Iai-america MSEP User Manual

MSEP Controller Instruction Manual Fourth Edition

2No.OperationDescription Description 2 Transportation Ɣ When carrying a heavy object, do the work with two or more persons or utilize equipment such

3.4 Fieldbus Type Address Map923.4.2 Example for each Fieldbus Address Map Shown below is an example for the address map by the combination of operat

3.4 Fieldbus Type Address Map931) DeviceNet (CompoNet is not applicable for this mode)[Combination Example 1] When number of Simple Direct Mode axes

3.4 Fieldbus Type Address Map94[Combination Example 2] When number of Simple Direct Mode axes is 6 and number of Direct Indication Mode 2 (n is the t

3.4 Fieldbus Type Address Map95[Combination Example 4] When number of Simple Direct Mode axes is 0 and number of Direct Indication Mode 8 (n is the t

3.4 Fieldbus Type Address Map96[Combination Example 2] When number of Simple Direct Mode axes is 6 and number of Direct Indication Mode 2 (Extended C

3.4 Fieldbus Type Address Map97[Combination Example 3] When number of Simple Direct Mode axes is 2 and number of Direct Indication Mode 6 (Extended C

3.4 Fieldbus Type Address Map983) PROFIBUS-DP, EtherNet/IP, EtherCAT (MECHATROLINK is not applicable for this mode) [Combination Example 1] When numb

3.4 Fieldbus Type Address Map99[Combination Example 3] When number of Simple Direct Mode axes is 2 and number of Direct Indication Mode 6 (n is the t

3.4 Fieldbus Type Address Map100[2] Address Map for Positioner 2 Mode Shown below is the address map for each Fieldbus when eight axes of MSEP are op

3.4 Fieldbus Type Address Map1013) PROFIBUS-DP, EtherNet/IP, EtherCAT (MECHATROLINK is not applicable for this mode) (n is the top node address for ea

3No.OperationDescription Description (2) Cable Wiring Ɣ Use our company’s genuine cables for connecting between the actuator and controller, and for

3.4 Fieldbus Type Address Map1022) CC-Link (Extended Cyclic Setting/Number of Occupied Stations: 1 times/4 stations) PLC ĺ MSEP MSEP ĺ PLC Address D

3.4 Fieldbus Type Address Map103[4] Address Map for SEP I/O Mode Shown below is the address map for each Fieldbus when eight axes of MSEP are operate

3.4 Fieldbus Type Address Map1043.4.3 Gateway Control Signals (in common for all operation modes) When operating the system with Fieldbus, the axes a

3.4 Fieldbus Type Address Map105(2) List for Input and Output Signal (ON = Applicable bit is “1”, OFF = Applicable bit is “0”) Signal Type Bit Symbo

3.4 Fieldbus Type Address Map106(ON = Applicable bit is “1”, OFF = Applicable bit is “0”) Signal Type Bit Symbol Description Detailsb15 RUN This

3.4 Fieldbus Type Address Map1073.4.4 Control Signals for Positioner 1/Simple Direct Mode Caution: This mode is not applicable for CompoNet and MECHA

3.4 Fieldbus Type Address Map108(2) Input and Output Signal Assignment for each Axis The I/O signals for each axis consists of 4-word for each I/O bit

3.4 Fieldbus Type Address Map109PLC Input (m is PLC input top word address for each axis number) 䎃Address m b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b

3.4 Fieldbus Type Address Map110 (3) I/O signal assignment (ON = Applicable bit is “1”, OFF = Applicable bit is “0”) Signal Type Bit Symbol Descrip

3.4 Fieldbus Type Address Map111 (ON = Applicable bit is “1”, OFF = Applicable bit is “0”) Signal Type Bit Symbol Description DetailsCurrentPositi

4No.OperationDescription Description 4 Installation and Start (4) Safety Measures Ɣ When the work is carried out with 2 or more persons, make it cle

3.4 Fieldbus Type Address Map112 3.4.5 Control Signals for Direct Indication Mode Caution: This mode is not applicable for CompoNet and MECHATROLINK.

3.4 Fieldbus Type Address Map113 (2) Input and Output Signal Assignment for each Axis The I/O signals for each axis consists of 8-word for each I/O bi

3.4 Fieldbus Type Address Map114 PLC Output (m is PLC output top word address for each axis number) 䎃Address m b15 b14 b13 b12 b11 b10 b9 b8 b7 b

3.4 Fieldbus Type Address Map115 PLC Input (m is PLC input top word address for each axis number) 䎃Address m b15 b14 b13 b12 b11 b10 b9 b8 b7 b6

3.4 Fieldbus Type Address Map116 (3) I/O signal assignment (ON = Applicable bit is “1”, OFF = Applicable bit is “0”) Signal Type Bit Symbol Descrip

3.4 Fieldbus Type Address Map117 Signal Type Bit Symbol Description Details b15 BKRL Brake release ON: Brake release, OFF: Brake activated 3.8.1 [

3.4 Fieldbus Type Address Map118 䎃(ON = Applicable bit is “1”, OFF = Applicable bit is “0”) Signal Type Bit Symbol Description Details CurrentPosi

3.4 Fieldbus Type Address Map119 3.4.6 Control Signals for Positioner 2 Mode Caution: This mode is not applicable for CompoNet and MECHATROLINK. It i

3.4 Fieldbus Type Address Map120(2) Input and Output Signal Assignment for each Axis The I/O signals for each axis consists of 2-word for each I/O bit

3.4 Fieldbus Type Address Map121(3) I/O signal assignment (ON = Applicable bit is “1”, OFF = Applicable bit is “0”) Signal Type Bit Symbol Descript

5No.OperationDescription Description 6 Trial OperationƔ When the work is carried out with 2 or more persons, make it clear who is to be the leader a

3.4 Fieldbus Type Address Map122(ON = Applicable bit is “1”, OFF = Applicable bit is “0”) Signal Type Bit Symbol Description DetailsCompleted Posi

