Touch panel teaching tool
specially for SEP-PT
Instruction Manual Fifth Edition
IAI America Inc.
Please Read Before Use
Thank you for purchasing our product.
This Instruction Manual explains the handling methods, structure and maintenance of this product,
among others, providing the information you need to know to use the product safely.
Before using the product, be sure to read this manual and fully understand the contents explained
herein to ensure safe use of the product.
The CD/DVD that comes with the product contains instruction manuals for IAI products.
When using the product, refer to the necessary portions of the applicable instruction manual by
printing them out or displaying them on a PC.
After reading the Instruction Manual, keep it in a convenient place so that whoever is handling this
product can reference it quickly when necessary.
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.
[Important]
Table of Contents
Safety Guide ·····················································································································1
Precautions for Operation·································································································6
Product Check ·················································································································· 7
Support Models·················································································································8
1. Basic Specifications ·····································································································9
2. Description of Each Section·······················································································11
3. Controller Connection and Disconnection··································································12
4. Operation of ASEP/PSEP/DSEP Controller·······························································13
4.1 Operation Status Chart ······························································································· 13
4.2 Each Operation ··········································································································· 16
4.2.1 Initial Window ···································································································· 16
4.2.2 Initial Setting ······································································································ 17
4.2.3 Menu Selection··································································································18
4.2.4 Monitor··············································································································· 19
4.2.5 Position Setting
(Position Related Data Setting, Jog and Inching Operations)··························· 21
4.2.6 Information········································································································· 59
4.2.7 I/O Setup (Settings of Operation Parameters, etc.) ·········································· 61
4.2.8 Parameters (Parameter Editing, Axis No. Setting, Parameter Initialization
at the Shipping from the Factory and System Password) ································· 74
4.2.9 Test (I/O Test and Axis Movement Operation Test) ··········································· 86
4.2.10 Environment Setup
(Touch Sound Setting, Language Setting, Automatic Monitoring Setting,
Display Setting (Display Adjustment)) ······························································· 91
5. Operation of PMEC/AMEC Controller and ERC3 ······················································95
5.1 Operation Status Chart ······························································································· 95
5.2 Each Operation ··········································································································· 98
5.2.1 Initial Window ···································································································· 98
5.2.2 Initial Setting ······································································································ 99
5.2.3 Menu Selection································································································100
5.2.4 Monitor············································································································· 101
5.2.5 Initial Set·········································································································· 102
5.2.6 Position Setting
(Position Related Data Setting, Jog and Inching Operations)························· 107
5.2.7 Test Play·········································································································· 142
5.2.8 Maintenance, I/O Test······················································································143
5.2.9 Maintenance, Initializing ·················································································· 144
5.2.10 Maintenance, Parameter ················································································· 145
5.2.11 Maintenance, Environment Setup
(Touch Sound Setting, Language Setting, System Password Change,
Display Setting (Display Adjustment)) ·····························································154
5.2.12 Maintenance information display·····································································159
5.2.13 Information······································································································· 160
6. Error Indication·········································································································162
6.1 Alarm························································································································· 162
6.1.1 Alarm detected using the Controller································································ 162
6.1.2 Errors detected using the Touch Panel Teaching Unit·····································162
6.2 Error Message on the Touch Panel ·········································································· 163
7. Absolute Reset Procedure for the Absolute Battery Unit (Option) ···························164
8. Warranty ··················································································································166
8.1 Warranty Period ········································································································ 166
8.2 Scope of Warranty ···································································································· 166
8.3 Honoring Warranty···································································································· 166
8.4 Limited Liability ········································································································· 166
8.5 Conditions of Conformance with Applicable Standards/Regulations, Etc.,
and Applications········································································································167
8.6 Other Items Excluded from Warranty········································································ 167
9. Change History ········································································································168
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.
1 Model Selection This product has not been planned and designed for the application
2 Transportation Consider well so that it is not bumped against anything or dropped
3 Storage and
Operation
Description
Preservation
Precautions
where high level of safety is required, so the guarantee of the protection
of human life is impossible. Accordingly, do not use it in any of the
following applications.
1) Medical equipment used to maintain, control or otherwise affect
human life or physical health.
2) Mechanisms and machinery designed for the purpose of moving or
transporting people (For vehicle, railway facility or air navigation
facility)
3) Important safety parts of machinery (Safety device, etc.)
Do not use 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
Do not use the product outside the specifications. Failure to do so may
considerably shorten its life and cause a product breakdown or facility
operation stop.
during the transportation.
Transport it using an appropriate transportation measure.
Do not step or sit on the package.
Do not put any heavy thing that can deform the package, on it.
