No.0)

Current

Position

(Axis No.0)

Status Signal

(Axis No.0)

Assignment

Domain for

Axis No.1

Each axis

output port

number 0 to

4

(Axis No.0 to

7)

n+10

Completed Position No./

Simple Alarm ID

(Axis No.0)

n+11

Status Signal

(Axis No.0)

Command

Current

(Axis No.0)

Assignment

Domain for

Axis No.1

n+12

Current

Speed

(Axis No.0)

n+13

Occupied

Domain

(Axis No.0)

n+14

Alarm Code

(Axis No.0)

n+15

Assignment Domain for

Axis No.1

Status Signal

(Axis No.0)

Assignment

Domain for

Axis No.2 to

7

n+16 to

n+23

Assignment

Domain for

Axis No.1

Connected Axes Response Area

n+24 to

n+71

Assignment Domain for

Axis No.2 and later

Assignment

Domain for

Axis No.2

and later

Assignment

Domain for

Axis No.2

and later

3.4.4 to

3.4.8

Note 1 For CC-Link, n and n+1 are for input and output bit addresses, and n+8 is for the top

address of data register. Note 2 SEP I/O Mode occupies 10 words no matter how many axes are connected. Note 3 This is the domain occupied unconditionally. Therefore, this domain cannot be used for any

other purpose.

Caution: The mode can be selected for each slot, however, SEP I/O Mode cannot used

together with other modes.

Caution: For MECHATROLINK and CompoNet, only Positioner 3 Mode and SEP I/O Mode

are available for selection.

3.4 Fieldbus Type Address Map

92

3.4.2 Example for each Fieldbus Address Map

Shown below is an example for the address map by the combination of operation modes for each Fieldbus. Refer to it for the address assignment. The examples for the address map constructions shown below are provided for each field network, however is described together

(Note)

for the networks of the same address assignment.

Note Order of address maps for each field network

1) DeviceNet and CompoNet

(Note 1)

2) CC-Link

3) PROFIBUS, EtherNet/IP, MECHATROLINK

(Note 1)

, EtherCAT

Note 1 For MECHATROLINK and CompoNet, only Positioner 3 Mode and SEP I/O

Mode are available for selection.

٧ For CC-Link

Station Type: Ver. 2 Remote Device Station Extended Cyclic Setting/Occupied Station Number Setting: Register the setting displayed on Gateway Parameter Setting Tool to the host. [Refer to 3.2 Initial Setting] (Connection cannot be established with other ways)

Caution:

• If SEP I/O Mode is selected, all the axes connected to MSEP are involved in SEP I/O Mode.

• This controller is able to control 2 axes with one driver board (1 slot), however, different operation mode cannot be selected in the same driver board.

Example Set the 1st axis in Slot 1 to Positioner 1 Mode and 2nd to Simple Direct Mode

• Even if only one axis is used in the two axes on the same slot, it requires the address space for 2 axes.

[1] Address Map with Combination of Simple Direct Mode and Direct Indication Mode

In the table below, shows the address map when eight axes of MSEP are operated with a combination of Simple Direct Mode and Direct Indication Mode in four types of construction for each Fieldbus as an example.

Combination

Example

Number of Simple Direct

Mode Axes

Number of Direct Indication

Mode Axes 1 8 0 2 6 2 3 2 6 4 0 8

             

IAI America MSEP User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Please Read Before Use

Table of Contents

Safety Guide

Precautions in Operation

International Standards Compliances

Name for Each Parts and Their Functions

Actuator Axes

Starting Procedures

Chapter 1 Specifications Check

1.1 Product Check

1.2 List of Basic Specifications

1.3 Calculation for Power Capacity

1.4 Specifications for each Fieldbus

1.5 External Dimensions

1.6 Option

1.7 Installation and Storage Environment

1.8 Noise Elimination and Mounting Method

Chapter 2 Wiring

2.1 Wiring Diagram (Connection of construction devices)

2.2 Operation Pattern Selected

2.3 Circuit Diagram

2.4 Wiring Method

Chapter 3 Operation

3.1 Basic Operation

3.2 Initial Setting

3.3 Setting of Position Data

3.4 Fieldbus Type Address Map