3.4 Fieldbus Type Address Map1233.4.7 Control Signals for Positioner 3 Mode This is the operation mode with the position No. set up. The operation is

3.4 Fieldbus Type Address Map124(2) Input and Output Signal Assignment for each Axis The I/O signals for each axis consists of 1-word for each I/O bit

3.4 Fieldbus Type Address Map125(3) I/O signal assignment (ON = Applicable bit is “1”, OFF = Applicable bit is “0”) Signal Type Bit Symbol Descript

3.4 Fieldbus Type Address Map1263.4.8 Control Signals for SEP I/O Mode This is an operation mode same as when using PIO (24V input and output). Set t

3.4 Fieldbus Type Address Map127(1) PLC Address Composition (m is PLC input and output top word address for each axis number) PLC ĺ MSEP (PLC Output)

3.4 Fieldbus Type Address Map1283.4.9 About Commands (Position Data Read/Write and Alarm Axis Read) By sending a specific code to a specific address,

3.4 Fieldbus Type Address Map129(3) Details of Commands The input and output signals are consist of 5-word for each input and output data register. Ɣ

3.4 Fieldbus Type Address Map1301) Demand command cleared PLC Output (Address n is the input and output top address for MSEP.) (Note) Response command

3.4 Fieldbus Type Address Map1313) Writing of Pressing Width PLC Output (Address n is the input and output top address for MSEP.) (Note) If the writi

6No.OperationDescription Description 8 Maintenance andInspection Ɣ When the work is carried out with 2 or more persons, make it clear who is to be t

3.4 Fieldbus Type Address Map1325) Writing of Acceleration PLC Output (Address n is the input and output top address for MSEP.) (Note) If the writing

3.4 Fieldbus Type Address Map1337) Writing of Pressing Current Limit PLC Output (Address n is the input and output top address for MSEP.) (Note) If t

3.4 Fieldbus Type Address Map1348) Reading of Target Position PLC Output (Address n is the input and output top address for MSEP.) 䎃 Bit Addressb15

3.4 Fieldbus Type Address Map1359) Reading of Pressing Width PLC Output (Address n is the input and output top address for MSEP.) 䎃 Bit Addressb15 b

3.4 Fieldbus Type Address Map13610) Reading of Speed PLC Output (Address n is the input and output top address for MSEP.) 䎃 Bit Addressb15 b14 b13

3.4 Fieldbus Type Address Map13711) Reading of Acceleration PLC Output (Address n is the input and output top address for MSEP.) 䎃 Bit Addressb15 b

3.4 Fieldbus Type Address Map13812) Reading of Deceleration PLC Output (Address n is the input and output top address for MSEP.) 䎃 Bit Addressb15 b1

3.4 Fieldbus Type Address Map13913) Reading of Pressing Current Limit PLC Output (Address n is the input and output top address for MSEP.) 䎃 Bit Add

3.4 Fieldbus Type Address Map14014) Reading of Alarm-issued Axis Number PLC Output (Address n is the input and output top address for MSEP.) (Note) If

3.4 Fieldbus Type Address Map14115) Reading of Alarm Code PLC Output (Address n is the input and output top address for MSEP.) (Note) If this command

7Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and

3.4 Fieldbus Type Address Map14216) Error Response Command PLC Input (Address n is the input and output top address for MSEP.)In the case that the com

3.5 Control Signals for PIO Operation1433.5 Control Signals for PIO Operation The contents of the signals for the input and output ports vary dependi

3.5 Control Signals for PIO Operation144I/O signal assignment Operation Pattern (PIO pattern) 0 1 2 3 4 5 CategoryPIO Functions Point-to-Point

3.5 Control Signals for PIO Operation145Operation Pattern 0 1 2 3 4 5 6 CategoryPIO Functions Point-to-Point Movement Movement speed settingTarg

3.6 Control of Input Signal1463.6 Control of Input Signal 3.6.1 PIO Input Signal Process The input signal of this controller has the input time cons

3.6 Control of Input Signal1473.6.2 Input and Output Signal Process for Fieldbus Type (1) I/O Signal Timings When any of the control signal is turned

3.6 Control of Input Signal148(2) Command Sending and Receiving Timing (Reading and Writing of Position Data and Reading of Alarm Axis) By writing and

3.7 Power Supply1493.7 Power Supply Follow the steps below to turn ON the power to the controller. 1) Supply I/O power, control power and the drive

3.8 I/O Signal Controls and Function1503.8 I/O Signal Controls and Function 3.8.1 Input and Output Signal for Fieldbus Type (except for SEP I/O Mode

3.8 I/O Signal Controls and Function151(6) Home return (HOME) PLC Output Signal Home return completion (HEND) PLC Input Signal When the “HOME” si

8Precautions in Operation 1. Make sure to follow the usage condition, environment and specification range of the product. Not doing so may cause a dr

3.8 I/O Signal Controls and Function152(7) Positioning start (CSTR) PLC Output Signal This signal is processed at the startup (ON edge) and the posit

3.8 I/O Signal Controls and Function153(10) Pause (STP) PLC Output Signal When this signal is turned “ON”, the actuator movement is decelerated and st

3.8 I/O Signal Controls and Function1542) Inching operation The inching operation is available while the JISL signal is turned “ON”. Once it is turne

3.8 I/O Signal Controls and Function155(15) Brake release (BKRL) PLC Output Signal Turning this signal “ON” can release the brake forcibly. (16) Push-

3.8 I/O Signal Controls and Function156(17) Push direction specification (DIR) PLC Output Signal This signal specifies the pressing direction. When th

3.8 I/O Signal Controls and Function157(21) Operation for Positioner 1/Simple Direct Modes If the position data is written to the target position regi

3.8 I/O Signal Controls and Function158Target Position Data Setting(PLC → MSEP)Indicated Position Number(PLC → MSEP)n1p1Positioning StartCSTR(PLC → MS