When using a crane capable of 1t or more of weight, have an operator
who has qualifications for crane operation and sling work.
When using a crane or equivalent equipments, make sure not to hang a
load that weighs more than the equipment’s capability limit.
Use a hook that is suitable for the load. Consider the safety factor of the
hook in such factors as shear strength.
Do not get on the load that is hung on a crane.
Do not leave a load hung up with a crane.
Do not stand under the load that is hung up with a crane.
The storage and preservation environment conforms to the installation
environment.
However, especially give consideration to the prevention of condensation.
1
No.
Operation
Description
4 Installation and
Start
Precautions
(1) Installation of Robot Main Body and Controller, etc.
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.
Do not get on or put anything on the product. Failure to do so may cause
an accidental fall, injury or damage to the product due to a drop of
anything, malfunction of the product, performance degradation, or
shortening of its life.
When using the product in any of the places 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
(2) Cable Wiring
Use our company’s genuine cables for connecting between the actuator
and controller, and for the teaching tool.
Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not
coil it around. Do not insert it. Do not put any heavy thing on it.
Failure to do so may cause a fire, electric shock or malfunction due to
leakage or continuity error.
Perform the wiring for the product, after turning OFF the power to the
unit, so that there is no wiring error.
When the direct current power (24V) is connected, take the great care
of the directions of positive and negative poles. If the connection
direction is not correct, it might cause a fire, product breakdown or
malfunction.
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.
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.
(3) Grounding
Make sure to perform the grounding of type D (Former Type 3) for the
controller. 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.
2
No.
4 Installation and
Operation
Description
Start
Precautions
(4) Safety Measures
When the product is under operation or in the ready mode, take the
safety measures (such as the installation of safety and protection fence)
so that nobody can enter the area within the robot’s movable range.
When the robot under operation is touched, it may result in death or
serious injury.
Make sure to install the emergency stop circuit so that the unit can be
stopped immediately in an emergency during the unit operation.
Take the safety measure not to start up the unit only with the power
turning ON. Failure to do so may start up the machine suddenly and
cause an injury or damage to the product.
Take the safety measure not to start up the machine only with the
emergency stop cancellation or recovery after the power failure. Failure
to do so may result in an electric shock or injury due to unexpected
power input.
When the installation or adjustment operation is to be performed, give
clear warnings such as “Under Operation; Do not turn ON the power!” etc.
Sudden power input may cause an electric shock or injury.
Take the measure so that the work part is not dropped in power failure or
emergency stop.
Wear protection gloves, goggle or safety shoes, as necessary, to secure
safety.
Do not insert a 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.
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 Perform the teaching operation from outside the safety protection fence,
if possible. In the case that the operation is to be performed unavoidably
inside the safety protection fence, prepare the “Stipulations for the
Operation” and make sure that all the workers acknowledge and
understand them well.
When the operation is to be performed inside the safety protection
fence, the worker should have an emergency stop switch at hand with
him so that the unit can be stopped any time in an emergency.
When the operation is to be performed inside the safety protection
fence, in addition to the workers, arrange a watchman so that the
machine can be stopped any time in an emergency. Also, keep watch on
the operation so that any third person can not operate the switches
carelessly.
Place a sign “Under Operation” at the position easy to see.
When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
3
No.
Operation
Description
Precautions
6 Trial Operation After the teaching or programming operation, perform the check
operation one step by one step and then shift to the automatic operation.
When the check operation is to be performed inside the safety protection
fence, perform the check operation using the previously specified work
procedure like the teaching operation.
Make sure to perform the programmed operation check at the safety
speed. Failure to do so may result in an accident due to unexpected
motion caused by a program error, etc.
Do not touch the terminal block or any of the various setting switches in
the power ON mode. Failure to do so may result in an electric shock or
malfunction.
7 Automatic
Operation
Before the automatic operation is started up, make sure that there is
nobody inside the safety protection fence.
Before the automatic operation is started up, make sure that all the
related peripheral machines are ready for the automatic operation and
there is no error indication.
Make sure to perform the startup operation for the automatic operation,
out of the safety protection fence.
In the case that there is any abnormal heating, smoke, offensive smell,
or abnormal noise in the product, immediately stop the machine and turn
OFF the power switch. Failure to do so may result in a fire or damage to
the product.
When a power failure occurs, turn OFF the power switch. Failure to do
so may cause an injury or damage to the product, due to a sudden
motion of the product in the recovery operation from the power failure.
8 Maintenance
and Inspection
Perform the work out of the safety protection fence, if possible. In the
case that the operation is to be performed unavoidably inside the safety
protection fence, prepare the “Stipulations for the Operation” and make
sure that all the workers acknowledge and understand them well.
