Iai-america ERC Manual do Utilizador

Operation Manual Seventh Edition ERC Actuator with Integrated Controller

5.2.2 Push & Hold Mode Push = Other than 0... 68 5.2.3 Speed C

80 7. Operation in the “8 Points” and “16 Points” Modes <Practical Operation> 7.1 How to Start (1) Confirm that the connector end (CN1) o

81 If the actuator does not perform home return, confirm that the *pause signal is ON, the motor-drive power supply is receiving power, and no error

82 7.2 How to Execute Home Return First, force the position complete signal to turn ON by referring to 7.1, “How to Start.” 7.2.1 8 Points Ente

83 7.2.2 16 Points Input a start signal after selecting and inputting a desired command position number in which a target position is registered.

84 7.3 Home Return and Movement after Start (16 Points) First, set the necessary data in the position table by referring to 7.1, “How to Start. If

85 The position complete output will turn ON when the controller becomes ready following the power ON. To check if the contr

86 7.4 Positioning Mode (Back and Forth Movement between Two Points) Example of use in operation) The actuator moves back and forth between two p

87 Position-data table (Field(s) within thick line must be entered.) No. Position Speed Acceleration/ deceleration Push Positioning band Accelera

88 7.5 Push & Hold Mode First, cause the position complete signal to turn ON by referring to 7.1, “How to Start.” Example of use in operation)

89Speed Return action Push & hold completion position 240 mm 280 mm If the actuator has missed the load, the position complete output will not

 Movement command type ... 107  Pause i

90 7.6 Speed Change during Movement Example of use in operation) The actuator speed is reduced at a certain point during movement. The position

91 Position-data table (Field(s) within thick line must be entered.) No. Position Speed Acceleration/ deceleration Push Positioning band Accelera

92 7.7 Operation at Different Acceleration and Deceleration Settings Example of use in operation) Positioning is performed to the position 150 mm

93 Position-data table (Field(s) within thick line must be entered.) No. Position Speed Acceleration/ deceleration Push Positioning band Accelera

94 7.8 Pause Example of use in operation) The actuator is paused during movement. Method) Use the pause input. ERC controller

95 T1: 6 msec or more; time after selecting/entering a command position until the start input turns ON (The scan time of th

96 7.9 Zone Signal Output Example of use in operation) While the actuator is moving a zone signal is output inside the zone enclosed by distances

97 T1: 6 msec or more; time after selecting/entering a command position until the start input turns ON (The scan time of t

98 7.10 Incremental Moves Example of use in operation) The actuator is caused to move from the home to the 30-mm position, from which it will be m

99 Position-data table (Field(s) within thick line must be entered.) No. Position Speed Acceleration/ deceleration Push Positioning band Accelera

100 7.11 Notes on Incremental Mode (1) Notes on positioning operation Selecting/entering a position number using relative coordinates during posi

101 Example) If the start signal for movement to position 2 is input while the actuator is moving to position 1 in the push & hold mode, the ac

102 8. Parameters 8.1 Parameter Classification Parameters are classified into four types according to their content. Category: a: Parameter relat

103 8.3 Parameter Settings If a parameter has been changed, always restart the controller using a software reset command or by reconnecting the pow

104  Home return direction Unless specified by the user, the home return direction is set to the motor direction at the factory. Should a need ar

105  Default acceleration only MAX flag To cause the actuator to decelerate gradually when stopping, a lower acceleration/deceleration should be s

106 Top Bottom Home positionThe slider is contacting the bottom mechanical end.Home return directionExcited-phase signal detection directionThe same

107 8.3.3 Parameters Relating to the External Interface  PIO pattern selection Select a desired PIO operation pattern using parameter No. 25. T

108 [Level mode] (Note) Turn OFF the movement command input after confirming that the target position has been reached. [Edge mode]

109 8.3.4 Servo Gain Adjustment  Servo gain number The factory setting is optimized in accordance with the standard specification of the actuator

Pre-1 Safety Guide This “Safety Guide” is intended to ensure the correct use of this product and prevent dangers and property damage. Be sure to r

110 9. Troubleshooting 9.1 Action to Be Taken upon Occurrence of Problem Upon occurrence of a problem, take appropriate action according to the p

111 9.3 Alarm Description and Cause/Action (1) Message level alarms Code Error name Cause/Action 41 Motor voltage drop This alarm indicates t

112 (2) Operation-cancellation level alarms Code Error name Cause/Action B0 Bank 30 data error Cause: Data in the parameter area is outside th

113 Code Error name Cause/Action CA Overheating This alarm indicates that the temperature around the power transistor in the controller board is

114 9.4 Messages Displayed during Operation Using the Teaching Pendant or PC Software This section explains the warning messages that may be displ

