Iai-america ACON-CY User Manual

Operation ManualACON-CY ControllerSolenoid Valve TypeThirteen Edition

5.2.5 Positioning Operation... 51Meaning of Positio

886. Parameter Settings6.2.3 Parameters Relating to External Interface z PIO Pattern Selection (No. 25 IOPN) Parameter No. 25 is used to select a de

896. Parameter Settingsz Servo-on Input Disable Selection (No. 21 FPIO) Parameter No. 21 is used to set whether enable or disable the servo-on input

906. Parameter Settings6.2.4 Servo Gain Adjustment Since the servo has been adjusted at the factory in accordance with the standard specification of t

916. Parameter Settings Speed Loop Integral Gain (No. 32 VLPT) tluafeDegnar tupnI tinU rebmun retemaraP32 --- 1 ~ 217270Set individually in accorda

926. Parameter Settingsz Feed-forward Gain (No. 71 PLFG) Parameter number Unit Input range Default 71 --- 0 ~ 100 Set individually in accordance w

937. Troubleshooting7. Troubleshooting 7.1 What to Do When A Problem Occurs If you encountered a problem, follow the steps below to conduct the speci

947. Troubleshooting7.2 Alarm Level Classification The alarms are classified into three levels based on the corresponding symptoms. Alarm level ALMlam

957. Troubleshooting7.3 Alarms, Causes and Actions (1) Operation Cancellation Alarms Code Error Cause/action 0A2 Position data error Cause: [1]

967. TroubleshootingCode Error Cause/action0CC Excessive controlpower-supply voltageThis alarm indicates that the voltage of the 24-V input power supp

977. TroubleshootingCode Error Cause/action 0EE Absolute encoder error (2)Cause: [1] The power was turned on for the first time after connecting t

Home Check Sensor Input Polarity (No. 43 AIOF)... 84Home Sensor Input Polarity (No. 18 AIOF) ...

987. Troubleshooting(2) Cold Start Alarms Code Error Cause/action 0A1 Parameter data error Cause: The parameter data does not meet the specified inp

997. TroubleshootingCode Error Cause/action 0CB Current-sensor offset adjustment error The status of the current detection sensor in the controller i

1007. TroubleshootingCode Error Cause/action 0F6 Nonvolatile memory timeout after write This alarm indicates that no response was received within the

1017. Troubleshooting7.4 Messages Displayed during Teaching Pendant Operation This section explains the warning messages that may be displayed while

1027. TroubleshootingCode Message Description 20C CSTR-ON during operation A move command signal from the PLC turned ON while the actuator was movi

1037. Troubleshooting7.5 Common Problems and Recommended Actions z I/O Signals Cannot Be Sent or Received to/from the PLC. Cause: [1] The 24-V I/O

1047. Troubleshootingz With an Actuator Installed in Vertical Orientation, Positioning Completes Prematurely.Cause: [1] The ball screw is receiving to

105* AppendixAppendix* Appendix List of Specifications of Connectable Actuators The specifications included in this specification list are limited to

106* AppendixAppendixMotor outputLeadMinimumspeedMaximum speedMaximum acceleration/ decelerationMinimum push force Maximum pushforceRated push speedAc

107* AppendixAppendixMotor outputLeadMinimumspeedMaximum speedMaximum acceleration/ decelerationMinimum push force Maximum pushforceRated push speedAc

108* AppendixAppendixMotor outputLeadMinimumspeedMaximum speedMaximum acceleration/ decelerationMinimum push force Maximum pushforceRated push speedAc

109* AppendixAppendixMotor outputLeadMinimumspeedMaximum speedMaximum acceleration/ decelerationMinimum push force Maximum pushforceRated push speedAc

110* AppendixAppendixMotor outputLeadMinimumspeedMaximum speedMaximum acceleration/ decelerationMinimum push force Maximum pushforceRated push speedAc

111* AppendixAppendixMotor outputLeadMinimumspeedMaximum speedMaximum acceleration/ decelerationMinimum push force Maximum pushforceRated push speedAc

112* AppendixAppendixMotor outputLeadMinimumspeedMaximum speedMaximum acceleration/ decelerationMinimum push force Maximum pushforceRated push speedAc

113* AppendixAppendixMotor outputLeadMinimumspeedMaximum speedMaximum acceleration/ decelerationMinimum push force Maximum pushforceRated push speedAc

114* AppendixAppendixMotor outputLeadMinimumspeedMaximum speedMaximum acceleration/ decelerationMinimum push force Maximum pushforceRated push speedAc