3.8 I/O Signal Controls and Function159(22) Operation for Direct Indication Mode It is operated with the data set in the PLC's target position re

3.8 I/O Signal Controls and Function1601)2)3)4)5)6)7)8)9)12)11)13)14)n1v1m1t1s1n2 n3v2 v3m2 m3t2s2 s3twcsONtwcsOFFtpdfn1Target Position Data Setting(P

3.8 I/O Signal Controls and Function161(23) Operation Timings for Positioner 2 and Positioner 3 Modes The operation is to be made with the target posi

95. Actuator would not operate without servo-on and pause signals. (1) Servo ON Signal (SON) The servo-on signal (SON) is available to select whethe

3.8 I/O Signal Controls and Function162Indicated Position Number(PLC → MSEP)p1Positioning StartCSTR(PLC → MSEP)Positioning CompletionPEND(MSEP → PLC)M

3.8 I/O Signal Controls and Function1633.8.2 SEP I/O Mode and PIO Operation for Fieldbus Type [1] Servo ON (SON, SV) Input Output PIO Signal SON S

3.8 I/O Signal Controls and Function164[2] Alarm, Alarm Reset (*ALM, RES) Input Output PIO Signal RES *ALM All Operation Patterns { {{ : Available,

3.8 I/O Signal Controls and Function165[4] Movement Command and Positioning Complete Signal (ST0 to ST2, PE0 to PE2) PIO Signal ST0 ST1 ST2 PE0

3.8 I/O Signal Controls and Function166(Example) Repetition of ST1 ĺ ST2 ĺ ST1 ĺ … Insert timer ǻt if necessary. ǻt: Time required to certainly reach

3.8 I/O Signal Controls and Function167[6] Home Return Home-return operation is performed when turning the movement signal 1 (ST0) on if the home ret

3.8 I/O Signal Controls and Function168[Operation of Slider Type/Rod-Type Actuator] 1) The actuator moves toward the mechanical end at the home retur

3.8 I/O Signal Controls and Function169(2) 360° Rotation Specification Rotary Axis1)1)2)3)4)5)6)7)8)9)10)11)12)(Home Position Side)(Opposite Side of

3.8 I/O Signal Controls and Function170[7] Absolute Reset (conducted for Absolute Type) When the power to the machine is turned ON for the first time

3.8 I/O Signal Controls and Function171[9] Pause during Movement = Operation Timing for Operation Patterns 0 to 2 (1) Single Solenoid System: With

109. According to Sequence Program Creation Please note the following things when creating a sequence program. When data transfer is necessary betwee

3.8 I/O Signal Controls and Function172(2) Double Solenoid System: With the movement speed change signal (SPDC) turned ON, the actuator is operated

3.8 I/O Signal Controls and Function173[12] 3-Point Movement = Operation Timing for Operation Patterns 3 and 4 With the combination of ST0 and ST1, th

3.8 I/O Signal Controls and Function174[13] 2-Point Repeated Back and Forth Operation = Operation Timing for Operation Patterns 5 While the repeated b

3.9 About Gateway Parameter Setting Tool1753.9 About Gateway Parameter Setting Tool This tool is necessary for the initial setting process such as MS

3.9 About Gateway Parameter Setting Tool1763) The main window opens. The main window opens even when MSEP could not be detected. Click on the “Read”

3.9 About Gateway Parameter Setting Tool1772) Setting Menu Click on the “Setting” menu on the top left corner in the main window and the setting me

3.9 About Gateway Parameter Setting Tool1783.9.3 Description of Functions 1) GW-Param • Latch in ERR_T/C : Select whether to continue the error ev

3.9 About Gateway Parameter Setting Tool1793) GWmode Select • Enable SW : Select whether to activate/inactivate the enable switch in TP. • BYTE sw

3.9 About Gateway Parameter Setting Tool1803)-2 WORD swap in D-WORD Data : Swap the upper and lower in the W-word sized sent and received data in

3.9 About Gateway Parameter Setting Tool1814) TimeSetting By selecting Time on PC, the current time on the PC is acquired and set to MSEP. If Set M

11 International Standards Compliances MSEP with the following overseas standard. Refer to Overseas Standard Compliance Manual (ME0287) for more detai

3.9 About Gateway Parameter Setting Tool1826) EtherNet/IP Setting (Setting to be established for EtherNet/IP type) • IP Address : Set IP address fo

3.9 About Gateway Parameter Setting Tool1837) I/O Monitor In this register monitor window, shows the data that Gateway Unit has received from the h

3.9 About Gateway Parameter Setting Tool1849) Alarm List Click on the “Update” button and the alarm list is read again from MSEP. Click on the “Cle

3.9 About Gateway Parameter Setting Tool1853.9.4 Operation Mode Setting When selecting the operation mode, select (Note 1) the axis number in the pul

3.10 Status LED1863.10 Status LED 1) For PIO Type SYST.ERREMGMODE{: Illuminating, ×: OFF SymbolLampConditionColor Description Green Ready Orange

3.10 Status LED1872) For Fieldbus Type DeviceNet SYSEMG MODET C ERRMS NS{: Illuminating, ×: OFF, ڏ: Flashing SymbolLampConditionColor Description G

3.10 Status LED1883) For Fieldbus Type CC-Link SYSEMG MODET C ERRRUN ERR{: Illuminating, ×: OFF, ڏ: Flashing SymbolLampConditionColor Description G

3.10 Status LED1894) For Fieldbus Type PROFIBUS-DP SYSEMG MODET C ERRMS NS{: Illuminating, ×: OFF, ڏ: Flashing SymbolLampConditionColor Description

3.10 Status LED1905) For Fieldbus Type CompoNet {: Illuminating, ×: OFF, ڏ: Flashing SymbolLampConditionColor Description Green Ready Orange Alar

