IAI America SEP-PT User Manual

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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]

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.

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.

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.

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.

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

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

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

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

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

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

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.

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)

External dimensions

92.1

132

1805m

)

(

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

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

4. Operation of ASEP/PSEP/DSEP Controller

4.1 Operation Status Chart

State Transition of the operation when ASEP/PSEP/DSEP controller is connected is shown below:

Power supply

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

Initial Setting Password Entry

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).

Tes t

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).

ESC

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

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?

Yes

Jog

Home return completion?

Uncompleted

Yes

I/O Setting

Operation Pattern

Completed

Parameter

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

Yes

Window

Speed Loop Proportional Gain

Speed Loop Integral Gain

Home Offset

3,4

Goes to Parameter Edit

ESC

Goes to SEP-PT

Menu Window

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

4.2 Each Operation

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”.]

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

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]

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.

㧝㧜㧜㧚㧜㧜㧝㧜㧜㧚㧜㧜

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.

Monitor Window I/O Display



Display Description

LS1(Forward Position Detection

PE1(Forward Point Positioning

ST1(Forward Position Movement

LS1(Forward Position Detection

PE1(Forward Point Positioning

LS1(Forward Position Detection

PE1(Forward Point Positioning

ST1(Forward Position Movement

LS1(Forward Position Detection

PE1(Forward Point Positioning

LS1(Forward Position Detection

PE1(Forward Point Positioning

ST1(Forward Position Movement

LS1(Forward Position Detection

PE1(Forward Point Positioning

ST1(Forward Position Movement

LS1(Forward Position Detection

PE1(Forward Point Positioning

ST1(Forward Position Movement

LS1(Forward Position Detection

PE1(Forward Point Positioning

LS1(Forward Position Detection

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)

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)

(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))

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.

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

No. of Positions to be

set

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

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.

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

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).

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)

[Position Detection Output Signal Condition When Pressing Function Not used]

As long as the actuator position is in the range of the positioning width (Parameter No. 1) even if the servo is off, either of the forward position detection signal (LS0), backward position detection signal (LS1) or intermediate detection signal (LS2) turns on in accordance with the current position as the sensor does. Thus, if the actuator does not move after the positioning is complete, the position detection signal is kept on.

[Positioning Complete Signal Condition When Pressing Function is used]

The servo does not turn off automatically while in the pressing condition during the pressing operation. The servo will automatically turn off if a miss-pressing is occurred. Turning the servo off makes the positioning not completed. Thus, all of the pressing completion signal 0 (PE0), pressing completion signal 1 (PE1) and pressing completion signal 2 (PE2) turn off no matter where the stopped position is.

There is no holding torque during the automatic servo off. The actuator could move with an external force. Pay attention to the interference and safety to the surroundings.

The movement speed can be changed for Operation Pattern (PIO Pattern) No. 1. In the position data, the position where the speed is to change and the new velocity can be set.

Caution

Position Setting

Window

Position Data

Changed Position Changed Speed

Forward Position 60.00 30.00

Backward Position 40.00 30.00

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

the forward position or backward end, is set.

9) Changed Speed…The changed speed is set.

In Operation Pattern (PIO Pattern) No. 2, two sets of forward and backward positions are set. xIn the case that CN1 (Mode Change Signal) is turned OFF, position data for 1 Forward

Position will be used. In the case that CN1 is ON, the position data for 3 Forward Position will be used.

xIn the case that CN1 is turned OFF, the position data for 0 Backward Position will be used.

In the case that CN1 is ON, the position data for 2 Forward Position will be used.

Velocity Change Position

8) 9)

Position Setting

Window

Position Data Position Acceleration Acceleration Deceleration

0 Backward

Position

1 Forward

Position

2 Backward

Position

3 Forward

Position

Position/Velocity

0.00 50.00 0.1 0.1 0 0 Effective

200.00 50.00 0.1 0.1 70 1.00 Effective

10.00 50.00 0.1 0.1 0 0 Effective

100.00 50.00 0.1 0.1 60 1.00 Effective

Acceleration

/Deceleration

Acceleration

/Deceleration

Pressing

Force

Pressing

Width

Energy-Saving

[2] Position Setting Window Types

[Position/Velocity setting]

The Position and Velocity are set here.

[Pressing setting]

The Pressing Force and Pressing Width are set here. Touching PUSH in the “Positing/Velocity setting” window displays the “Pressing setting” window.

[Acceleration/deceleration setting]

The Acceleration and Deceleration are set here. Touching ACC in the “Position/Velocity setting” window displays the “Acceleration/deceleration setting” window.

Energy-

Saving

Function

[Energy-Saving setting]

The Energy-Saving “Enable” or “Disable” is set here. Touching ECO in the “Position/Velocity setting” window displays the “Energy-Saving setting” window.

[Jog Operation]

The Jog operation and inching operation are enabled here. Touching JOG in the “Position/Velocity setting” window displays the “Jog Operation” window.

Inching Jog

[3] Basic Operation

[position / velocity]

Touch the value for the position

Touching Tb1 returns to the Tb1 window.

In the example of the Operation Pattern No. 3, When any of 0, 1 or 2 is touched in this window, the corresponding setting window for “0” (Backward Position), “1” (Forward Position) and “2” (Intermediate Point Position) are displayed.

(Note 1) For the position, enter the value that satisfies the condition (Home position

Position

Touch the WRT When there is no error in the input range, etc., the following window appears.

(Note 2) When 0, 1 or 2 is touched after the position setting and before the value writing for the

target position setting in the “Position setting” window, all the changes are deleted. Whenever the position, velocity, pressing force, acceleration/deceleration or Energy-Saving function setting is changed, write the data for each position (Forward Position, Backward Position or Intermediate Point Position).

d Intermediate Point Position d Forward Position). 䎃

Enter the value as the password using the ten-key and touch .

The set value will be displayed.

(Note 2)

after the other settings such as “Pressing Force”, etc., are completed.

Touch the YES. The controller data is reloaded.

(Note 1)

or velocity.

dBackward

When the writing is completed, the following window appears.

Touch the ESC.

The “Position/Velocity setting” window is returned.

[Pressing Setting, Acceleration/deceleration setting, Energy-Saving Setting]

Taking the “Pressing Operation” as an example, the setting procedure is described.

Touch the PUSH

(Note 1)

Touching Tb1 returns to the Tb1 window.

Touch the value for the Push Power or PushBand setting item.

㧢㧜

㧜㧚㧜㧝

The ten-key will be displayed. Enter the value and touch .

The set value will be displayed. Touch the Back.