When the work is to be performed inside the safety protection fence,
basically turn OFF the power switch.
When the operation is to be performed inside the safety protection
fence, the worker should have an emergency stop switch at hand with
him so that the unit can be stopped any time in an emergency.
When the operation is to be performed inside the safety protection
fence, in addition to the workers, arrange a watchman so that the
machine can be stopped any time in an emergency. Also, keep watch on
the operation so that any third person can not operate the switches
carelessly.
Place a sign “Under Operation” at the position easy to see.
For the grease for the guide or ball screw, use appropriate grease
according to the Instruction Manual for each model.
Do not perform the dielectric strength test. Failure to do so may result in
a damage to the product.
When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
* Safety Protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
9 Modification Do not modify, disassemble, assemble or use of maintenance parts not
specified based at your own discretion.
In such case, the warranty is not applied.
10 Disposal When the product becomes no longer usable or necessary, dispose of it
properly as an industrial waste.
Do not put the product in a fire when disposing of it.
The product may burst or generate toxic gases.
4
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
This indicates an imminently hazardous situation which, if the
Danger
Warning
Caution
product is not handled correctly, will result in death or serious
injury.
This indicates a potentially hazardous situation which, if the
product is not handled correctly, could result in death or serious
injury.
This indicates a potentially hazardous situation which, if the
product is not handled correctly, may result in minor injury or
property damage.
Danger
Warning
Caution
Notice
This indicates lower possibility for the injury, but should be kept to
use this product properly
Notice
5
Precautions for Operation
x Do not give any mechanical impact onto this touch panel teaching unit. Failure to do so may
cause a breakdown of the unit.
x Operate the machine securely holding this touch panel teaching unit body so that any
unnecessary tensile load is given to the cable.
x This touch panel teaching unit has been designed specially for our controller
*1 ERC3 is available to be connected only to MEC mode.
It cannot be connected in CON Mode.
Caution
*1
ASEP/PSEP/DSEP, PMEC/AMEC or ERC3
machine. Failure to do so may cause a breakdown of the unit.
. Therefore, do not connect it to any other
6
Product Check
This product is comprised of the following parts if it is of standard configuration
1. Parts (The option is excluded.)
No. Part Name Model Remarks
Touch panel teaching tool specially
1
for PSEP/ASEP/DSEP
Accessories
2 Touch Pen Built in the Main Body
3 First Step Guide
4 Instruction Manual (CD/DVD)
5 Safety Guide
2. Instruction manuals related to this product, which are contained in the CD/DVD.
No. Name Manual No.
1 ASEP/PSEP/DSEP Controller Instruction Manual ME0267
Refer to “How to read the model
plate”, “How to read the model No.”
2 PMEC/AMEC Controller Instruction Manual ME0245
3 Instruction Manual for the actuator with integrated ERC3 controller ME0297
Touch panel teaching tool specially for PSEP/ASEP/DSEP SEP-PT
4
Instruction Manual
ME0217
3. How to read the model plate
Serial number
Model
MODEL SEP-PT
SERIAL No.900109939 A1 MADE IN JAPAN
4. How to read the Model No.
SEP – PT
– ENG
¢Model²
¢Option²
Unspecified : Indication in Japanese
ENG : Indication in English
7
Support Models
The support models are described in the following table.
Support Model List
Controller Model No.
ASEP
PSEP
DSEP
AMEC
PMEC
ERC3*1
*1 ERC3 is available to be connected only to MEC mode.
It cannot be connected in CON Mode.
8
1. Basic Specifications
In this touch panel teaching unit, the operations are performed on the display panel. This unit
is used for indicating or editing the data (parameter data, position data, etc.) to be saved in the
controller by means of the communication with the controller. This unit is used to perform the
offline teaching (teaching operation) or alarm confirmation, without host PLC.
Item Specification
Power Demand 1.1W or less (220mA or less)
Surrounding air
temperature, humidity
Surrounding storage
temperature, humidity
Vibration resistance (Test Condition) 10 to 55Hz (Frequency 1 minute)
Impact Resistance (Test Condition) 9.8m/s2 or more X,Y,Z Direction Four Times
Environment
Resistance
Dimensions
Mass Approx. 550g (Including the 5m cable)
Cable length 5m(Standard)
Accessories Touch Pen
Temperature 0 to 50qC Humidity 20 to 85% RH
(There should be no dew condensation)
Temperature -20 to 60qC Humidity 10 to 85% RH
(There should be no dew condensation)
Duplex Amplitude 0.75mmX,Y,Z Direction for 10 minutes
IP40
180mm(L)u132mm(W)u92.1mm(D)
9
External dimensions
92.1
132
1805m
)
50
(
10
2. Description of Each Section
(4)Wall Hook
(1) Touch Panel Operation Display Screen
This section consists of the STN monochrome LCD and touch panel.