3.10 Status LED1916) For Fieldbus Type EtherNet/IP {: Illuminating, ×: OFF, ڏ: Flashing SymbolLampConditionColor Description Green Ready Orange A

12Name for Each Parts and Their Functions 9) Operation Mode Setting Switch 10) SIO Connector 17) Slot 0 Actuator Connector Upper side (1st axis) :

3.10 Status LED1927) For Fieldbus Type MECHATROLINK {: Illuminating, ×: OFF SymbolLampConditionColor Description Green Ready Orange Alarm generate

3.10 Status LED1938) For Fieldbus Type EtherCAT {: Illuminating, ×: OFF, ڏ: Flashing SymbolLampConditionColor Description Green Ready Orange Alarm

3.10 Status LED194(Note 1) blinking (Note 2) single flash(Note 3) double flash• Timing of LED flashing

Chapter 4 Absolute Reset and Absolute Battery195Chapter 4 Absolute Reset and Absolute Battery 4.1 Absolute Reset The controller for Simple Absolute

Chapter 4 Absolute Reset and Absolute Battery196The absolute reset is to be done with using a teaching tool such as the PC software. Shown below are t

Chapter 4 Absolute Reset and Absolute Battery197(2) For CON-PTA/PDA/PGA 1)Press Reset Alm. 2)Press Trial Operation on the Menu 1 screen. 3)Press Jog_I

Chapter 4 Absolute Reset and Absolute Battery1984.2 Absolute Battery Absolute battery and absolute battery box are enclosed in the simple absolute ty

Chapter 4 Absolute Reset and Absolute Battery1994.2.1 Absolute encoder backup specifications Item Specifications Battery model AB-7 Quantity 1 pc/

Chapter 4 Absolute Reset and Absolute Battery2004.2.3 Absolute Battery Voltage Drop Detection If the voltage of the absolute battery is dropped, the

Chapter 5 I/O Parameter201Chapter 5 I/O Parameter Parameters are the data to set up considering the system and application. When a change is required

131) FG Terminal Block This is the terminal block for frame grounding. Since this controller is made of plastic, it is necessary to ground from this

Chapter 5 I/O Parameter2025.1 I/O Parameter List The categories in the table below indicate whether parameters should be set or not. There are five c

Chapter 5 I/O Parameter203No. Category Name Symbol Unit (Note 1) Input Range Default factory setting Relevant sections21 B Zone 1+ ZNM1 mm=deg?-

Chapter 5 I/O Parameter2045.2 Detail Explanation of Parameters Caution: • If parameters are changed, provide software reset or reconnect the power to

Chapter 5 I/O Parameter205[3] Servo gain number (Parameter No.3) No. Name Symbol Unit Input Range Default factory setting3 Servo gain number PLGO

Chapter 5 I/O Parameter206[5] Speed loop proportional gain (Parameter No.5) No. Name Symbol Unit Input Range Default factory setting5 Speed loop p

Chapter 5 I/O Parameter207[7] Press speed (Parameter No.7) No. Name Symbol Unit Input Range Default factory setting7 Press speed PSHVmm/s[deg/s]1

Chapter 5 I/O Parameter208[9] Current limit value at stopping due to miss-pressing (Parameter No.9) No. Name Symbol Unit Input Range Default factor

Chapter 5 I/O Parameter209[13] Current-limiting value during home return (Parameter No.13) No. Name Symbol Unit Input Range Default factory setting

Chapter 5 I/O Parameter210[16] Home return offset level (Parameter No.16) No. Name Symbol Unit Input Range Default factory setting16 Home return o

Chapter 5 I/O Parameter211 [19] Absolute battery retention time (Parameter No.19) No. Name Symbol Unit Input Range Default factory setting19 Absol

148) Fan Unit This is the fan unit to cool down the controller. This unit can be detached from the controller for maintenance by removing the screw o

Chapter 5 I/O Parameter212[21] Zone 1+, Zone 1- (Parameter No.21, No.22) Zone 2+, Zone 2- (Parameter No.23, No.24) No. Name Symbol Unit Input Ra

Chapter 5 I/O Parameter213[23] Total movement count threshold (Parameter No.26) No. Name Symbol Unit Input Range Default factory setting26 Total m

Chapter 5 I/O Parameter214[28] Default movement direction for excitation-phase signal detection(Parameter No.34)No. Name Symbol Unit Input Range

Chapter 5 I/O Parameter2155.3 Servo Adjustment The parameters are preset at the factory before shipment so that the actuator operates stably within t

Chapter 5 I/O Parameter216No.Situation that requires adjustment How to Adjust 4 Abnormal noise is generated. Especially, when stopped state and ope

Chapter 6 Troubleshooting217Chapter 6 Troubleshooting 6.1 Action to Be Taken upon Occurrence of Problem Upon occurrence of a problem, take an approp

Chapter 6 Troubleshooting2186.2 Fault Diagnosis This section describes faults largely divided into three types as follows: (1) Impossible operatio

Chapter 6 Troubleshooting2196.2.2 Positioning and speed of poor precision (incorrect operation) Situation Possible cause Check/Treatment Completion

Chapter 6 Troubleshooting2206.2.3 Generation of noise and/or vibration Situation Possible cause Check/Treatment Generation of noise and/or vibratio

Chapter 6 Troubleshooting2216.3 Alarm Level The alarms are classified to 3 types of levels by the content of the error. Alarm level ALM lamp *ALM s

1512) Status LED They are the LED lamps to show the status of the controller and PIO or Fieldbus. The layout and the content of LED display differ de

Chapter 6 Troubleshooting2226.4 Alarm List 6.4.1 Gateway Alarm Codes The alarm codes are read into b7 to b0 in Gateway Status Signal 0. (Note) The a

Chapter 6 Troubleshooting223AlarmCode Alarm Name Cause/Treatment 81 Parameter Check Sum ErrorCause : There is a possibility that the memory data in