㧣㧜

㧜㧚㧜㧝

[Velocity Change Position and Change Velocity setting in the Operation Pattern No. 1 (Movement

Speed Changeable)] The procedure is described taking “Change Position” as an example.

Touch the Velocity Change Position.

Touching MENU returns to the SEP-PT MENU window.

In the example, the velocity change position setting window for the Backward Position 0, will be displayed.

Touch the value for the velocity change position setting item.

Touching Tb1 returns to the Tb1 window.

Enter the value and touch  .

The set value will be displayed.

Touch the WRT. When there is no error in the input range, etc., the following window appears.

Touch the YES. The controller data is reloaded.

When the writing is completed, the following window appears.

Touch the ESC.

The “Change Position/Change Velocity” setting window will be returned.

The “Position/Velocity setting” window is returned.

The set value will be displayed.

Touch the WRT after the other settings such as “Push Power”, etc., are completed. When there is no error in the input range, etc., the following window appears.

Touch the YES. The controller data is reloaded.

When the writing is completed, the following window appears.

Touch the ESC.

The “Position/Velocity setting” window is returned.

[Jog Operation]

(Jog Operation after the Home Return Operation Completion)

Touch the JOG.

Touching Tb1 returns to the Tb1 window.

The “Jog” operation window will be displayed.

The current position of the axis is shown.

Operations in the “Jog” window

x  㧦 While one of these buttons is pressed, the axis is jogged. Jog operation to

negative direction  or positive direction .

x SON 㧦 Touching SON turns ON the servo-motor. When SON is touched, the servo-motor is

turned OFF.

x S F 㧦 Using these buttons, the jog speed is set. Pressing S slows the jog

movement and F quickens the job movement.

S speed : 10mm/sec

F speed : Speed set in the Jog Speed in the Parameter setting

x Get 㧦 The current position is captured. The position value in the “Position/Velocity setting”

window in the Position Setting window is changed to the captured position value. The conditions for capturing the current position are as follows.

x Home return completion x In stop mode x Current position value of “0” or more

When the conditions for capturing are satisfied and Get is touched, the current position value is saved.

x ESC㧦 Pressing this button returns to the “Position/Velocity setting” window in the Position

Setting window.

(Inching Operation after the Home Return Completion)

Touching Increment displays the Inching Operation window.

The current position of the axis is shown.

The inching distance is shown.

Operations in the “Inching” window

x  㧦 With a single touch, the axis is moved as much as the set distance in the

“Inching Distance”. Inching operation to negative direction  or positive direction .

x Get㧦 The current position is captured. The position value in the “Position/Velocity setting”

window in the Position Setting window is changed to the captured position value. The conditions for capturing the current position are as follows.

x Home return completion x In stop mode x Current position value of “0” or more

When the conditions for capturing are satisfied and Get is touched, the current position value is saved.

x ESC㧦 Pressing this button returns to the “Position/Velocity setting” window in the Position

Setting window.

x Inching Distance: The inching distance is set here.

[Inching Distance Change]

Touch the value for the “Inching Distance”.

The ten-key will be displayed. Enter the value and touch  .

The set value will be displayed.

(Jog Operation Execution before Home Return Operation)

When the jog operation is to be performed before the home return operation, the window for the home return operation is displayed before the jog operation window.

Touch the YES.

The home return operation is performed.

Touch the OK.

The home return operation is started and the following window appears.

Touching STOP can stop the home return operation.

When the home return operation is completed, the jog operation window appears. In this window, the jog operation is enabled.

[4] Position Setting Operation Example

The operation procedure is described taking a specific example.

1) Position, Velocity or Acceleration/Deceleration Setting It is described taking Operation Mode 0 (Standard) as an example. The position setting is performed for the reciprocating movement between 10.0 mm and

100.0 mm.

Forward Position:100.0mm, Backward Position:10.0mm, Reciprocating Movement Speed: 50mm/sec, Reciprocating Movement Acceleration:

0.3G, Reciprocating Movement Deceleration: 0.3G

No. Operation

Touch Pos Edit in the SEP-PT MENU window.

Window

Remarks

2 In the case of the password

value except for “0000”, the password input window is displayed. Input the password.

3 Set the Backward Position

related position, acceleration and deceleration. Touch the BackwardPos.

4 Touch the value for the

position.

Touch 1 and 0 and

then .

The password for positioning command can be set in ‘parameter No. 20 Password for Position Data Edit’ under Parameter Edit.

MENU is touched, the

When SEP-PT MENU window is returned.

Touching Tb1 return to the Forward Position/Backward Position setting window in the Position Setting window.

When the value input is stopped, touch ESC. The value will not be set and the previous position setting window will be returned.

6 “10.00” is displayed in the

position data section.

Touching Tb1 return to the Forward Position/Backward Position setting window in the Position Setting window.

No. Operation

7 Touch the velocity value.

Touch 5 and 0 and

then .

9 “50.00” is displayed in the

velocity data section.

Touch the ACC.

Window

Remarks

Touching Tb1 return to the Forward Position/Backward Position setting window in the Position Setting window.

When the value input is stopped, touch ESC. The value will not be set and the previous “Position/Velocity setting window” in the Position Setting window will be returned.

Touching Tb1 return to the Forward Position/Backward Position setting window in the Position Setting window.

11 Touch the acceleration

value.

Touch 0, . and 3 and then .

13 “0.30” is displayed in the

acceleration data section.

㧜㧝㧜

Touching Back returns to the previous “Position/Velocity setting window” in the Position Setting window.

Touching MENU return to the Forward Position /Backward Position setting window in the Position Setting window.

When the value input is stopped, touch ESC.

The value will not be set and the previous “Position/Velocity setting window” in the Position Setting window will be returned.

Touching Back returns to the previous “Position/Velocity setting window” in the Position Setting window.

Touching MENU return to the Forward Position /Backward Position setting window in the Position Setting window.

No. Operation

14 Touch the deceleration

value.

Touch 0, . and 3 and then .

16 “0.30” is displayed in the

deceleration data section.

Touch the Back.

Window

Remarks

Touching Back returns to the previous “Position/Velocity setting window” in the Position Setting window.

Touching MENU return to the Forward Position /Backward Position setting window in the Position Setting window.

When the value input is stopped, touch ESC.

㧜㧝㧜

The value will not be set and the previous “Position/Velocity setting window” in the Position Setting window will be returned.

Touching Back returns to the previous “Position/Velocity setting window” in the Position Setting window.

Touching MENU return to the Forward Position /Backward Position setting window in the Position Setting window.

Touching Tb1 return to the Forward Position/Backward Position setting window in the Position Setting window.

