Iai-america ERC Manual de usuario

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Pagina 1 - Integrated Controller

Operation Manual Seventh Edition ERC Actuator with Integrated Controller

Pagina 2

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

Pagina 3 - Please Read Before Use

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

Pagina 4 - CAUTION

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

Pagina 5

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

Pagina 6

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.

Pagina 7

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

Pagina 8 - Table of Contents

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

Pagina 9

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

Pagina 10

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

Pagina 11

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)

Pagina 12

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

Pagina 13 - Safety Guide

 Movement command type ... 107  Pause i

Pagina 14

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

Pagina 15

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

Pagina 16

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

Pagina 17

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

Pagina 18

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

Pagina 19 - Caution

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

Pagina 20

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

Pagina 21 - 1. Overview

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

Pagina 22 - ERC-RA54-I-PM-12-300-S-NM

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

Pagina 23 - 1.3 Specifications

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

Pagina 25

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

Pagina 26 - Load Applied to the Actuator

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

Pagina 27 - 1.4 Safety Precautions

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

Pagina 28

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

Pagina 29

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

Pagina 30 - 1.7.2 Storage Environment

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

Pagina 31 - 1.7.4 Noise Elimination

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

Pagina 32

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

Pagina 33 - 1.8 Cabling

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

Pagina 34

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

Pagina 35

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

Pagina 36 - 2. Installation

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

Pagina 37

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

Pagina 38 - 2.2 Installation

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

Pagina 39 - 2.2.2 Rod Type

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

Pagina 40

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

Pagina 41 - 2.2.3 Installing the Load

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

Pagina 42 - Double guides

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

Pagina 43 - 3. Wiring

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

Pagina 44 -  Connection diagram

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

Pagina 45

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

Pagina 46 - Gray (Black 2)

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

Pagina 47 -  Pause (*STP)

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

Pagina 48 -  Alarm (*ALM)

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.

Pagina 49 - Home return completion

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:

Pagina 50 -  Start (CSTR)

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

Pagina 51 -  Position complete (PEND)

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

Pagina 52 -  Zone (ZONE)

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

Pagina 53

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

Pagina 54

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

Pagina 55 - Input power supply

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

Pagina 56

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

Pagina 57

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

Pagina 58 - EMG signal

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

Pagina 60 - COMPUTER

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

Pagina 61

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

Pagina 62

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

Pagina 63 - 3.8.2 Address Assignment

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

Pagina 64

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

Pagina 65

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

Pagina 68 - 3.10 Relay Cable

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

Pagina 69

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

Pagina 70 - 4. Electrical Specifications

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

Pagina 71

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

Pagina 72

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

Pagina 73

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.

Pagina 74 - [6] Monitor LEDs

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

Pagina 75

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

Pagina 76 - [4] Relay connector (J1)

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

Pagina 77

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

Pagina 78 - 4 circuits

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

Pagina 79

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

Pagina 80

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

Pagina 81

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

Pagina 82

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

Pagina 83 - (5) Push = Other than 0

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

Pagina 84

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

Pagina 85

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

Pagina 86

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

Pagina 87

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

Pagina 88 - 5.2 Explanation of Modes

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

Pagina 89

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

Pagina 90

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

Pagina 91 - 5.2.7 Home Return

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

Pagina 92

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

Pagina 93 - Front end complete (390 mm)

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

Pagina 94 - 6.2 How to Start

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

Pagina 95

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

Pagina 96 - 6.3 Moving Operation

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

Pagina 97 - Intermediate point complete

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

Pagina 98

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.

Pagina 99

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

Pagina 100 - 7.1 How to Start

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

Pagina 101

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

Pagina 102 - 7.2.1 8 Points

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:

Pagina 103 - 7.2.2 16 Points

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

Pagina 104 - Position complete output OFF

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

Pagina 105

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

Pagina 106

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

Pagina 107

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

Pagina 108 - 7.5 Push & Hold Mode

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

Pagina 110 - [10] [8] [6] [3]

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

Pagina 111

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

Pagina 112 - ON 0.1 mm before position 1

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

Pagina 113

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

Pagina 114 - 7.8 Pause

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

Pagina 115

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

Pagina 116 - 7.9 Zone Signal Output

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

Pagina 117

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

Pagina 118 - 7.10 Incremental Moves

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

Pagina 119

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

Pagina 120

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

Pagina 122 - 8. Parameters

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

Pagina 123 - 8.3 Parameter Settings

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

Pagina 124 -  Default speed

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

Pagina 125

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

Pagina 126

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

Pagina 127 -  Movement command type

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

Pagina 128 -  Serial communication speed

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

Pagina 129 - 8.3.4 Servo Gain Adjustment

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

Pagina 130 - 9. Troubleshooting

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

Pagina 131 - (1) Message level alarms

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

Pagina 132

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

Pagina 133 - (3) Cold-start level alarms

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

Pagina 134 - Software

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

Pagina 135

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

Pagina 136 - 9.5 Specific Problems

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

Pagina 137

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

Pagina 139

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

Pagina 140 - (1) Applicable grease

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

Pagina 141 - (2) Greasing method

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

Pagina 142

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

Pagina 143

 Pause (*STP)... 27

Pagina 144

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

Pagina 145

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

Pagina 146 - Positioning

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

Pagina 147 - Appendix

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

Pagina 148

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)

Pagina 149 - Recorded date:

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

Pagina 150 - Parameter Records

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

Pagina 151

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

Pagina 152 - Change History

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

Pagina 153 - IAI (Shanghai) Co., Ltd

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

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