Chapter 6 Troubleshooting224AlarmCode Alarm Name Cause/Treatment AC Continuous Regenerative Excessive Discharge Cause : The regenerative electric p

Chapter 6 Troubleshooting2256.4.2 Simple Alarm Code Simple alarm codes are read into the complete position register (PM8 to PC1) in Position 1/ Simpl

Chapter 6 Troubleshooting226{: ON z: OFF *ALMALM8(PM8)ALM4(PM4)ALM2(PM2)ALM1(PM1)Binary Code Description: Alarm code is shown in ( ). z { z z z8 Actu

Chapter 6 Troubleshooting2276.4.3 Alarm Codes for Driver Board (Each Axis) AlarmCode AlarmLevel Alarm Name Cause/Treatment 048ServomotorOnlyDriver o

Chapter 6 Troubleshooting228AlarmCode AlarmLevel Alarm Name Cause/Treatment 0A3 Position command data errorCause : 1) The speed or acceleration/de

Chapter 6 Troubleshooting229AlarmCode AlarmLevel Alarm Name Cause/Treatment 0B6Servomotor(*)OnlywhenconnectedOperation release Z-phase detection time

Chapter 6 Troubleshooting230AlarmCode AlarmLevel Alarm Name Cause/Treatment 0B8Pulsemotor(*)OnlywhenconnectedCold start Excitement detection errorCau

Chapter 6 Troubleshooting231AlarmCode AlarmLevel Alarm Name Cause/Treatment 0C1Pulsemotor(*1)OnlywhenconnectedOperation release Servo error Cause :

16Actuator Axes Refer to the pictures below for the actuator axes that can be controlled by MSEP. 0 defines the home position, and items in ( ) are fo

Chapter 6 Troubleshooting232AlarmCode AlarmLevel Alarm Name Cause/Treatment 0D2Servomotor(*)OnlywhenconnectedOperation cancellation Motor power sourc

Chapter 6 Troubleshooting233AlarmCode AlarmLevel Alarm Name Cause/Treatment 0E0Servomotor(*)Only when connectedOverload Cause : 1) The work weight

Chapter 6 Troubleshooting234AlarmCode AlarmLevel Alarm Name Cause/Treatment 0E8Pulsemotor(*1)OnlywhenconnectedCold start A- and B-phase wire breaking

Chapter 6 Troubleshooting235AlarmCode AlarmLevel Alarm Name Cause/Treatment 0F5 Operation release Nonvolatile memory write verify error It is verifie

Chapter 6 Troubleshooting236

Chapter 7 Appendix237Chapter 7 Appendix 7.1 Fan Replacement If an error is detected on the fan, replace the fan unit by following the process stated

Chapter 7 Appendix2387.2 List of Specifications of Connectable Actuators The specifications included in this list are limited to those needed to set

Chapter 7 Appendix239Motor outputLeadMinimumspeedMaximum speedMaximum acceleration/ deceleration Minimum push force Maximum push forceRatedpush speedA

Chapter 7 Appendix240Motor outputLeadMinimumspeedMaximum speedMaximum acceleration/ deceleration Minimum push force Maximum push forceRatedpush speedA

Chapter 7 Appendix241Motor outputLeadMinimumspeedMaximum speedMaximum acceleration/ deceleration Minimum push force Maximum push forceRatedpush speedA

17(5) Gripper Type (3-Finger Gripper) Note Finger attachment is not included in the actuator package. Please prepare separately. (6) Rotary Type (330

Chapter 7 Appendix242Motor outputLeadMinimumspeedMaximum speedMaximum acceleration/ deceleration Minimum push force Maximum push forceRatedpush speedA

Chapter 7 Appendix243Motor outputLeadMinimumspeedMaximum speedMaximum acceleration/ deceleration Minimum push force Maximum push forceRatedpush speedA

Chapter 7 Appendix244Motor outputLeadMinimumspeedMaximum speedMaximum acceleration/ deceleration Minimum push force Maximum push forceRatedpush speedA

Chapter 7 Appendix245Motor outputLeadMinimumspeedMaximum speedMaximum acceleration/ deceleration Minimum push force Maximum push forceRatedpush speedA

Chapter 7 Appendix246Motor outputLeadMinimumspeedMaximum speedMaximum acceleration/ deceleration Minimum push force Maximum push forceRatedpush speedA

Chapter 7 Appendix247Motor outputLeadMinimumspeedMaximum speedMaximum acceleration/ deceleration Minimum push force Maximum push forceRatedpush speedA

Chapter 7 Appendix248Motor outputLeadMinimumspeedMaximum speedMaximum acceleration/ deceleration Minimum push force Maximum push forceRatedpush speedA

Chapter 7 Appendix249Motor outputLeadMinimumspeedMaximum speedMaximum acceleration/ deceleration Minimum push force Maximum push forceRatedpush speedA

Chapter 7 Appendix2507.2.2 Specifications for Pulse Motor Type Actuator Caution: • The push force is based on the rated push speed (factory setting)

Chapter 7 Appendix251LeadMinimumspeedMaximum speed Maximum acceleration/ deceleration Minimumpush force Maximum push force Ratedpush speedActuator ser

18Starting Procedures When using this product for the first time, make sure to avoid mistakes and incorrect wiring by referring to the procedure below

Chapter 7 Appendix252LeadMinimumspeedMaximum speed Maximum acceleration/ deceleration Minimumpush force Maximum push force Ratedpush speedActuator ser

Chapter 7 Appendix253LeadMinimumspeedMaximum speed Maximum acceleration/ deceleration Minimumpush force Maximum push force Ratedpush speedActuator ser

Chapter 7 Appendix254LeadMinimumspeedMaximum speed Maximum acceleration/ deceleration Minimumpush force Maximum push force Ratedpush speedActuator ser