Touch the WRT.

Touch the YES.

Touching Tb1 return to the Forward Position/Backward Position setting window in the Position Setting window.

When the writing is not performed and the “Forward Position/Backward Position” selecting window in the Position Setting window is returned, the setting is not performed.

Touching NO returns to the Position Setting window without performing the setting.

No. Operation

20 The controller’s position data

is reloaded.

Touch the ESC.

21 Set the Forward Position

related Position, Acceleration and Deceleration.

Touch the ForwardPos.

22 The window is change to the

Forward Position window. Set the Forward Position

related Position, Acceleration and Deceleration.

23 Touch the position value.

Window

Remarks

When MENU is touched, the MENU window is returned.

Touching Tb1 return to the Forward Position/Backward Position setting window in the Position Setting window.

Touch 1, 0 and 0 and then .

25 “100.00” is displayed in the

position data section.

26 Touch the velocity value.

Touch 5 and 0 and then .

When the value input is

stopped, touch ESC. The value will not be set and

the previous position setting window will be returned.

Touching Tb1 return to the Forward Position/Backward Position setting window in the Position Setting window.

When the value input is stopped, touch ESC.

The value will not be set and the previous “Position/Velocity setting window” in the Position Setting window will be returned.

No. Operation

28 “50.00” is displayed in the

velocity data section.

Touch the ACC.

30 Touch the acceleration

value.

Touch 0, . and 3 and then .

32 “0.30” is displayed in the

acceleration data section.

33 Touch the decelerate value.

Window

Remarks

Touching Tb1 return to the Forward Position/Backward Position setting window in the Position Setting window.

Touching Back returns to the previous “Position/Velocity setting window” in the Position Setting window.

Touching MENU return to the Forward Position /Backward Position setting window in the Position Setting window.

When the value input is stopped, touch ESC.

The value will not be set and the previous “Position/Velocity setting window” in the Position Setting window will be returned.

Touching Back returns to the previous “Position/Velocity setting window” in the Position Setting window.

Touching MENU return to the Forward Position /Backward Position setting window in the Position Setting window.

Touching Back returns to the previous “Position/Velocity setting window” in the Position Setting window.

Touching MENU return to the Forward Position /Backward Position setting window in the Position Setting window.

No. Operation

Touch 0, . and 3 and then .

35 “0.30” is displayed in the

Decelerate data section.

Touch the Back.

Window

Remarks

When the value input is stopped, touch ESC.

The value will not be set and the previous “Position/Velocity setting window” in the Position Setting window will be returned.

Touching Back returns to the previous “Position/Velocity setting window” in the Position Setting window.

Touching MENU return to the Forward Position /Backward Position setting window in the Position Setting window.

Touch the WRT.

Touch the YES.

39 The controller’s position data

is reloaded. Touch the ESC.

Touching Tb1 return to the Forward Position/Backward Position setting window in the Position Setting window.

When the writing is not performed and the “Forward Position/Backward Position” selecting window in the Position Setting window is returned, the setting is not performed.

Touching NO returns to the Position Setting window without performing the setting.

When MENU is touched, the SEP-PT MENU window is returned.

2) Direct Teaching (Method where the slider is moved manually to the target position and the position (current position) is captured as the Forward Position or Backward Position) It is described taking Operation Mode “0” (Standard Point-to-Point Movement) as an example. The procedure for capturing the current position of “50.0mm” in the Backward Position).

No. Operation

Touch Pos Edit in the SEP-PT MENU window.

In the case of the password value except for “0000”, the password input window is displayed.

Input the password.

Set the Backward Position related position, acceleration and deceleration.

Touch the BackwardPos.

Window

Remarks

The password for positioning command can be set in ‘parameter No. 20 Password for Position Data Edit’ under Parameter Edit.

When MENU is touched, the SEP-PT MENU window is returned.

Touch the JOG.

When the home return operation has not been completed, the window for performing the home return operation is displayed. When the home return operation has been completed, go to operation step No. 8.

Touch YES to perform the home return operation.

Touch the OK.

Touching Tb1 return to the Forward Position/Backward Position setting window in the Position Setting window.

No. Operation

7 Perform the home return

operation.

When the servo-motor is turned ON, touch SON to turned OFF the servo-motor.

Move the slider and rod manually and align the actuator with the target position of 50.0mm.

Touch the Get.

Touch the ESC.

Window

Remarks

Touching STOP stops the home return operation.

“50.00” is displayed in the position data section. It is confirmed that the position data has been captured.

Touch the WRT.

Touch the YES.

Touching Tb1 return to the Forward Position/Backward Position setting window in the Position Setting window.

When the writing is not performed and the “Forward Position/Backward Position” selecting window in the Position Setting window is returned, the setting is not performed.

Touching NO returns to the Position Setting window without performing the setting.

No. Operation

The controller’s position data is reloaded.

Touch the ESC.

Window

Remarks

When MENU is touched, the SEP-PT MENU window is returned.

3) Jog Operation (The actuator is moved (inching movement) using the direction arrow button  or  to align with the target position and the position (current position) is captured as forward position or backward position).

It is described taking Operation Mode “0” (Standard Point-to-Point Movement) as an example. The procedure for capturing the current position of “80.0mm” in the Backward Position).

No. Operation

Touch Pos Edit in the SEP-PT MENU window.

Window

Remarks

In the case of the password

value except for “0000”, the password input window is displayed.

Input the password.

Set the Backward Position

related position, acceleration and deceleration.

Touch the BackwardPos.

Touch the JOG.

5 When the home return

operation has not been completed, the window for performing the home return operation is displayed. When the home return operation has been completed, go to operation step No. 8.

Touch YES to perform the home return operation.

Touch the OK.

The password for positioning command can be set in ‘parameter No. 20 Password for Position Data Edit’ under Parameter Edit.

When MENU is touched, the SEP-PT MENU window is returned.

Touching Tb1 return to the Forward Position/Backward Position setting window in the Position Setting window.

No. Operation

7 Perform the home return

operation.

8 When the servo-motor is

turned OFF, touch SON to turn ON the servo-motor.

Touch Slow S or Fast F to set the jog speed

10 Move the slider or rod using

the arrow button  or  to align the actuator with the target position "80.0mm".

Window

Remarks

Touching STOP stops the home return operation.

Touch the Get.

Touch the ESC.

13 “80.00” is displayed in the

position data section. It is confirmed that the position data has been captured.

Touching Tb1 return to the Forward Position/Backward Position setting window in the Position Setting window.

No. Operation

Touch the WRT.

Touch the YES.

16 The controller’s position data

is reloaded.