Editing of various set values and teaching descriptions are displayed.
The operation is available by means of touching
touch pen.
(Note1) The analog resistance film system is used for the touch panel. Therefore, do not
touch two locations or more on the touch panel simultaneously.
In the case that two or more locations are touched simultaneously, the intermediate
points of such two or more locations may react and the operations be started.
(Note2) Do not operate the touch panel with a force greater than 0.5N. If the touch
panel is operated with the force greater than that, it may be broken.
(Note3) The life of a touch panel may be about 1 million times pressing the same
positions (in the use environment at the temperature of 25qC).
(2) EMERGENCY STOP (Emergency Stop Pushbutton Switch)
Using this button, the machine is stopped in an emergency.
(3) Touch Pen
This touch pen is used to touch the touch panel operation display screen.
(4) Wall Hook
This hook is used to hang the unit from the wall.
(5) Strap Set Section
The strap (option) is attached to this section.
(3)Touch Pen
(2)EMERGENCY STOP
(Emergency Stop Pushbutton Switch)
(1)Touch Panel Operation
Display Screen
(5)Strap Set Section
(Note 1)
(Note) Do not open this cover.
the touch panel using your finger or
11
3. Controller Connection and Disconnection
The PSEP/ASEP/DSEP dedicated touch panel teaching unit SEP-PT can be connected or
disconnected without turning OFF the power to the controller.
In the case that an alarm is issued, the alarm description can be checked, by means of
connecting the SEP-PT with the power to the controller turned ON.
ERC3
Controller
x The PSEP/ASEP/DSEP dedicated touch panel teaching unit SEP-PT can not be connected to
Caution
the SIO converter (RCB-TU-SIO-A or RCB-TU-SIO-B).
If connected, it might cause a breakdown of the SIO converter.
PMEC/AMEC
Controller
PSEP/ASEP/DSEP
Controller
SEP-PT
12
4. Operation of ASEP/PSEP/DSEP Controller
6
y
y
4.1 Operation Status Chart
State Transition of the operation when ASEP/PSEP/DSEP controller is connected is shown
below:
Power supply
ON
3.00
Initial Setting
I/O Setting
When the automatic
monitor window is
turned ON, the
Monitor Window is
displayed
automatically.
V3.00 or later display
Title Disp lay
*Displayed
for one second.
Red backlight is
turned ON.
Version Data
SEP-PT
Menu
Position Setting
If the unit has never
been initialized since
it was purchased, the
“Initial Setting
Change Confirmation”
window appears
automatically.
Yes
Tes t
2
Initial Setting
Password Entry
No
Yes
Yes
Controller Re-startup
Monitor
Monitor 1
Current Position
Current Speed
/Current
Parameter Editing
Password Entry
(When the password is set
to the value except for
“0000” in the parameter
setting, this window is
displayed).
No
Tes t
3
Monitor 2
System Status,
I/O condition
Example:
In the case of Operation Pattern
No. 3
Tb1
(The windows are
prepared for each
operation pattern).
Example:
In the case of Operation
Pattern No. 1
Position Setting List
I/O test
Example:
In the case of Operation
Pattern No. 3
PosTest
(The windows are prepared for
each operation pattern).
4
No
ESC
5
Alarm
When an alarm is issued in the
Monitor, Jog, Inching or
Performance Test window, the
window is jumped to this one.
Position Setting
Target Position/
Vel ocit
Position Setting
Target Position/
Vel ocit
Error Indication
When any error occurs in
the input range, etc., this
window is displayed. The
displayed message varies
depending on the error
contents.
Position Setting
Goes to the Target Position/Velocity
Window
Jog
Increment
Yes
.
Position Setting
Pressing Force
/Pressing Width
PosEDIT
Acceleration
/Deceleration
Energy-Saving Function
Completed
[Write] Button
Is there any
error?
No
Yes
Jog
Home return
completion?
No
Uncompleted
Yes
13
2
I/O Setting
3
Operation Pattern
4
Completed
Parameter
5
Retry
Parameter Editing
Password Entry
Password
Parameter
Positioning Band Jog Speed
Auto Servo OFF Delay Time Pushing Fails Curr ent
Displayed in the case of
Stop Mode Default Positioning Current Limit Default Home Current Limit Automatic Headway Soft Limit
Position Edit Password Battery Maintenance
PSEP controller
Axis No.