Chapter 7 Appendix255LeadMinimumspeedMaximum speed Maximum acceleration/ deceleration Minimumpush force Maximum push force Ratedpush speedActuator ser

Chapter 7 Appendix256LeadMinimumspeedMaximum speed Maximum acceleration/ deceleration Minimumpush force Maximum push force Ratedpush speedActuator ser

Chapter 7 Appendix257LeadMinimumspeedMaximum speed Maximum acceleration/ deceleration Minimumpush force Maximum push force Ratedpush speedActuator ser

Chapter 7 Appendix258LeadMinimumspeedMaximum speed Maximum acceleration/ deceleration Minimumpush force Maximum push force Ratedpush speedActuator ser

Chapter 7 Appendix259LeadMinimumspeedMaximum speed Maximum acceleration/ deceleration Minimumpush force Maximum push force Ratedpush speedActuator ser

Chapter 7 Appendix260LeadMinimumspeedMaximum speed Maximum acceleration/ deceleration Minimumpush force Maximum push force Ratedpush speedActuator ser

Chapter 7 Appendix261LeadMinimumspeedMaximum speed Maximum acceleration/ deceleration Minimumpush force Maximum push force Ratedpush speedActuator ser

Chapter 1 Specications Check19Chapter 1 Specifications Check 1.1 Product Check 1.1.1 Parts The standard configuration of this product is comprised

Chapter 7 Appendix262LeadMinimumspeedMaximum speed Maximum acceleration/ deceleration Minimumpush force Maximum push force Ratedpush speedActuator ser

Chapter 7 Appendix263LeadMinimumspeedMaximum speed Maximum acceleration/ deceleration Minimumpush force Maximum push force Ratedpush speedActuator ser

Chapter 7 Appendix264LeadMinimumspeedMaximum speed Maximum acceleration/ deceleration Minimumpush force Maximum push force Ratedpush speedActuator ser

Chapter 7 Appendix265Correlation diagram of speed and loading capacity for the RCP2 slider type Horizontal installation Vertical installation High-sp

Chapter 7 Appendix266Correlation diagram of speed and loading capacity for the RCP2 slider type (motor-reversing type) SS7R-12SS8R-10SS7R-6SS8R-5SS7R-

Chapter 7 Appendix267Correlation diagram of speed and loading capacity for the standard RCP2 rod type RA6C-16RA4C-10RA4C-5RA3C-5RA6C-4RA4C-2.5RA3C-2.5

Chapter 7 Appendix268Correlation diagram of speed and loading capacity for RCP2 single-guide typeRG S6 C -16RG S4 C -10RG S6 C -8RG S4 C -5RG S6 C -4R

Chapter 7 Appendix269Correlation diagram of speed and loading capacity for the RCP2 double-guide type RGD6C-16RGD4C-10RGD6C-8RGD4C-5RGD3C-5RGD4C-2.5RG

Chapter 7 Appendix270Correlation diagram of speed and loading capacity for the RCP2 dustproof/ splash-proof type 40353025201510500 100 200 300 400 500

Chapter 7 Appendix271Correlation diagram of speed and loading capacity for the RCP3 slider type Lead 2Lead 4Lead 64321005 0 100 150 200 250 300Lead 2.

Chapter 1 Specications Check201.1.3 Instruction manuals related to this product, which are contained in the instruction manual (DVD). No. Name Man

Chapter 7 Appendix272Correlation diagram of speed and loading capacity for the RCP3 table type 64201000 200 300 400 500 6006420100 200 300 400 5006000

Chapter 7 Appendix273Correlation diagram of speed and loading capacity for the RCP4 slider type Lead 4Lead 8Lead 16Lead 24The values are when operated

Chapter 7 Appendix274Correlation diagram of speed and loading capacity for the RCP4 rod type The values shown below are when operated with 0.2G.The va

Chapter 7 Appendix275Pressing Force and Current Limit Value • The correlation of the pressing force and the current limit value is the rated pressing

Chapter 7 Appendix276RCP2 SeriesShort TypeSRA4R/SRGS4R/SRGD4R2001501005000 10 20 30 40 50 60 70Lead 2.5Lead 5

Chapter 7 Appendix277GRSS GRLSGRS GRMGRSTRCP2 SeriesGripper0 10 20 30 40 50 60 700 10 20 30 40 50

Chapter 7 Appendix278GR3LS GR3LMGR3SS GR3SMRCP2 Series3-finger Gripper25201510525201510512010080604020605040302010Current-limiting value (ratio, %)Gri

Chapter 7 Appendix279RCP3 SeriesSlim, Compact Rod Type4540353025201510502018161412108642030252015105030252015105020151050151050Current-limiting value

Chapter 7 Appendix280RCP3 SeriesSlider TypeSA5C/SA6C TypeRCP3 SeriesSlim, Compact Table TypeTA3C/TA3R Type TA4C/TA4R TypeRCP3 SeriesTable TypeTA5C Typ

Chapter 7 Appendix281RCP4 SeriesSlider Type4003503002502001501005000 10 20 30 40 50 60 70 80Lead 3Lead 6Lead 12Lead 204003503002502001501005000 10 20

Chapter 1 Specications Check211.1.5 How to read the model (Example) Consists of 5 axes: Axes No.0, 2, 3 : Pulse motor type Axes No.4, 5 : Servo mo

Chapter 7 Appendix282

Chapter 8 Warranty283Chapter 8 Warranty 8.1 Warranty Period One of the following periods, whichever is shorter: y 18 months after shipment from

Chapter 8 Warranty2848.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications (1) If our product is combined wi

Change History285Change History Revision Date Revision Description 2012.02 2012.03 2012.04 2012.10 First Edition Second Edition Note corrected Third

Manual No.: ME0299-4B (Jan 2013)The information contained in this document is subject to change without notice for purposes of product improvement.Cop

Please Read Before Use Thank you for purchasing our product. This Instruction Manual describes all necessary information items to operate this product