Touch the ESC.

Window

Remarks

Touching Tb1 return to the Forward Position/Backward Position setting window in the Position Setting window.

When the writing is not performed and the “Forward Position/Backward Position” selecting window in the Position Setting window is returned, the setting is not performed.

Touching NO returns to the Position Setting window without performing the setting.

When MENU is touched, the SEP-PT MENU window is returned.

4) Inching Movement Operation (The actuator is moved (inching movement) using the direction arrow button  or  to align with the target position and the position (current position) is captured as forward position or backward position) It is described taking Operation Mode “0” (Standard Point-to-Point Movement) as an example. The procedure for capturing the current position of “30.0mm” in the Backward Position).

No. Operation

Touch Pos Edit in the SEP-PT MENU window.

Window

Remarks

In the case of the password

value except for “0000”, the password input window is displayed.

Input the password.

Set the Backward Position

related position, acceleration and deceleration.

Touch the BackwardPos.

Touch the JOG.

5 When the home return

operation has not been completed, the window for performing the home return operation is displayed. When the home return operation has been completed, go to operation step No. 8.

Touch YES to perform the home return operation.

Touch the OK.

The password for positioning command can be set in ‘parameter No. 20 Password for Position Data Edit’ under Parameter Edit.

When MENU is touched, the SEP-PT MENU window is returned.

Touching Tb1 return to the Forward Position/Backward Position setting window in the Position Setting window.

No. Operation

7 Perform the home return

operation.

8 When the servo-motor is

turned OFF, touch SON to turn ON the servo-motor.

Touch the Increment.

The window is transferred to the “Increment” window.

10 Touch the Increment

Distance value.

Window

Remarks

Touching STOP stops the home return operation.

Touching ESC returns to the “Target Position/Velocity” window in the “Initial Setting” window.

11 Set the Increment distance.

12 Move the slider or rod using

the arrow button  or  to align the actuator with the target position "30.0mm".

Touch the Get.

Touch the ESC.

In this example, “0.1mm” is set.

No. Operation

15 “30.00” is displayed in the

position data section. It is confirmed that the position data has been captured.

Touch the WRT.

Touch the YES.

Window

Remarks

Touching Tb1 return to the Forward Position/Backward Position setting window in the Position Setting window.

When the writing is not performed and the “Forward Position/Backward Position” selecting window in the Position Setting window is returned, the setting is not performed.

Touching No returns to the Position Setting window without performing the setting.

18 The controller’s position data

is reloaded. Touch the ESC.

When MENU is touched, the SEP-PT MENU window is returned.

5) Pressing Operation (Pressing Force and Pressing Width) Setting It is described taking Operation Mode “0” (Standard Point-to-Point Movement) as an example. The procedure is described taking the pressing operation performed at the backward position as an example.

Pressing Force:50%, Pressing Width:5.0mm

No. Operation

Touch Pos Edit in the SEP-PT MENU window.

Window

Remarks

In the case of the password

value except for “0000”, the password input window is displayed.

Input the password.

Set the Backward Position

related position, acceleration and deceleration.

Touch the BackwardPos.

Touch the PUSH.

Touch the Push Power

value.

The password for positioning command can be set in ‘parameter No. 20 Password for Position Data Edit’ under Parameter Edit.

When MENU is touched, the SEP-PT MENU window is returned.

Touching Tb1 return to the Forward Position/Backward Position setting window in the Position Setting window.

Touching MENU return to the Forward Position /Backward Position setting window in the Position Setting window.

Touch 5 and 0 and then .

7 “50” is displayed in the Push

Power data section.

When the value input is stopped, touch ESC.

The value will not be set and the previous “Position/Velocity setting window” in the Position Setting window will be returned.

Touching MENU return to the Forward Position /Backward Position setting window in the Position Setting window.

No. Operation

8 Touch the PushBand value.

Touch 5 and .

10 “5.00” is displayed in the

PushBand data section.

Touch the Back

Window

Remarks

Touching MENU return to the Forward Position /Backward Position setting window in the Position Setting window.

When the value input is stopped, touch ESC.

The value will not be set and the previous “Position/Velocity setting window” in the Position Setting window will be returned.

Touching MENU return to the Forward Position /Backward Position setting window in the Position Setting window.

Touch the WRT.

Touch the YES.

14 The controller’s position data

is reloaded. Touch the ESC.

Touching Tb1 return to the Forward Position/Backward Position setting window in the Position Setting window.

When the writing is not performed and the “Forward Position/Backward Position” selecting window in the Position Setting window is returned, the setting is not performed.

Touching No returns to the Position Setting window without performing the setting.

No. Operation

Window

Remarks

When MENU is touched, the SEP-PT MENU window is returned.

6) Energy-Saving Function (Automatic Servo-Motor Turning OFF) Setting The procedure is described taking Operation Mode set to “0” (Standard) as an example. The procedure to turn off the servo-motor automatically 5.0 seconds after the machine stop, is described.

No. Operation

Touch Initial set in the SEP-PT MENU window.

Window

Remarks

2 Set the automatic

servo-motor OFF delay time. Touch the Parameter.

Input a password. The password has been set

Touch the Parameter.

to “5119” when the unit was shipped from the factory.

The password can be set in ‘Password’ in Parameter Menu.

Touch direction arrow button

 or  to change the window continuously and display the automatic servo-motor turning OFF delay time setting window.

6 Touch the value.

Touch 5 and .

When the value input is

stopped, touch ESC. The value will not be set and

the previous position setting window will be returned.

No. Operation

8 5 will be displayed.

Touch the WRT.

Touch the YES.

11 When the controller is

re-started, the window is transferred to the SEP-PT MENU window.

Touch the Pos Edit.

Window

Touching NO returns to the previous automatic servo-motor turning OFF delay time setting window. The parameters are not reloaded.

Touching NO displays the message window showing “Re-input the power”. Until the power is re-input, the set value is not reflected on the controller.

Remarks

12 In the case of the password

value except for “0000”, the password input window is displayed.

Input the password.

Set the Energy-Saving

function for the backward position.

Touch the BackwardPos.

Touch the ECO.

Touch the ON.

The password for the position setting can be entered in the “Position Data Edit Password” window in the “Parameter Edit” window.

When MENU is touched, the SEP-PT MENU window is returned.

Touching Tb1 return to the Forward Position/Backward Position setting window in the Position Setting window.

Touching MENU return to the Forward Position /Backward Position setting window in the Position Setting window.

No. Operation

Touch the Back.

Touch the WRT.

Touch the YES.

Window

Remarks

Touching Tb1 return to the Forward Position/Backward Position setting window in the Position Setting window.