Solenoid Mode
Selection
Midway Point
Movement Method
Selecting E SC goes to the
Parameter Menu window.
Displayed in the case of
PSEP controller
Displayed in the case of
Absolute Unit
Double
Input Signal Mode Selection
Stop Signal Selection
Output Signal
Shipping Setting
Selecting No goes to the
Parameter Menu window.
Servo Gain Selection
Push Recognition Time
Displayed in the case of
Absolute Unit
Absolute Board Home Direction
Torque Filter Constant
Push Speed
Disable
Servo Control
Output Selection Output Selection
Controller Re-startup
Goes to SEP-PT
Enable
Operation
Pattern
0,1,2,5
Home Position Operation
[WRT] Button
No
Yes
No
Yes
Window
Menu
Speed Loop Proportional Gain
Speed Loop Integral Gain
Home Offset
3,4
Goes to Parameter Edit
ESC
Goes to SEP-PT
Menu Window
14
6
p
Information
Environment
Setu
Sound Setting
Setting Data No. 1
Version Data No. 1
Alarm List
Inquiry
Language Set Auto Monitor
Pressing ES C goes to Menu
Window.
Setting Data No. 2
Version Data No.2
Manufacturing Data
Setting “GT System
Window”
Display Adjustment
Liquid Crystal
Contrast/Backlight
Brightness
Light Brightness
Brightness
Contrast
15
4.2 Each Operation
p
4.2.1 Initial Window
When the controller is connected, the power is supplied to the PSEP/ASEP/DSEP dedicated
touch panel teaching unit and the processing is started.
In the operation window in the PSEP/ASEP/DSEP dedicated touch panel teaching unit, “IAI”
logo mark is displayed for one second when the power is input. Then, the version data is
displayed for three seconds.
After that, the window to be
displayed varies depending
on the condition.
In the case that the controller
has never been initialized since
it was purchased:
In the case that the initial
setting has not been ever
performed since the unit was
urchased.
3.00
[Refer to “4.2.3 Menu
Selection”.]
V3.00 or later display
In the case that the
“Automatic Monitor” is
set to “ON”:
[Refer to “4.2.4 Monitor]
1
㧝㧜㧜㧚㧜㧜
㧝㧜㧜㧚㧜㧜
1 It can be set in
[Refer to “4.2.2 Initial
Setting”.]
16
the Automatic Monitor
Setting Window in
the Environment Setup
window in the main
screen.
4.2.2 Initial Setting
When power is input for the first time after the controller is delivered, the “Initialization” window
appears.
x Selecting Yes goes to the I/O setting window in the operation pattern (PIO Pattern) setting.
Select the operation pattern and set the operation mode to single solenoid or double
solenoid depending on the selected operation pattern.
x Selecting No keeps the double solenoid operation mode with the operation pattern “0” which
has been set when the unit is delivered from the factory.
The window is transferred to the Position Setting window.
Yes No
[Refer to “4.2.7 I/O Setting”.]
[Refer to “4.2.5 Position Setting”.]
Setting at the delivery from the
factory
x Operation Pattern 0
x Double Solenoid Continuous
Operation Type
x Servo-motor Control Disabled
x Home return MANU
x Output System LS
17
4.2.3 Menu Selection
There are four menu items in the SET-PT MENU window. Select one of them and touch it.
The window is transferred to one for the selected menu.
Menu List
x Monitor Controller Status Display [Refer to Item 4.2.4]
x Pos Edit Setting of Position, Pressing Force and Pressing Width, Jog Movement
[Refer to Item 4.2.5]
x Information Data Display for the Operation Pattern or Version
[Refer to Item 4.2.6]
x Initial set
Touching Initial set transfers to the Initial Setting Menu window where the next selection is to
be performed.
There are four menu items in the Initial Setting Menu window. Touch the menu to select it.
The window will display the selected menu.
When MENU is touched, the previous “SEP-PT Menu” window is returned.
Initial Setting Menu List
x I/O set Selection of Operation Pattern (PIO Pattern) (0 to 5) and Setting of
Operation Mode (Single Solenoid or Double Solenoid)
[Refer to Item 4.2.7]
x Parameter Parameter Setting for Positioning Width Initial Value, etc.
[Refer to Item 4.2.8]
x Test I/O Test and Axis Movement Operation Test
[Refer to Item 4.2.9]
x Envi.Set Environment Setup such as touch sound setting
[Refer to Item 4.2.10]
18
4.2.4 Monitor
The controller’s current position, velocity, electric current and system status I/O condition are
displayed.