115* AppendixAppendixMotor outputLeadMinimumspeedMaximum speedMaximum acceleration/ decelerationMinimum push force Maximum pushforceRated push speedAc

116* AppendixAppendixMotor outputLeadMinimumspeedMaximum speedMaximum acceleration/ decelerationMinimum push force Maximum pushforceRated push speedAc

117* AppendixAppendixMotor outputLeadMinimumspeedMaximum speedMaximum acceleration/ decelerationMinimum push force Maximum pushforceRated push speedAc

1Safety Guide When designing and manufacturing a robot system, ensure safety by following the safety guides provided below and taking the necessary me

118* AppendixAppendixStandstillmodeCommandmodeIncrementalAcceleration/ decelerationspecification Date Recorded: Zone – [mm]Zone + [mm]Positioningband[

119* AppendixAppendixParameter Record Recorded date: No. Type Name Unit Data1 a Zone limit 1 + side mm 2 a Zone limit 1 – side mm 3 a Soft

120* AppendixAppendixNo. Type Name Unit Data78bAxis operation type-`79bRotational axis mode selection-80bShortcut selection for rotation -`83bAbsolu

121Change HistoryAppendixChange History Description of RevisionRevision DateMarch 2007 First edition Second edition Third edition Changed the caution

122AppendixDescription of RevisionRevision Date• Explanation changed for home return current (Parameter No. 13) in P. 80 and 104• Added "D2 Erre

Manual No.: ME0167-13A (December 2012)The information contained in this document is subject to change without notice for purposes ofproduct improvemen

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

3Applicable Models of IAI’ s Industrial RobotsMachines meeting the following conditions are not classified as industrial robots according to Notice of

4Notes on Safety of Our ProductsCommon items you should note when performing each task on any IAI robot are explained below. No. Task Note1 Model sel

5No. Task Note(2) Wiring the cables z Use IAI’s genuine cables to connect the actuator and controller or connect a teaching tool, etc. z Do not damag

6No. Task Note6 Confirmation operationz After teaching or programming, carry out step-by-step confirmation operation before switching to automatic op

7Indication of Cautionary Information The operation manual for each model denotes safety guides under “Danger,” “Warning,” “Caution” and “Note,” as sp

8

91. Overview1. Overview 1.1 Introduction As a dedicated controller for our RCS actuators, this controller becomes smaller and more affordable and inco

101. Overview1.2 Differences from Air Cylinders in Control Functions For those of you who have been using air cylinders and have never used motorized

111. OverviewItem Air cylinder ACONPosition check upon power on Judgment using a reed switch or other external detection sensor. When the power is tu

121. Overview1.3 How to Read Model Name <Simple absolute unit> <Power-supply voltage> 0: 24 VDC <I/O cable length> 0: No cable 2: 2

131. Overview1.4 System Configuration This controller performs positioning to 3 points (rear end, intermediate point, front end) via a PLC and I/O sig

141. Overview1.5 Steps from Unpacking to Adjustment by Trial Operation If you are using this controller for the first time, refer to the steps explai

151. Overview6Turn on the servo Confirm that the slider or rod is not contacting a mechanical end. If the slider/rod is contacting a mechanical end, m

161. Overview1.6 Warranty1.6.1 Warranty Period1.6.2 Scope of WarrantyElapse of 18 months after the shipment from IAIElapse of 12 months after the deli

171. Overview1.6.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications(1) If our product is combined with another

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

186SHFL¿FDWLRQV2. Specifications 2.1 Basic Specifications Specification item Description Model ACON-CY Number of controlled axes 1 axis per unit

196SHFL¿FDWLRQV2.2 Name and Function of Each Part of the Controller BKConnection terminal for the brake forced-release switch to be used when the

206SHFL¿FDWLRQV2.3 External Dimensions An external view and dimensions of this product are shown below. 5

213. Installation and Wiring3. Installation and Wiring3.1 Installation Environment3.2 Supplied VoltageThe controller takes a supplied voltage of 24 VD

223. Installation and Wiring3.3 Noise Elimination Measures and GroundingThe following explains the noise elimination measures that should be taken whe

233. Installation and Wiring[2] DC solenoid valves, magnet switches and relays Method: Mount diodes in parallel with the coil or use types with buil

243. Installation and WiringBrown 1 Red 1 Orange 1 Yellow 1 Green 1 Blue 1 Purple 1 Gray 1 White 1 Black 1 Brown 2 Red 2 RedWhite BlackBlueOrangeGray

253. Installation and Wiring3.6 Wiring the Power Supply Connect the positive side and negative side of the 24-VDC power supply to the 24-V terminal a