115 Code Error name Cause/Action 20C CSTR-ON during operation This message indicates that the start signal (CSTR) was turned ON by the PLC while

116 9.5 Specific Problems  I/O signals cannot be exchanged with the PLC. Cause: [1] The 24-V power supply is connected in reverse. (This wi

117  Vibration occurs when the actuator is stopped. Cause: The slider is receiving an external force. Action: If the external force cannot be re

118 10. Maintenance and Inspection 10.1 Inspection Items and Timings Perform maintenance and inspection per the schedule specified below. This s

119 10.4 Internal Check (Slider Type) [1] With the SA6 and SA7, the screw cover and side covers can be removed using a hex wrench with 1.5 mm wi

Pre-2 Requirements for Industrial Robots under Ordinance on Industrial Safety and Health Work area Work condition Cutoff of drive source Measure

120 10.5 Internal Cleaning (Slider Type)  Wipe off dirt using a soft cloth, etc.  Do not blow compressed air at high speed. Doing so may cause

121 (2) Greasing method Grease the guide by following the procedure below: [1] Apply grease between the slider and base, as shown to the left.

122 10.7 Greasing the Ball Screw (Slider Type) (1) Applicable grease The following special grease is applied to the ball screw prior to shipment:

123 10.8 Greasing the Rod Slide Surface (1) Applicable grease The following grease is applied to the rod slide surface prior to shipment: Kyodo

124 10.9 Motor Replacement Procedure Before replacing the motor, save the latest parameter and position data. Save the data by one of the followin

125  Installation [1] Place the coupling spacer in the coupling hub. [2] Insert the motor unit into the rear bracket while paying attention to th

126AppendixHome return signal Home return request Home return request Positioning start request to position 1 Positioning start request to position

127AppendixMＮNMNOOPPQJＲOSQM POPQPENDPENDROSJ RSPositioning start pulse to position 2 Auxiliary positioning start for position 2 Start check for posi

128AppendixPC1RSPC2CSTRPC4JOPosition 3 set signal Position 5 set signal Command position 1 Command position 2 Position 6 set signal Position 3 set

129Appendix Recording of Position-Data Table Recorded date: No. Position [mm] Speed [mm/sec] Acceleration/ deceleration [G]Push [%]Positioning b

Pre-3 Applicable Modes of IAI’s Industrial Robot Machines meeting the following conditions are not classified as industrial robots according to Not

130Appendix Parameter Records Recorded date: Category a: Parameter relating to the actuator stroke range b: Parameter relating to the actuat

131

132Appendix Change History Revision Date Description of Revision January 2011 Seventh edition  Added “Before Use.”  Changed “Safety Precaut

Catalog No.: ME0137-7A Head Office: 2690 W. 237th Street, Torrance, CA 90505 TEL (310) 891-6015 FAX (310) 891-0815 Chicag

Pre-4 Notes on Safety of Our Products Common items you should note when performing each task on any IAI robot are explained below. No. Task Note

Pre-5 No. Task Note (2) Wiring the cables  Use IAI’s genuine cables to connect the actuator and controller or connect a teaching tool, etc.  Do n

Pre-6 No. Task Note 5 Teaching  When releasing the brake of the vertically installed actuator, be careful not to let the actuator drop due to its

Pre-7 Indication of Cautionary Information The operation manual for each model denotes safety precautions under “Danger,” “Warning,” “Caution” and

Pre-8

1 1. Overview 1.1 Introduction Thank you for purchasing the Easy All-in-One Robo Cylinder (hereinafter referred to as “ERC”). This manual explains

2 1.2 Meaning of the Model Name ERC-RA54-I-PM-12-300-S-NM・SA6・SA7・RA54・RA64・RA54GS・RA64GS・RA54GD・R

3 1.3 Specifications (Note 1) The figures in blank bands indicate the maximum speeds for respective strokes. The m

4 1.3.1 Correlation Diagrams of Speed and Load Capacity – Slider Type (Note) In the above graphs,

5 1.3.2 Correlation Diagrams of Speed and Load Capacity – Rod Type (Note) In the above graphs, the

6 Load Applied to the Actuator (1) Slider type  Keep the load applied to the slider below the value stated in the applicable specification item.