Touch Monitor in the SET-PT MENU window.
The monitor window consists of two display windows.
Touching the MENU returns to the SET-PT MENU window.
ψ
㧝㧜㧜㧚㧜㧜
㧝㧜㧜㧚㧜㧜
φ
The axis position is shown.
The axis velocity is shown.
The axis current value is shown.
The system status (servo-motor, driving source,
home return and emergency stop) are shown.
The axis I/O status is shown.
When it is turned OFF, the reversal display is
performed.
The indication varies depending on the operation
pattern.
19
Monitor Window I/O Display
Display Description
LS1(Forward Position Detection
*3
PE1(Forward Point Positioning
ST1(Forward Position Movement
LS1(Forward Position Detection
*3
PE1(Forward Point Positioning
LS1(Forward Position Detection
*3
PE1(Forward Point Positioning
ST1(Forward Position Movement
LS1(Forward Position Detection
*3
PE1(Forward Point Positioning
LS1(Forward Position Detection
*3
PE1(Forward Point Positioning
ST1(Forward Position Movement
LS1(Forward Position Detection
*3
PE1(Forward Point Positioning
ST1(Forward Position Movement
LS1(Forward Position Detection
*2
*2
PE1(Forward Point Positioning
ST1(Forward Position Movement
LS1(Forward Position Detection
PE1(Forward Point Positioning
LS1(Forward Position Detection
*3
PE1(Forward Point Positioning
*STP(Pause Signal) ST0(Movement Signal)
Signal)/
Completion Signal)
Signal)
()
Signal)/
Completion Signal)*2
*STP(Pause Signal)
Signal)/
Completion Signal)*2
Signal)
()
Signal)/
Completion Signal)
*STP(Pause Signal)
Signal)/
Completion Signal)
Signal)
()
Signal)/
Completion Signal)
Signal)
Signal)/
Completion Signal)*2
Signal)
()
Signal)/
Completion Signal)*2
*STP(Pause Signal)
Signal)/
Completion Signal)
*2
*2
*2
*2
*2
LS0(Backward Position Detection
PE0(Backward Point Positioning
ST0(Backward Position Movement
LS0(Backward Position Detection
PE0(Backward Point Positioning
ST0(Backward Position Movement
LS0(Backward Position Detection
PE0(Backward Point Positioning
ST0(Backward Position Movement
LS0(Backward Position Detection
PE0(Backward Point Positioning
ST0(Backward Position Movement
LS0(Backward Position Detection
PE0(Backward Point Positioning
ST0(Backward Position Movement
LS0(Backward Position Detection
PE0(Backward Point Positioning
LS0(Backward Position Detection
PE0(Backward Point Positioning
ST0(Backward Position Movement
LS0(Backward Position Detection
PE0(Backward Point Positioning
ASTR(Continuous Reciprocating
LS0(Backward Position Detection
PE0(Backward Point Positioning
Signal)/
Completion Signal)*2
Signal)
Signal)/
Completion Signal)*2
Signal)
Signal)/
Completion Signal)*2
Signal)
Signal)/
Completion Signal)*2
Signal)
Signal)/
Completion Signal)*2
Signal)
Signal)/
Completion Signal)*2
ST0(Movement Signal 1)
Signal)/
Completion Signal)*2
Signal)
Signal)/
Completion Signal)*2
Operation Signal)
Signal)/
Completion Signal)*2
PIO Pattern
Operation Mode
Standard
Point-to-Point
Movement:0
Single Solenoid
Standard
Point-to-Point
Movement:0
Double Solenoid
Movement Speed
Setting:1
Single Solenoid
Movement Speed
Setting:1
Double Solenoid
Position Data
Change:2
Single Solenoid
Position Data
Change:2
Double Solenoid
2-Input, 3-Point
Movement:3
3-Input, 3-Point
Movement:4
Double Solenoid
Continuous
Reciprocating
Operation:5
IN3(Input)OUT3(Output) IN2(Input)OUT2(Output) IN1(Input)OUT1(Output) IN0(Input)OUT0(Output)
Input
Output
Input
Output
Input
Output
Input
Output
Input
Output
Input
Output
Input
Output
Input
Output
Input
Output
SON(Servo ON signal)
*ALM (Alarm Output Signal)/
SV (Servo-Motor ON Output
SON(Servo ON signal)*1
*ALM (Alarm Output Signal)/
SV (Servo-Motor ON Output
SON(Servo ON signal)*1
*ALM (Alarm Output Signal)/
SV (Servo-Motor ON Output
SON(Servo ON signal)*1
*ALM (Alarm Output Signal)/
SV (Servo-Motor ON Output
SON(Servo ON signal)*1
*ALM (Alarm Output Signal)/
SV (Servo-Motor ON Output
SON(Servo ON signal)*1
*ALM (Alarm Output Signal)/
SV (Servo-Motor ON Output