263. Installation and Wiring3.8 Wiring the Emergency Stop Circuit 3.8.1 Cutting off the Drive Signal (Standard) The example below shows an emergency

273. Installation and WiringPrecautions on power supply and emergency stop circuit *1 Refer to the specification list for the load current conducted

283. Installation and WiringUse an SIO converter if it is desired to stop the entire system urgently by emergent stop via the teaching pendant. The op

293. Installation and Wiring3.9 Connecting the Actuator Dedicated relay cables are used to wire between the controller and actuator. (1) RCA motor

303. Installation and Wiring(3) RCA2 monitor/encoder integrated cableModel: CB-A&603$ƑƑƑ(ƑƑƑLQGicates the cable length L. Example: 080 = 8 m)Red

313. Installation and Wiring3.10 Connecting the I/O Flat Cable Signal name No.In case of solenoid valve mode 0 In case of solenoid valve mode 1Color

323. Installation and Wiring3.11 Connecting the Communication Cable Connect the communication cable to the SIO connector. Brown Yellow RedOrangeBlueG

334. Position Table Settings4. Position Table Settings To move the actuator to a specified position, basically you must enter the target position in t

344. Position Table Settings(3) Speed x Enter a speed at which to move the actuator, in mm/sec. The default speed varies depending on the actuator ty

354. Position Table Settings(7) Positioning bandx What this field means is different in “positioning operation” and “push-motion operation.” “Positio

364. Position Table Settings(8) Zone +/– x This field defines the range within which the zone output signal turns ON during operation of solenoid valv

374. Position Table Settings(9) Acceleration/ decelerationmodex This field defines the acceleration/deceleration pattern characteristics. The factory

CAUTION1. Use EnvironmentACON controllers can be used in an environment of pollution degree 2 or equivalent.2. PC Software and Teaching Pendant Models

384. Position Table Settings(10) Incremental x This field defines whether to use the absolute mode or incremental mode. The factory setting is “0.” 0

394. Position Table Settings(12) Standstill modex This field defines the power-saving mode to be applied while the actuator is standing by after comp

405. Operation Using I/O Signals5. Operation Using I/O Signals This chapter explains the wiring/connection and operation timings you should know to p

415. Operation Using I/O Signals5.1.2 External Output Specifications Item Specification Number of output points 6 points Rated load voltage 24 VDC

425. Operation Using I/O Signals5.1.3 Recognition of Input Signals The input signals of this controller have an input time constant to prevent malfun

435. Operation Using I/O Signals5.2 Solenoid Valve Mode 0 This type assumes applications where the servo is turned on/off frequently by the PLC or th

445. Operation Using I/O Signals Detection Output for Each Position (LS0, LS1, LS2) Just like the LS signals of an air cylinder, each signal turns O

455. Operation Using I/O Signals5.2.2 Timings after Power On z Steps from Initial Startup to Actuator Adjustment [1] Cancel the emergency stop or co

465. Operation Using I/O Signalsz Normal Operating Procedure The operating procedure in a normal condition is explained below. [1] Cancel the emergen

475. Operation Using I/O SignalsWarning: Since a servo motor is applied as the driving motor, the system performs the excitation phase detection in th

CAUTIONx Changes to Zone Function Applicable application versions: V0015 and later Among the zone signal settings, those that result in “Zone set

485. Operation Using I/O Signals5.2.3 Position Table and Parameter Settings Required for Operation  Test Operation Immediately after the system has

495. Operation Using I/O Signals

505. Operation Using I/O Signals5.2.4 Homing This controller adopts an incremental position detector (encoder), so once the power is cut off, the mech

515. Operation Using I/O SignalsPositioningband [mm] Position[mm]Speed [mm/s]Acceleration[G]Deceleration[G]Push[%]Rear end Front end Intermediate poin

525. Operation Using I/O Signalsz Meaning of Position Detection Output Signals (LS0, LS1, LS2) These signals are handled in the same way as limit swi

535. Operation Using I/O SignalsPositioningband [mm] Position[mm]Speed [mm/s]Acceleration[G]Deceleration[G]Push[%]Rear end Front end Intermediate poin

545. Operation Using I/O SignalsFront end move command input (ST1) Front end detection output (LS1) Speed Time Moving Stopped Moving Front end z Paus

555. Operation Using I/O Signals5.3 Solenoid Valve Mode 1 This type assumes situations where the system must achieve high productivity. Use this type

565. Operation Using I/O Signals Positioning Complete Output for Each Position (PE0, PE1, PE2) After a move command, the corresponding positioning c

575. Operation Using I/O Signals5.3.2 Timings after Power On z Steps from Initial Startup to Actuator Adjustment [1] Cancel the emergency stop or co

CE MarkingIf a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately.