When the writing is not performed and the “Forward Position/Backward Position” selecting window in the Position Setting window is returned, the setting is not performed.

Touching NO returns to the Position Setting window without performing the setting.

19 The controller’s position data

is reloaded. Touch the ESC.

20 Set the Energy-Saving

function for the forward position related items.

Touch the ForwardPos.

21 The window is change to the

Forward Position window.

Set the Energy-Saving function for the forward position.

Touch the ECO.

Touching Tb1 return to the

When MENU is touched, the SEP-PT MENU window is returned.

Touching Tb1 return to the Forward Position/Backward Position setting window in the Position Setting window.

Forward Position/Backward Position setting window in the Position Setting window.

No. Operation

Touch the ON.

Touch the Back.

Touch the WRT.

Touch the YES.

Window

Remarks

Touching MENU return to the Forward Position /Backward Position setting window in the Position Setting window.

Touching Tb1 return to the Forward Position/Backward Position setting window in the Position Setting window.

When the writing is not performed and the “Forward Position/Backward Position” selecting window in the Position Setting window is returned, the setting is not performed.

Touching NO returns to the Position Setting window without performing the setting.

27 The controller’s position data

is reloaded. Touch the ESC.

When MENU is touched, the SEP-PT MENU window is returned.

4.2.6 Information

Using this function, the data items such as operation pattern and version, are displayed.

Touch Infomation in the SEP-PT MENU window.

The data selection window is displayed.

Touch the window to be displayed.

When MENU is touched, the SEP-PT MENU window is returned.

[Setting Check]

The set data such as operation pattern or operation mode can be confirmed. There are two windows.

[Version Manufacturing Data]

The version data, etc., can be confirmed. There are two windows.

The manufacturing data items including serial No., can be confirmed.

[Alarm History]

The alarm history can be confirmed.

[Inquiry]

The contacts in our company can be confirmed.

4.2.7 I/O Setup (Settings of Operation Parameters, etc.)

In this operation, the Operation Pattern (PIO Pattern) (0 to 5) is selected and Operation Mode (Single Solenoid or Double Solenoid) is set.

Touch Initial set in the SEP-PT MENU window.

Touch the I/O set.

When MENU is touched, the SEP-PT MENU window is returned.

Before the window is transferred to the “Initialization” window, the password entry window appears.

Enter the value as the password using the ten-key and touch .

When the correct password is set, the Operation Pattern setting window is displayed.

The password has been set to “5119” when the unit was shipped from the factory.

Select one of Operation Patterns 0 through 5 and touch it.

The window corresponding to the selected Operation Pattern will be displayed.

Operation Pattern 0 Operation Pattern 1 (Standard Point-to-Point Movement) (Movement Speed Setting)

Operation Pattern 2 (Position Data Change) Operation Pattern 3 (2-Input, 3-Point Movement)

Operation Pattern 4 Operation Pattern 5 (3-Input, 3-Point Movement) (Continuous Reciprocating Operation)

When OK is touched, the setting window for the Operation Mode, etc., is displayed. The settable items vary depending on the operation mode.

Setting Items

Operation Pattern

PIO Pattern 0

Standard Point-to-Point

Movement

PIO Pattern 1

Movement Speed Setting

PIO Pattern 2

Position Data Change

PIO Pattern 3

2-Input, 3-Point Movement

PIO Pattern 4

3-Input, 3-Point Movement

PIO Pattern 5

Continuous Reciprocating

Operation

Intermediate

Operation

Mode

Single

Solenoid/

Double

Solenoid

٤ ٤ ٤ ٤ ٤

Position

Movement

System

Both Signals

OFF/

Both Signals

Double

Solenoid

Type

Continuous

Operation

Type/

Momentary

Operation

Type

Double Solenoid Selected

Pause Signal

*STP

Disable/

Enable

Single Solenoid Selected

Refer to the Instruction Manual for the ASEP/PSEP/DSEP Controller for the details of each item to be set.

Servo

Control

SON

Disable/

Enable

٤ ٤ ٤ ٤

OUT2,

OUT3

HEND,

*ALM/ SV, *ALM/ HEND, SV

OUT3 Home return

*ALM/

MANU/

AUTO

Output

Signal

Limit Switch

LS/

Positioning

Shown below is a circuit diagram for a corresponding air cylinder for reference.

Operation Pattern Contents

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

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

PIO Pattern 1 Single Solenoid Type (Point-to-Point Movement) (Movement Speed Setting)

PIO Pattern 1 Double Solenoid Type (Point-to-Point Movement) (Movement Speed Setting)

PIO Pattern 2 Single Solenoid Type (Point-to-Point Movement) (Position Data Change)

PIO Pattern 2 Double Solenoid Type (Point-to-Point Movement) (Position Data Change)

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.

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

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

Operation Pattern

Electric Cylinder Connection

Forward Position Detection (LS1)

Backward Position Movement Signal (ST0) Forward Position Movement Signal (ST1)

Movement Speed

PLC Backward Position Detection (LS0)

Movement Signal (ST0)

PLC

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

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

Movement

Signal

(ST0)

Change Signal

(SPDC)

PLC

Backward Position Detection (LS0)

Forward

Position Detection

(LS1)

Backward Position Movement Signal (ST0) Forward Position Movement Signal (ST1) Movement Speed Change Signal (SPDC)

PLC

Backward Position Detection (LS0)

Forward Position Detection (LS1)

Movement

Signal

(ST0) Target Position Change Signal

(CN1)

PLC

Backward Position Detection (LS0)

Forward Position Detection (LS1)

Backward Position Movement Signal (ST0)

Forward Position Movement Signal (ST1)

Target Position Change Signal (CN1)

Procedure

ASEP, PSEP, DSEP

Electric Cylinder

Dedicated Cable

+24V

Electric Cylinder

Dedicated Cable

+24V

Electric Cylinder

Dedicated Cable

+24V

Electric Cylinder

Dedicated Cable

+24V

Electric Cylinder

Dedicated Cable

+24V

Electric Cylinder

Dedicated Cable

+24V

Air Cylinder Circuit (Reference)

Air Cylinder

PLC

Backward Position Detection (LS0)

Forward Position Detection (LS1)

Movement Signal (ST0)

PLC

Backward Position Detection (LS0) Forward Position Detection

(LS1) Backward Position Movement Signal (ST0) Forward Position Movement Signal (ST1)

PLC

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

Movement

Movement Speed

Change Signal

PLC

Backward

Position Detection

(LS0)

Forward Position Detection (LS1) Backward Position Movement Signal (ST0)