SON(Servo ON signal)*1
*ALM (Alarm Output Signal)/
SV (Servo-Motor ON Output
SON(Servo ON signal)*1
*ALM (Alarm Output Signal)/
SV (Servo-Motor ON Output
SON(Servo ON signal)*1
*ALM (Alarm Output Signal)/
SV (Servo-Motor ON Output
/
Signal)
/
Signal)
/
Signal)
/
Signal)
/
Signal)
/
Signal)
/
Signal)
/
Signal)
/
Signal)
*1
*3
*3
*3
*3
*3
*3
*3
*3
*3
(RES(Reset signal))
HEND(Homing Completion Signal)/
SV(Servo-Motor ON Output Signal)
(RES(Reset signal))
HEND(Homing Completion Signal)/
SV(Servo-Motor ON Output Signal)
SPDC(Movement Speed Change
HEND(Homing Completion Signal)/
SV(Servo-Motor ON Output Signal)
SPDC(Movement Speed Change
HEND(Homing Completion Signal)/
SV(Servo-Motor ON Output Signal)
CN1(Target Position Change Signal)
HEND(Homing Completion Signal)/
SV(Servo-Motor ON Output Signal)
CN1(Target Position Change Signal)
HEND(Homing Completion Signal)/
SV(Servo-Motor ON Output Signal)
LS2(Intermediate Point Detection
PE2(Intermediate Point Positioning
LS2(Intermediate Point Detection
PE2(Intermediate Point Positioning
HEND(Homing Completion Signal)/
SV(Servo-Motor ON Output Signal)
Signal)
(RES(Reset signal))
Signal)
(RES(Reset signal))
(RES(Reset signal))
(RES(Reset signal))
(RES(Reset signal))
Signal)/
Completion Signal)
ST2(Position Movement 2)
(RES(Reset signal))
Signal)/
Completion Signal)
(RES(Reset signal))
The (Signal Name) section shows the signal before the home return operation.
1 When the Servo-Motor Control is set to “Enable” in the Initial Setting in the I/O Setting, the
“SON” signal is output.
2 When the Output Signal Type is set to “Limit Switch” in the Initial Setting in the I/O Setting, the
“LS” signal is output. When it is set to “Positioning”, the “PE” signal is output.
3 When “SV” is selected in the Output Selection, the “SV” signal is output. Depending on the
operation parameters and operation mode, the signal can be set either to OUT2 or OUT3.
20
4.2.5 Position Setting
(Position Related Data Setting, Jog and Inching Operations)
The data items related to the position such as position, pressing force and pressing width, are
set here. With these settings, the jog movement and inching movement operations can be
performed.
Touch Pos Edit in the SET-PT MENU window.
Before the window is transferred to the Position Setting window, in the case that the password
is set to the value except for “0000”, the password entry window is displayed.
Enter the value as the password using the ten-key and
touch .
When the correct password is set, the window is transferred to the “List” window in the
“Position Setting” window. The display varies depending on the Operation Pattern setting.
The password can be entered in the “Position
Data Edit Password” in the “Parameter Edit”
window.
Touch the position to be set.
Touching MENU returns to the SET-PT MENU window.
The left figure shows an example of Operation Pattern
No. 3.
The set value for each position, is displayed.
No. of Positions to be set
Operation Pattern Displacement
Standard Point-to-Point
Movement:0
Movement Speed Setting:1 2-Point Movement 2
Position Change: 2 2-Point Movement 4
2-Input, 3-Point Movement:3 3-Point Movement 3
3-Input, 3-Point Movement:4 3-Point Movement 3
Continuous Reciprocating
Operation:5
2-Point Movement 2
2-Point Movement 2
No. of Positions to be
set
21
When the section of the position to be set is touched, the target position/velocity setting window
for the selected position is displayed.
Set the position and velocity.
The set position is shown.
The set velocity is shown.
Touching Tb1 returns to the Tb1 window.
In this set window, the other three setting item and job movement can be selected.
[Setting Items]
x PUSH Pressing Force and Pressing Width Setting
x Acceleration/Deceleration Acceleration and Deceleration Setting
x ECO Energy-Saving Function Setting
[1] Position Data
The position data for operating the actuator is set here.