Chapter 1 Specications Check221.2 List of Basic Specifications Specification Item Driver for Servo Motor Driver for Pulse Motor Number of Controll

Chapter 1 Specications Check23Specification Item Driver for Servo Motor Driver for Pulse Motor Ambient Temperature 0 to 40qCAmbient Humidity 85%RH

Chapter 1 Specications Check241.4 Specifications for each Fieldbus 1.4.1 Specifications of DeviceNet Interface Item Specification DeviceNet2.0Grou

Chapter 1 Specications Check251.4.3 Specifications of PROFIBUS-DP Interface Item Specification Communication Protocol PROFIBUS-DP Baud Rate Autom

Chapter 1 Specications Check261.4.6 Specifications of EtherNet/IP Interface Item Specification Communication Protocol IEC61158 (IEEE802.3) Baud Ra

Chapter 1 Specications Check271.4.8 PIO Input and Output Interface Input section Output section Input Voltage 24V DC r10% Load Voltage24V DC r10%

Chapter 1 Specications Check281.5 External Dimensions 1.5.1 Controller Main Unit 123115951111087.559 from DIN rail center10.5φ5φ555(4)410.5Front Vi

Chapter 1 Specications Check291.5.2 Absolute Battery Box 11110859 from DIN rail center10.5φ5φ555(4)412311598Front ViewRear ViewSide View

Chapter 1 Specications Check301.6 Option 1.6.1 Absolute Battery Box For Simple Absolute type, an absolute battery box capable for the batteries for

Chapter 1 Specications Check311.6.2 Regenerative Resistor Unit This unit is necessary to be connected in the case that the regenerative energy canno

Chapter 1 Specications Check321.7 Installation and Storage Environment This product is capable for use in the environment of pollution degree 2*1 or

Chapter 1 Specications Check331.8 Noise Elimination and Mounting Method (1) Noise Elimination Grounding (Frame Ground) (2) Precautions regarding

Chapter 1 Specications Check34(4) Cooling Factors and Installation Design and Build the system considering the size of the controller box, location

Chapter 2 Wiring35Chapter 2 Wiring 2.1 Wiring Diagram (Connection of construction devices) 2.1.1 For PIO Control Caution: Make sure to turn the pow

Chapter 2 Wiring362.1.2 When Controlled by Fieldbus Caution: Make sure to turn the power to the controller OFF when inserting or removing the connect

Chapter 2 Wiring372.1.3 For RC Gateway Control This product is capable for the connection to RC Gateway Function (Fieldbus type) equipped in XSEL con

Chapter 2 Wiring382.2 Operation Pattern Selected 2.2.1 Outline for Operation Patterns PIO type MSEP units provide 6 varying patterns of PIO operatio

Chapter 2 Wiring392.2.2 PIO Pattern Selection and PIO Signal 1) PIO Patterns and Signal Assignment The signal assignment of I/O flat cable by the PI

Chapter 2 Wiring40Operation Pattern 0 1 2 3 4 5 6 CategoryPIO Functions Point-to-Point Movement Movement speed settingTarget position change2-In

Chapter 2 Wiring412) List of PIO Signals The table below lists the functions of PIO signals. Refer to the section shown in Relevant Sections for the

Table of Contents Safety Guide ·····················································································································1

Chapter 2 Wiring422.3 Circuit Diagram Sample circuit diagrams are shown below. [1] Power Supply and Emergency StopThe diagram shown below is an exam

Chapter 2 Wiring43Check the previous page for Notes 1 to 6. EMGINSLOT0EMGINSLOT1EMGINSLOT2EMGINSLOT3Emergency Stop Reset Switch Emergency Stop Switch

Chapter 2 Wiring44Motor • Encoder Circuit There is an axis number (AX0 to AX7) shown on the actuator cables. Refer to the figure below to plug the act

Chapter 2 Wiring454) Connection to RCA Series Note 1 Applicable Connection Cable Model Codes ƑƑƑ: Cable length Example) 030 = 3m Model Cabl

Chapter 2 Wiring46[4] Layout for External Brake Input Circuit Lay out the circuit when an external compulsory brake release with using an actuator equ

Chapter 2 Wiring47[6] Wiring Layout for PIO (lay out the circuit for PIO type) Ɣ Operation pattern 0 ······Point-to-Point Movement (Standard) A10V (NP

Chapter 2 Wiring48Ɣ Operation pattern 1 ······Point-to-Point Movement (Moving Speed Setting) A10V (NPN Type)24V DC (PNP Type)24V DC (NPN Type)0V (PNP

Chapter 2 Wiring49Ɣ Operation pattern 2 ······Point-to-Point Movement (Target Position Change) A10V (NPN Type)24V DC (PNP Type)24V DC (NPN Type)0V (PN

Chapter 2 Wiring50Ɣ Operation pattern 3 ······2-Input, 3-Point Movement A10V (NPN Type)24V DC (PNP Type)24V DC (NPN Type)0V (PNP Type)24V Supply (for

Chapter 2 Wiring51Ɣ Operation pattern 4 ······3-Input, 3-Point Movement A10V (NPN Type)24V DC (PNP Type)24V DC (NPN Type)0V (PNP Type)24V Supply (for

Chapter 3 Operation·····································································································69 3.1 Basic Operation ·····

Chapter 2 Wiring52Ɣ Operation pattern 5 ······Continuous Reciprocating Operation A10V (NPN Type)24V DC (PNP Type)24V DC (NPN Type)0V (PNP Type)24V Sup

Chapter 2 Wiring53[7] Wiring Layout for Fieldbus (for Fieldbus Type) Follow the instruction manual of the master unit for each Fieldbus and the cons

Chapter 2 Wiring544) CompoNet Type 5) EtherNet/IP Type Master Unit Switching HubSlave Devices EtherNet Straight Cable, Category 5e or more Double sh