7 1.4 Safety Precautions Read the following information carefully and provide safety measures with due consideration. This product has been dev

8 1.5 Warranty Period and Scope of Warranty The ERC you have purchased passed IAI’s shipping inspection implemented under the strictest standards

9 1.6 Transportation and Handling 1.6.1 Handling before Unpacking Exercise due caution when transporting or handling the box containing the act

Please Read Before Use Thank you for purchasing our product. This Operation Manual explains the handling methods, structure and maintenance of t

10 1.7 Installation Environment and Noise Elimination Pay due attention to the installation environment of the controller. 1.7.1 Installation

11 1.7.3 Power Supply The control/motor-drive power supply specification is 24 VDC  10% (2 A max). 1.7.4 Noise Elimination This section explai

12 (2) Noise sources and elimination Among the numerous noise sources, solenoid valves, magnet switches and relays are of particular concern when

13 1.8 Cabling  The standard relay cables have excellent flexibility to withstand fatigue from flexural loads, but they are not robot cables. Th

14 Prohibited Handling of Cables When designing an application system using this actuator, incorrect wiring or connection of each cable may cause

15Cable Cable bearer Power line Signal lines (flat cable, etc.) Duct 7. Notes on use of cable tracks  The supplied cable is not a robot cable

16 2. Installation 2.1 Name of Each Part 2.1.1 Slider Type (SA6/SA7) 2.1.2 Rod Type (RA54/RA64) Con

17 2.1.3 (1) Rod Type with a Single Guide (RA54GS/RA64GS) 2.1.3 (2) Rod Type with Double Guides (RA54GD/RA64GD)

18 2.2 Installation 2.2.1 Slider Type  Installing the actuator The actuator-mounting surface must be a machined surface or have an equivalent

19Hex cap bolt Hole in flange Hex cap bolt 2.2.2 Rod Type A rod-type actuator can be installed in the following two ways:  Affixing with a fla

CAUTION 1. When Using Multiple 24-V Power Supplies If multiple 24-V power supplies are used, be sure to adjust 0 V to the same level on all uni

20  Affixing with foot brackets (optional) If optional foot brackets are used, install the foot brackets using hex cap bolts. Foot-bracke

21 2.2.3 Installing the Load  Slider Type Four tapped holes are provided in the slider, so affix the load using these holes (indicated by arr

22  Rod Type A bolt is attached on the rod end bracket, so use this bolt to affix the load. (Use the supplied nut, if necessary.) Rod end br

23 3. Wiring 3.1 Basic Structure PERSONAL COMPUTER PC software <RCB-101-MW>Optional Teachi

24  Connection diagram [1] When the control board is of the NPN specification [sink type] * In the case

25 [2] When the control board is of the PNP specification [source type] * In the case of a robot cable,

26 3.2 I/O Connections for PIO Pattern 1 [3 Points] (Air Cylinder) The following description assumes that the ERC is used in the place of an air c

27 3.2.2 Details of Input Signals The input signals from this controller have an input time constant, in order to prevent malfunction caused by

28 3.2.3 Details of Output Signals  Completion of each position (PE0 to PE2) These signals indicate that the target position corresponding

29 3.3 I/O Connections for PIO Pattern 0 [8 Points] Note The factory setting is “8 points.” The pause signal can be disabled in parameter No. 15.

CAUTION 2. Basic Parameter Settings When the power is input for the first time, at least the two parameters specified below must be set in acco

30 3.4.1 Explanation of I/O Signals The following explains the signals used in the “8 points” and “16 points” patterns. Category Signal name Signa

31 Before executing a command using the start signal, make sure the target position, speed and other operation data are set in the position table us

32  Home return completion (HEND) This signal is OFF immediately after the power is input, and turns ON in either of the following two conditions:

33 3.5 Configuration Using a SIO Converter If any of the following conditions applies, use a SIO converter to connect the teaching pendant, PC or

34  Connection diagram [1] When the control board is of the NPN specification [sink type] * In the c

35CN1 [2] When the control board is of the PNP specification [source type] * In the case of a robot ca

36 3.6 Configuration Using an Insulated PIO Terminal Block If either of the following conditions applies, use an insulated PIO terminal block: [1]

37  Connection diagram [1] When the control board is of the NPN specification [sink type] [1] Insulat

38 [2] When the control board is of the PNP specification [source type] [1] Insulate the power supply

39

CAUTION 3. Recommendation for Backing up Latest Data The controller part of this actuator uses nonvolatile memory to store the position table an

40 3.7 Configuration Using Both SIO Converter and Insulated PIO Terminal Block Note: Do not conn

41  Connection diagram [1] When the control board is of the NPN specification [sink type] [1] I

42 [2] When the control board is of the PNP specification [source type] [1] Insulate the power s

43 3.8 Controlling Multiple Axes via Serial Communication The following operations become possible if multiple axes are controlled: [1] Executing

44 3.8.3 Wiring Examples for Linking Multiple Axes  Using only a SIO converter (The same wiring applies to a configuration for automatic opera

45  Using both SIO converter and insulated PIO terminal block (Communication with the PLC is performed via parallel I/O connection.)