Forward Position Movement Signal (ST1)

Movement Speed Change Signal (SPDC)

PLC

Backward Position Detection (LS0)

Forward Position Detection (LS1)

Movement

Target Position

Change Signal

PLC

Backward Position Detection (LS0)

Forward Position Detection (LS1)

Backward Position Movement Signal (ST0) Forward Position Movement Signal (ST1)

Target Position Change Signal (CN1)

Signal

(ST0)

(SPDC)

Signal

(ST0)

(CN1)

Solenoid

Air Cylinder

Solenoid

Air Cylinder

Solenoid

Air Cylinder

Solenoid

Air Cylinder

P(Air)

Air Cylinder

P(Air)

Spring

R2R1

P(Air)

Solenoid

R2R1

P(Air)

Spring

P(Air)

Solenoid

P(Air)

(Note): The symbols in the air cylinder circuit diagram above are those applied for

ASEP/PSEP/DSEP. Refer to “ASEP/PSEP/DSEP Instruction Manual” for the details of the signal symbols.

Shown below is a circuit diagram for a corresponding air cylinder for reference.

Operation Pattern Contents

PIO Pattern 3 Single Solenoid Type (2-Input, 3-Point Movement)

PIO Pattern 4 Double Solenoid Type (3-Input, 3-Point Movement)

PIO Pattern 5 (Continuous Reciprocating Operation)

The actuator 3-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.

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

Operation Pattern

Electric Cylinder Connection

Procedure

ASEP, PSEP, DSEP

Electric Cylinder

Dedicated Cable

+24V

Electric Cylinder

Dedicated Cable

+24V

PLC

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

Movement Signal 1 (ST0)

Movement Signal 2 (ST1)

PLC

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

Intermediate Position Movement Signal (ST2) Backward Position Movement Signal (ST0)

Forward Position Movement Signal (ST1)

Air Cylinder Circuit (Reference)

Air Cylinder

PLC

Backward

Position Detection

(LS0)

Forward

Position Detection

(LS1)

Intermediate

Position Detection

(LS2)

Movement Signal 1 (ST0)

Movement Signal 2 (ST1)

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

Intermediate Position Movement Signal (ST2) Backward Position Movement Signal (ST0) Forward Position Movement Signal (ST1)

Air Cylinder

P(Air)

(Note): The symbols in the air cylinder circuit diagram above are those applied for

ASEP/PSEP/DSEP. Refer to “ASEP/PSEP/DSEP Instruction Manual” for the details of the signal symbols.

[1] Types of I/O Setup (Setting of the Operation Parameters, etc.) Window

The windows are displayed one by one for the items to be set with a circle in the “Setting Items” table (on page 61), in order from the one on the left side.

[Operation Mode]

Select either of the Single Solenoid Operation Mode or Double Solenoid Operation Mode.

Selecting Back returns to the preceding window.

[Intermediate Position Movement System]

When the Operation Pattern 3 is set, select whether if the intermediate position is moved with both of ST0 and ST1 signals turned OFF or ON.

Selecting Back returns to the preceding window.

[Double Solenoid Type]

When the Double Solenoid Type is set for the Operation Mode and the Operation Pattern 4 is set, select the input signal type for tuning ON the double solenoid, from Continuous Operation Type (Level) or Momentary Operation Type (Edge).

Selecting Back returns to the preceding window.

[Pause Signal *STP]

When the Single Solenoid Type is set for the Operation Mode and the Operation Pattern 4 is set, select whether or not the STOP signal STP (Input in IN2) is used.

Selecting Back returns to the preceding window.

[Servo Control SON]

Select whether or not the servo-motor control signal (Input signal SON (Servo-Motor ON/OFF Control) to IN3) is used.

Selecting Back returns to the preceding window.

[Output Signal Selection Operation Pattern 0, 1, 2, 5]

When the Operation Pattern is set to “0”, “1”, “2” or “5”, set the OUT2 and OUT3 output signals after the Control is selected.

Select one of the three patterns in the table.

Selection No. 1 Selection No. 2 Selection No. 3

OUT2

OUT3

HEND (Homing Completion Signal)

*ALM (Alarm output Signal)

SV (Servo ON output signal)

*ALM (Alarm output Signal)

HEND (Homing Completion Signal)

SV (Servo ON output signal)

Selecting Back returns to the preceding window.

[Output Signal Selection Operation Pattern 3, 4]

When the Operation Pattern is set to “3” or “4”, set the OUT3 output signal after the Control is selected. Select either of ALM (Alarm Status Signal) or SV (Servo-Motor ON Status Signal).

Selecting Back returns to the preceding window.

[Home Return Operation]

Select the home return operation system.

x AUTO : The home return operation is started when the power is input. x MANU : The home return operation is started when the first STO signal is input after the

power is input.

Selecting Back returns to the preceding window.

[Output Signal]

The actuator is moved and the output signal to be issued after the positioning is completed, is selected. Select Limit Switch (LS) or Positioning (PE).

Selecting Back returns to the preceding window.

[2] Basic Operation

The setting procedure is described taking Operation Pattern 0 as an example.

Touch the 0.

When MENU is touched, the SEP-PT MENU window is returned.

Touch the OK.

Touching Cancel and Back return to the preceding Operation Pattern selection window. When MENU is touched, the SEP-PT MENU window is returned.

Select either Single or Double and touch it.

Selecting Back returns to the preceding window.

After that, the setting windows related to the Operation Pattern are displayed one by one for the items to be set with a circle in the “Setting Items” table (on page 61), in order from the one on the left side.

Select either Limit SW or Pos.End and touch it.

Selecting Back returns to the preceding window.

Touch the Complete.

Selecting Back returns to the preceding window.

Touching Retry returns to the Operation Pattern Selection window. Then, the previous set Operation Pattern is deleted.

Touch the YES.

Touching Disp displays the Set Data window. The set data items can be confirmed.

Touching ESC returns to the previous window.

Touching NO returns to the Initialization window. Then, the previous set Operation Pattern is deleted.

Touch the YES. The controller will be restarted. The controller is operated based on the set Operation Pattern. The SEP-PT MENU window is returned.

Touching NO displays the following window. The controller is not operated according to the set Operation Pattern until the controller is re-started up.

Touching ESC returns to the previous Parameter Setting window.

[3] I/O Setup Operation Example

The operation procedure is described taking a specific example.

Example of Operation Mode (PIO Pattern) “0” (Standard Point-to-Point Movement): Perform the following setting.