Chapter 2 Wiring556) MECHATROLINK Type 7) EtherNetCAT Type 432143214321A4A3A2A1B4B3B2B1Master UnitSlave DevicesMECHATROLINKCableMECHATROLINK CableMS

Chapter 2 Wiring562.4 Wiring Method 2.4.1 Connection to Power Input Connector The wire of the power supply is to be connected to the enclosed connec

Chapter 2 Wiring572.4.2 Wiring Layout of System I/O Connector The connector consists of the emergency stop input for the whole controller, changeover

Chapter 2 Wiring582.4.3 Connection of Drive Cutoff/Emergency Stop Input Connector Insert wires if an emergency stop input is desired individually for

Chapter 2 Wiring592.4.4 Connecting with Actuator Connect the relay cables to the actuator connectors. Check in the instruction manual of each actuato

Chapter 2 Wiring602.4.5 Connection of Absolute Battery Connector Connect the absolute battery unit to the controller for Simple Absolute Type. 㩷Conne

Chapter 2 Wiring612.4.6 Connection of External Brake Connector Connection needs to be established when an external brake release is required for the

Chapter 7 Appendix····································································································237 7.1 Fan Replacement·······

Chapter 2 Wiring622.4.7 Connection of SIO Connector Connect an teaching tool such as the PC software. (Note) Do not attempt connect the device to the

Chapter 2 Wiring632.4.8 Connection of PIO (for PIO Type) The connection of I/O to the controller is to be carried out using the dedicated I/O cable.

Chapter 2 Wiring642.4.9 Wiring Layout of Fieldbus Connector Check the instruction manuals for each Fieldbus master unit and mounted PLC for the detai

Chapter 2 Wiring652) CC-Link Type WT (DB)BL (DA)Shield (SLD)YW (DG)Connector Name CC-Link Connector Cable Side MSTB2.5/5-ST-5.08 ABGY AU Enclosed in

Chapter 2 Wiring663) PROFIBUS-DP Type 5 19 6CableShieldRed B line (Positive side)Use the type A cable for PROFIBUS-DP (EN5017

Chapter 2 Wiring674) CompoNet Type Connector Name CompoNet Connector Cable Side Prepare a connector complied with CompoNet standards. Controller Side

Chapter 2 Wiring686) MECHATROLINK Type Connector Name MECHATROLINK Connector Cable Side Prepare a connector complied with MECHATROLINK standards. Con

Chapter 3 Operation69Chapter 3 Operation 3.1 Basic Operation 3.1.1 Basic Operation Methods There are two ways for the operation; one is to control

3.1 Basic Operation70ƔOperation Mode Available in PIO Type 6 types of operation modes (PIO Patterns) are available to select from. Explained below is

3.1 Basic Operation71Operation Pattern Description Example for Electric Cylinder ConnectionExample for Air Cylinder Connection (Reference) PIO Patter

3.1 Basic Operation72(2) Fieldbus Type SlaveSlaveTransfer data with FieldbusActuator ControllerPLCposition, speed, etc.Command target Confirmation of

3.1 Basic Operation73[Basic Procedures for Operation] [1] Establish the driver parameters with using a teaching tool such as PC software. 1) If usin

3.1 Basic Operation74ƔOperation Mode Available in Fieldbus Type 6 types of operation modes are available to select from. Explained below is the outlin

3.1 Basic Operation753.1.2 Parameter Settings Parameter data should be set appropriately according to the applicaiton requirements. (Example) Softw

3.2 Initial Setting763.2 Initial Setting For this controller, it is necessary to have the initial setting and Gateway operation mode setting done in

3.2 Initial Setting77[Step 4] Select the operation pattern. There are Operation Patterns 0 to 5 available for PIO Type. Select Operation Pattern 6 if

3.2 Initial Setting78Operation Pattern ({ : Available for Setting)No. Setting Item Setting Range (Set in delivery) Description 0 1 2 3 4 54 Int

3.2 Initial Setting79Operation Pattern ({ : Available for Setting)No. Setting Item Setting Range (Set in delivery) Description 0 1 2 3 4 58 Out

3.2 Initial Setting80[Step 6] The confirmation window for controller reboot opens. Click “Yes”. [Step 7] The initial setting needs to be held on all

3.2 Initial Setting81[Step 10] Main Window is displayed. [Step 11] Reading is started from MSEP to PC. Click on the “Read” button and a confirmation w

1Safety Guide“Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read

3.2 Initial Setting82[Step 12] For PIO Type, proceed to Step 13. The parameters input to MSEP are listed as shown below. Indicate the node address (st

3.2 Initial Setting83[Step 14] Once the setting of the number of axes is done, the cells for the operation mode settable to each axis turn to blank in

3.2 Initial Setting84[Step 17] Write the edited operation mode setting parameters to MSEP. Click on the “Write” button shown below and a confirmation

3.3 Setting of Position Data853.3 Setting of Position Data PIO Type makes an operation based on the position data (position, speed, etc.) set in adva

3.3 Setting of Position Data861) Position Name (No.)·······It shows the position the actuator moves towards. 2) Position [mm] ·················It is t

3.3 Setting of Position Data87[Pressing towards Forward End or Intermediate Position] Pressing Complete(Position complete signal output)SpeedBackward

3.3 Setting of Position Data886) Acceleration [G]··············Set the acceleration at operation. 7) Deceleration [G] ·············Set the deceleratio

3.3 Setting of Position Data89[2] Additional Setting Items for Operation Pattern 1 Set the position and speed for the speed change as well as the pos

3.4 Fieldbus Type Address Map903.4 Fieldbus Type Address Map 3.4.1 PLC Address Construction by each Operation Mode The PLC address domain to be occu

3.4 Fieldbus Type Address Map91• MSEP Output ĺ PLC Input (n is PLC input top word address from MSEP) (Note 1)PLC Intput AreaSimple Direct ModePosition