46 3.9 Emergency-Stop Circuit Examples of internal circuit and recommended circuit are shown below. For auxiliary relays, use relays with a diode

47  Example of multi-axes circuit allowing each axis to be connected/disconnected to the teaching pendant

48 3.10 Relay Cable  No connector on the counter-actuator end (When connecting the actuator directly to a host system)

49  Connectors on both ends (When using an insulated PIO terminal block) 10 9 8 7 6 5 4 3 2 1 10 9 8 7

50 4. Electrical Specifications 4.1 Controller Specification item Description Number of controlled axes 1 axis/unit Supply voltage 24 VDC 10% S

51 4.2 I/O Signal Interface Circuit 4.2.1 External Input Specifications Item Specification Number of input points 6 points Input voltage 24 VD

52 4.2.2 External Output Specifications Item Specification Number of output points 4 points Rated load voltage 24 VDC Maximum current 60 mA/poi

53 4.3 SIO Converter (Optional) Model: RCB-TU-SIO-A (Vertical installation) RCB-TU-SIO-B (Horizontal installation) This unit is required if any

54 [5] PORT switch A switch for enabling/disabling the teaching pendant. Set the switch to ON when a teaching pendant is used, or OFF when teach

55 4.4 Insulated PIO Terminal Block (Optional) Model: RCB-TU-PIO-A (Combined with a NPN control board: Vertical installation) RCB-TU-PIO-B (Comb

56 [1] Power/emergency-stop terminal block (TB1) Provide a contact output for the emergency-stop switch on the teaching pendant (RCA-T/E). EMS1 an

57 [6] PIO connection terminal block (TB3) A PLC connection port. Detailed signal specifications are shown below. [1] RCB-TU-PIO-A/B (When the

58  Internal connection diagram [1] RCB-TU-PIO-A/B Connector Nonpolar input photocoupler 6 cir

59 [2] PCB-TU-PIO-AP/BP Connector Nonpolar input photocoupler 6 circuits Fusing chip resistor 4

Table of Contents Safety Guide ... 1 1. Over

60  I/O interface specifications Input Specifications Specification item Description Number of input points 6 points Input voltage  24VDC  10%

61 5. Data Entry <Basics> This actuator doesn’t use command words, so there is no need to create a program. All you need is to enter the tar

62 5.1 Description of Position-Data Table (1) No.  Indicate the position data number. To enter an incremental movement, press the minus key in

63 (5) Push (Push)  Select the positioning mode or push & hold mode. The default value is “0.” 0: Positioning mode (= Normal operation) O

64 (7) Acceleration only MAX (ACC MAX)  Select the specified acceleration or maximum acceleration by entering “0” or “1.” The default value is “

65

66 20 30 40 50 60 7005010015020025030035020 30 40 50 60 70010020030040050060070080090020 30 40 50 60 7005010015020025030035040045020 30 40 50 60 7002

6720 30 40 50 60 7005010015020025030035020 30 40 50 60 70010020030040050060070080090020 30 40 50 60 7005010015020025030035040045020 30 40 50 60 7002

68 5.2 Explanation of Modes 5.2.1 Positioning Mode Push = 0 5.2.2 Push & Hold Mode Push = Other than 0 (1) Load was contact

69 (2) Load was not contacted (missed) (1) After reaching the target position, the actuator will move at low speed. Even after contacting the lo

 Pause (*STP)... 27

70 (4) Positioning band was entered with a wrong sign If the positioning band is entered with a wrong sign, the position will deviate by twice th

71 5.2.5 Pause The actuator can be paused during movement using an external input signal (*pause). The pause signal uses the contact B logic (alway

72 6. Operation in the “3 Points (Air Cylinder)” Mode <Practical Operation> 6.1 Overview of the “3 Points” Mode This mode provides a c

73 The relationships of movement command inputs/position complete outputs and corresponding position numbers are shown below. For easier identific

74 6.2 How to Start (1) Confirm that the connector end (CN1) of the relay cable is firmly plugged into the connector on the actuator cable. (2)

75If the actuator does not perform home return, confirm that the *pause signal is ON, the motor-drive power supply is receiving power, and no error

76 6.3 Moving Operation First, make the controller ready to accept movement commands by referring to 6.2, “How to Start.” Example of use in oper

77 [Operation timings] Note: Movement commands are executed based on the rise edge, so input each signal continuously fo

78  The movement command input operates in two modes. You can select the operation condition of the movement command input (ST0 to ST2) in par

79  Handling of the pause (*STP) signal This signal is a Contact B signal, meaning that it must remain ON while the actuator is moving. If th