Forward Position
Intermediate
Point Position
Backward Position
Motor
Actuator
Position Data
Position Setting
Window
Position Data
Forward
Position
Backward
Position
Intermediate
Point Position
Position/Velocity Acceleration/Deceleration Pressing Energy-Saving
1) 2) 3) 4) 5) 6) 7)
Position
[mm]
200.00 50.00 0.1 0.1 70 1.00 Effective
0.00 50.00 0.1 0.1 0 0 Effective
100.00 50.00 0.1 0.1 0 0 Effective
Velocity
[mm/s]
Acceleration
[G]
Deceleration
[G]
Pressing
Force
[%]
Pressing
Width
[mm]
Energy-Saving
Function
1) Position… Set the position where the actuator is moved.
The correlation of the Positions is as shown below:
Backward Position < Intermediate Point Position < Forward Position
Operation Pattern Dis placement
Standard Point-to-Point
Movement :0
Movement Speed Setting :1 2-Point Movement
Position Data Change:2 2-Point Movement
2-Input, 3-Point Movement :3 3-Point Movement
3-Input, 3-Point Movement :4 3-Point Movement
Continuous Reciprocating
Operation :5
2-Point Movement
2-Point Movement
Forward
Position
Set Position
Backward
Position
Intermediate
Point Position
2) Velocity…Set the actuator speed.
3) Acceleration…Set the actuator acceleration.
It is available to input greater number than specified in the Catalog for the
range of input.
Refer to the Catalog or the Instruction Manual of the actuator.
22
4) Deceleration [G]…It is able to set the deceleration speed (G) at the stop.
(Reference) Explained here is about the acceleration speed. The way to think is the
same for deceleration.
1G = 9800mm/s2: Acceleration that enables to accelerate up to 9800mm/s in 1sec.
0.3G: Acceleration that enables to accelerate up to 9800mm/s u 0.3 = 2940mm/s in 1sec.
Velocity
9800mm/s
2940mm/s
1G
1s
0.3G
Time
Settings of Acceleration and Deceleration.
(1) Set the acceleration speed to a value that does not exceed the rated
(2) Lower the acceleration/deceleration setting in the case there is any impact or vibration
(3) When the transported weight is obviously lighter than the rated transportable weight, the
Caution
acceleration/deceleration speed specified in the Catalog or this Instruction Manual. Use of
the actuator beyond the rated acceleration/deceleration speed may shorten the actuator
life remarkably.
occurred on the actuator or the work part. Keeping the usage under such a condition may
shorten the actuator life remarkably.
acceleration speed could be set higher than the rated value. The takt time will possibly be
shortened by this. Please ask us in such a case. At that time, please inform us of the work
part weight, profile, attachment method and the condition of the actuator installation
(horizontal/vertical).
5) Pressing Force [%] … It sets the pressing torque.
Increasing the current limitation value (%) increases the pressing
force.
When it is set to “0”, the positioning operation is not available.
Refer to the Catalog or the Instruction Manual for the correlation
between the pressing force and the current limitation value (%).
6) Pressing Width [mm]… It sets the distance for the pressing operation.
When a pressing operation is performed, the actuator drives with
the speed set in the positioning parameter and the rated torque as
it does for the normal positioning operation until the remained
movement amount reaches to the range that is set in the pressing
width parameter. After the actuator gets in the range, it starts the
pressing movement till it reaches to the position set in (1).
The speed during the pressing operation is 20mm/s (if the
parameter No.7 is remained the same as it is when delivered). Do
not set this value above 20mm/s. If the setting in (2) is lower than
the pressing speed, the pressing will be performed with the speed
set in (2).
23
Velocity
Position where the actuator is pressed against
the work and it is decided that the pressing operation
has been completed.
Work Part
Pressing Operation Starting Point
Pressing Width
Target Position
7) Energy-Saving Function… If the energy saving function is turned active, the servo will turn
off automatically to save electricity in a certain while after a
positioning is complete.
Set the time in the parameter in advance.
Parameter No. Parameter Name Initial Value Setting range
10 Auto Servo OFF Delay Time [sec] 1 0 to 9999
[Automatic Servo off]
The servo automatically turns off after a specified time once the position is complete. When
the next position is commanded, the servo will automatically turn on and execute the position.
It will save power consumption since the no current is used during servo off.
Movement Signal 1 (ST0)
Movement Signal 2 (ST1)
Actuator Movement
Servo Condition
In Automatic Servo-Motor OFF Mode
(Green LED is flashing)
T T: Time Set to Parameter No. 10
Start Point Detection (LS0)
End Point Detection (LS1)
Intermediate Point Detection (LS2)
Completion of Start Point Positioning (PE0)
Completion of
End Point Positioning (PE1)
Completion of Intermediate Point Positioning (PE2)
24
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