585. Operation Using I/O Signalsz Normal Operating Procedure The operating procedure in a normal condition is explained below. [1] Cancel the emergen

595. Operation Using I/O Signals Warning: The excited pole phase is detected when the servo is turned on for the first time after the power has been

605. Operation Using I/O Signals5.3.3 Position Table and Parameter Settings Required for Operation  Test Operation Immediately after the system has

615. Operation Using I/O Signals Full-scale Operation In situations where the actuator remains standstill for a long time at a standby position, this

625. Operation Using I/O Signals5.3.4 Homing This controller adopts an incremental position detector (encoder), so once the power is cut off, the mech

635. Operation Using I/O SignalsPositioningband [mm] Position[mm]Speed [mm/s]Acceleration[G]Deceleration[G]Push[%]Rear end Front end Intermediate poin

645. Operation Using I/O Signalsz Meaning of Positioning Complete Output Signals (PE0, PE1, PE2) These signals indicate that the target position has

655. Operation Using I/O SignalsPositioningband [mm] Position[mm]Speed [mm/s]Acceleration[G]Deceleration[G]Push[%]Rear end Front end Intermediate poin

665. Operation Using I/O SignalsFront end move command input (ST1) Front end positioning complete output (PE1) Speed Time Moving Stopped Moving Front

675. Operation Using I/O Signals50-mmpitchRearendIntermediate pointTo front end Last work Zone output signal Set the coordinate immediately before the

685. Operation Using I/O SignalsOperation timings PLC processing 1: The rear end move command signal (ST0) and front end move command signal (ST1) tu

695. Operation Using I/O Signals5.3.6 Zone Output Signal This signal remains ON while the actuator is inside the zone set in the position table. The

705. Operation Using I/O Signals5.3.7 Push-motion Operation Just like you can with an air cylinder, you can maintain the actuator in a condition where

715. Operation Using I/O SignalsOperation timings PLC processing 1: The rear end move command signal (ST0) and intermediate point move command signal

725. Operation Using I/O Signals5.3.8 Examples of Tact Time Reduction Combining Zone Outputs and 3 Stop Points This section explains how the tact tim

735. Operation Using I/O Signals(Reference) Timing Charts and Example of Ladder Sequence Circuit Rear end move command for carry-out side Zone II Inte

745. Operation Using I/O Signals5.4 Power-saving Mode at Standby Positions In situations where the actuator remains standstill for a long time at a s

755. Operation Using I/O Signals Automatic Servo-off Mode The servo automatically turns off after elapse of a specified time following the completio

766. Parameter Settings6. Parameter Settings6.1 Parameter ListThe parameters are classified into the following four types depending on their function:

776. Parameter SettingsNo. Type Name Unit Factory default52 b CTLF Default acceleration/deceleration mode - 0 [Trapezoid] 53 b CTLF Default sta

Table of Contents Please Read Before Use...

786. Parameter SettingsError detection rangeSoftware limit marginSoftware limitStrokeSoftware limitSoftware limit marginError detection range6.2 Deta

796. Parameter Settingsz Home Direction (No. 5 ORG) If not specified by the user, the home direction is set to the motor side before shipment. If you

806. Parameter Settings6.2.2 Parameters Relating to Actuator Operating Characteristicsz Default Speed (No. 8 VCMD)The factory setting is the rated spe

816. Parameter Settingsz Speed Override (No. 46 OVRD) Use this parameter if you want to move the actuator at a slow speed to prevent danger during te

826. Parameter Settingsz Automatic Servo-off Delay Time (No. 36 ASO1/No. 37 ASO2/No. 38 ASO3) This parameter defines the delay time after positioning

836. Parameter Settingsz Push Speed (No. 34 PSHV) This parameter defines the push speed that applies after the target position has been reached in pu

846. Parameter Settingsz Enable Function (No. 42 FPIO) Whether to enable or disable the deadman switch function on the ANSI-type teaching pendant is

856. Parameter SettingsSetting: 50 Setting: 10Setting: 100z Home Sensor Input Polarity (No. 18 AIOF) The input polarity of the home sensor is defined

866. Parameter Settingsz Ball Screw Lead Length (No. 77 LEAD) This parameter defines the ball screw lead length. A default value appropriate for th

876. Parameter SettingsIf the actuator is moved in the order to positions 1 Æ 2 Æ 3 Æ 4, the actuator will operate differently depending on whether or