Operation Mode Single Solenoid Use of STOP Command (*STP) Disable Servo Control Enable Output Signals OUT2 and OUT3

OUT2 HEND, OUT3 㧖ALM

Home return AUTO(Home return operation started with the

power input)

Output Signal LS0(Backward Position Detection),

LS1(Forward Position Detection)

No. Operation Window Remarks

Touch Initial set in the SEP-PT MENU window.

2 Set the Automatic

Servo-Motor OFF Delay Time.

Touch the I/O set.

3 Input the password.

Touch the .

Touch the 0. “Operation Pattern 0” will be

selected.

Touch the OK.

When MENU is touched, the SEP-PT MENU window is returned.

The password can be set in ‘Password’ in Parameter Menu.

The password has been set

to “5119” when the unit was shipped from the factory.

When MENU is touched, the SEP-PT MENU window is returned.

Touching Back or Cancel returns to the preceding window.

When MENU is touched, the SEP-PT MENU window is returned.

No. Operation Window Remarks

Touch the Single. The Single Solenoid

Operation Mode will be selected.

Selecting Back returns to the preceding window.

When MENU is touched, the SEP-PT MENU window is returned.

Touch the Non-use. “Non-use” for the STOP

Command (*STP) will be selected.

Selecting Back returns to the preceding window.

When MENU is touched, the SEP-PT MENU window is returned.

Touch the Control. “Control” for the Servo-Motor

Control will be selected.

Selecting Back returns to the preceding window.

When MENU is touched, the SEP-PT MENU window is returned.

Touch the .

Touch the OK. “HEND” and “ALM” will be

selected as outputs respectively for OUT2 and

HEND



Selecting Back returns to the preceding window.

When MENU is touched, the SEP-PT MENU window is returned.

OUT3.

Touch the AUTO. “AUTO” will be selected for

the Home Return.

Selecting Back returns to the preceding window.

When MENU is touched, the SEP-PT MENU window is returned.

Touch the Limit SW. “LS0” (Backward Position

Detection) and “LS1” (Forward Position Detection) are selected for output signals.

Touch the Complete.

Selecting Back returns to the preceding window.

When MENU is touched, the SEP-PT MENU window is returned.

When Retry is touched, the Operation Pattern window is returned.

Selecting Back returns to the preceding window.

When MENU is touched, the SEP-PT MENU window is returned.

No. Operation Window Remarks

Touch the YES.

Touching Disp confirms the set data.

Touch the YES.

Touching ESC in the set data window, returns to the previous confirmation window.

Touching NO displays the following window. The controller is not operated according to the set Operation Pattern until the controller is re-started up.

When the controller is re-started up, the SET-PT MENU window appears.

4.2.8 Parameters (Parameter Editing, Axis No. Setting, Parameter Initialization at the Shipping from the Factory and System Password)

Set the parameters and axis No. The operation for changing the system password and returning to the default parameters set at the shipping from the factory, are available.

Touch Initial set in the SEP-PT MENU window.

Touch the Parameter.

Enter the value as the password using the ten-key and touch .

The password has been set to “5119” when the unit was shipped from the factory.

The password can be set in ‘Password’ in Parameter Menu.

Select one of Parameter, Axis No., Default, or Password and touch it.

The window corresponding to the set menu item is displayed.

x Parameter : Twenty types of parameter are set. At first, the following window is displayed and then, 19 windows are displayed

one by one in turn.

x Axis No. Set : Set the Axis No.

x Factory Default : The default parameters set at the factory at the shipping can be recovered.

x Change Sys-Pass : The password for the parameter editing can be changed.

[1] Types of Parameter Editing Window The windows are displayed in the following order. Refer to the ASEP/PSEP/DSEP Controller

Instruction Manual for the details of each parameter.

(Positioning Width)

Set the positioning width.

(Jog Speed)

Set the speed for “Fast” for the Jog Operation.

F in the Jog Speed

Window

Jog Speed Window

(Servo Gain Selection)

Set the Servo Gain No. that determines the Responsibility of the Position Control Loop in the Servo-Motor Control.

(Torque Filter Constant)

Set the Torque Filter Constant that determines the Filter Constant for the Torque Command in the Servo-Motor Control.

(Speed Loop Proportional Gain)

Set the Speed Loop Proportional Gain that determines the Responsibility of the Velocity Control Loop in the Servo-Motor Control.

(Servo Gain Selection)

Set the Servo Gain Selection that determines the Responsibility of the Velocity Control Loop in the Servo-Motor Control.

(Push Speed)

Set the velocity in the pressing operation.

(Push Recognition Time)

Set the Push Recognition Time to determine the operation completion at the time when the actuator is pressed against the work in the pressing operation.

(Pushing fails Current)

Set whether if the current limitation value at the time when the pressing operation is performed, but there is no work to be pressed, is regarded as the current in pressing operation or the current in the stop operation. When selecting the current in stop operation for ASEP/DSEP, and the pressing operation is performed, but there is no work to be pressed, the setting will be the torque limitation of the current limitation value in moving operation.

(Auto Servo OFF Delay Time)

Set the time period until the servo-motor is turned OFF automatically when the Energy-Saving function is enabled.

(Stop Mode) Displayed in the case of using PSEP Controller

Set whether if the servo-motor is stopped with the full servo-motor control system or complete stop operation without using the full servo-motor control system, when the actuator is stopped.

(Note) In the case that the position data is not reloaded after this parameter is changed, the change is not reflected.

(Default Positioning Current Limit) Displayed in the case of using PSEP Controller

Set the Current Limit Value when the positioning operation is stopped.

(Default Home Current Limit)

Set the Current Limit Value in the home return operation.

(Automatic Headway)

Set the stop time period from the actuator movement completion to the next movement when the Operation Pattern 5 (Continuous Operation) is set.

(Soft Limit)

Set the soft limit on the positive () side.

(Home Offset)

Set the offset level for the home return operation.

(Home Direction)

Set the home direction either of the motor side or opposite side of the motor. For some actuators including rod type, the change of the home return direction is unavailable.

(Absolute Board) In the case of the Absolute Unit, it is displayed.

Set whether if the absolute board is enabled or disabled.

(Battery Maintenance) In the case of the Absolute Unit, it is displayed.

Set the battery maintenance.

(Position Edit Password)

Set the password when the position data is edited.

[2] Basic Operation

Set the parameter.

[Parameters]

Touching m returns to the preceding window.

Touching o returns to the next window. There are 20 windows to be displayed one by one in order from the positioning width initial

value to the position data edit password edit window.

The soft limit is set as an example. The window where the soft limit is set, is displayed using the m or o in the displayed window.

Touch the value

Enter the value and touch .

Touch the WRT.

When MENU

(Note 1)

is touched, the SEP-PT MENU window

is returned.

(Note 1) Even in the case that the MENU is touched without writing after various parameters are

changed in the parameter edit window, and the window is transferred to the other one from the parameter edit window, the changed parameters are kept.

When the parameter edit window is displayed again, the changed parameters are

displayed. Pay attention.

Touch the YES.

Touching NO returns to the window where the setting was performed. In this example, the soft limit window is returned.

Touch the YES. The controller will be re-started up. The controller is operated according to the set Operation Pattern. The Initialization window is returned.

Touching NO displays the following window. The controller is not operated according to the set Operation Pattern until the controller is re-started up.

[Axis No. Setting] Set the Axis No.

Enter the value and touch .

Touch the OK. The window shows the example where “15” has been entered.

The Axis No. Change Completion window will be displayed.

Touching ESC returns to the Parameter Menu window.

In the case that the ESC is touched without entering any value.

Touch the ESC.

The Axis No. Change Completion window will be displayed. The current Axis No. is displayed in the Axis No. section.

[Factory Parameter Initialization]

Using this function, the operation is performed to return the parameters to default ones set in the factory before the shipping.

Touch the YES.

Touching No returns to the Parameter Menu window without returning the parameters to default ones set in the factory before the shipping.

Touch the YES. The controller will be re-started up. The controller is operated according to the default parameters set in the factory before the shipping. The Initialization window is returned.

Touching NO displays the following window. The controller is not operated according to the default parameters set in the factory before the shipping until it is re-started up.

[Change Sys-Pass]

Using this function, the operation is performed to change the password for the parameter editing.

Touch the OK.

Touching ESC returns to the Parameter Menu window.

Enter the value and touch .

The system password will be changed.

Touching ESC returns to the Parameter Menu window.

4.2.9 Test (I/O Test and Axis Movement Operation Test)

Using this function, the I/O test and axis movement operation test are available.

Touch Initial set in the SEP-PT MENU window.

Touch the Test.

When MENU is touched, the SEP-PT MENU window is returned.

Select one of I/O Test, or TestPlay and touch it.

x I/O Test : The PIO input signals can be monitored.

Also, for the output signals, touching OUT0, OUT1, OUT2 or OUT3 turns

ON and OFF the corresponding signal forcibly.

x Operation Test : Using this function, the axis movement operation test can be performed.

The window corresponding to the Operation Mode is displayed.

The window corresponding to the selected Operation Pattern is displayed.

Operation Pattern 0 Operation Pattern 1 (Standard 2-Point Movement) (Movement Speed Setting)

Operation Pattern 2 (Position Data Change) Operation Pattern 3 (2-Input, 3-Point Movement)

Operation Pattern 4 Operation Pattern 5 (3-Input, 3-Point Movement) (Continuous Reciprocating Operation)

[1] Basic Operation

[IO Test]

The ON and OFF of the input signals can be monitored.

For the output signals OUT0 to OUT3, touching the button outputs the corresponding signal forcibly.

When MENU is touched, the SEP-PT MENU window is returned.

[Pos Test]

The operation procedure is described taking Operation Pattern as an example.

The current position of the axis is shown.

When MENU is touched, the SEP-PT MENU window is returned.

x Backward : When BW is pressed, the actuator is moved backward.

x Forward : When FW is pressed, the actuator is moved forward. x Override 10% : When 10% is touched, the actuator is moved at 10% of the speed set in

the “Target Position/Velocity” window in the “Position Setting” window. In the first displayed window, the “10%” has been set.

x Override 50% : When 50% is touched, the actuator is moved at 50% of the speed set in

the “Target Position/Velocity” window in the “Position Setting” window.

x Override 100% : When 100% is touched, the actuator is moved at 100% of the speed set in

the “Target Position/Velocity” window in the “Position Setting” window.

Operation Pattern 5 (Continuous Reciprocating Operation) is partly different from the other Operation Patterns.

The current position of the axis is shown.

The Axis’s reciprocating operation times are shown.

x Start, Stop : When the Operation Test window is displayed, the Continuous Operation is

stopped.

Touching Start performs the continuous reciprocating operation at the speed

set in the Override window. The switch indication is changed to STOP. Touching STOP stops the actuator operation.

x Reset : Touching CLR resets the reciprocating operation counter to “0”.

When the Operation Test window is escaped, the Continuous Operation is re-started up.

4.2.10 Environment Setup (Touch Sound Setting, Language Setting, Automatic Monitoring Setting, Display Setting (Display Adjustment))

Using this function, the touch sound setting, language setting, automatic monitoring setting or display adjustment is performed.

Touch Initial set in the SEP-PT MENU window.

Touch the Envi.Set.

When MENU is touched, the SEP-PT MENU window is returned.

Select one of Sound, Display, Language, or Auto Monit and touch it.

x Sound Setting : Set whether or not the touch sound is output or not.

x Language Set : Select either Japanese or English for the display language.

x AutoMoniter : In this window, it can be set so that the monitor window is displayed first

after the PSEP/ASEP dedicated touch panel teaching unit is connected.

x Display Setting : In this window, the contrast or brightness is adjusted.

[1] Basic Operation

[Sound Setting]

[Language Set]

[AutoMoniter]

Touching ON outputs the touch sound. Touching OFF turns OFF the touch sound.

Touching OK, the setting is stored and the Environment Setup window for the main machine is returned.

Touching Japanese sets the language to Japanese.

Touching English sets the language to English.

Touching OK, the setting is stored and the Environment Setup window for the main machine is returned.

Touching ON can set so that the monitor window is displayed first after the PSEP/ASEP/DSEP or PMEC/AMEC dedicated touch panel teaching unit is connected.

Touching OFF displays the SEP-PT MENU window first.

Touching OK, the setting is stored and the Environment Setup window for the main machine is returned.

[Display Setting]

When the contrast in the window is to be adjusted, touch Contrast. When the brightness in the window is to be adjusted, touch Brightness.

The adjustment window corresponding to the touched button item is displayed. Touching ESC returns to the Machine Setup window for the main machine is returned.

x Contrast Adjustment

Adjust the contrast in the window by means of touching

 or .

x Brightness Adjustment

Adjust the contrast in the window by means of touching

 or .

Touching ESC returns to the Display Setting window.

IAI America SEP-PT User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Please Read Before Use

Table of Contents

Safety Guide

Precautions for Operation

Product Check

Support Models

1. Basic Specifications

2. Description of Each Section

3. Controller Connection and Disconnection

4. Operation of ASEP/PSEP/DSEP Controller

4.1 Operation Status Chart

4.2 Each Operation