2A 3. Instruction manuals related to this product, which are contained in the instruction manual (DVD).

Transcription

1 RCM-P6GW(G)/RCM-P6HUB Fieldbus Communication First Step Guide Second Edition Thank you for purchasing our product. Make sure to read the Safety Guide and detailed Instruction Manual (DVD) included with the product in addition to this First Step Guide to ensure correct use. This Instruction Manual is original. Using or copying all or part of this Instruction Manual without permission is prohibited. The company names, names of products and trademarks of each company shown in the sentences are registered trademarks. Product Check This product is comprised of the following parts if it is of standard configuration. If you find any fault in the contained model or any missing parts, contact us or our distributor.. Parts No. Part Name l Number Remarks Controller Main Body Refer to each instruction manual of an actuator. - Refer to How to read the model plate, How to read the model. Accessories 3 (Option) Refer to How to read the model plate, How to read the model. - Drive Cutoff () Drive Cutoff () 6 System I/O FKCN./-STF-.0 (Ax0-7) FKCN./-STF-.0 (Ax-) DFMC./7-ST-3. 7 Dummy Plug DP- 9 DeviceNet (For DeviceNet Type) CC-Link (For CC-Link Type) MSTB./-STF-.0 AU M MSTB./-STF-.0 AU 0 Safety Guide First Step Guide Applicable Fieldbus (DeviceNet, CC-Link, PROFIBUS-DP, EtherNet/IP, EtherCAT, PROFET-IO) Warning : of this equipment requires detailed installation and operation instructions which are provided on the DVD Manual included in the box this device was packaged in. It should be retained with this device at all times. A copy of the DVD Manual can be requested by contacting your nearest IAI Sales Office listed at the back cover of the Instruction Manual or on the First Step Guide.. to 0.mm (AWG6 to 0). to 0.mm (AWG6 to 0) Breake Release Input. to 0.mm (AWG6 to 0) Other than above. to 0.3mm (AWG6 to ) For the safety category compliant type (RCP-P6GWG) Prepare a terminal resistance separately if this controller is to be allocated at the terminal. Terminal resistance (30 /W, 0 /W) enclosed one unit each Instruction Manual (DVD) * Select the cable thickness allowable for the current figured out in the <Calculation of V DC Power Capacity, Number of Connectable Axes>. Drive Cutoff () () System I/O Dummy Plug (DP-) DeviceNet CC-Link CC-Link Enclosed Terminal Resistance. Teaching Tool (Please purchase separately) A teaching tool such as PC software is necessary when performing the setup for position setting, parameter setting, etc. that can only be done on the teaching tool. Please prepare either of the following teaching tools. No. Part Name l PC Software (Includes RS3C exchange adapter + Peripheral communication cable) RCM-0-MW PC Software (Includes USB exchange adapter + USB cable + Peripheral communication cable) RCM-0-USB 3 Teaching Pendant (Touch panel teaching) TB-0 Teaching Pendant (Touch panel teaching with dead man s switch) TB-0D Teaching Pendant (Dead man s switch right mounted touch panel teaching) TB-0DR 6 Teaching Pendant (Touch panel teaching) CON-PTA 7 Teaching Pendant (Touch panel teaching with dead man s switch) CON-PDA Teaching Pendant (Touch panel teaching with dead man s switch + TP adapter (RCB-LB-TG)) CON-PGA (S) A 3. Instruction manuals related to this product, which are contained in the instruction manual (DVD). No. Part Name l Instruction Manual for the Fieldbus Communication ME039 Instruction Manual for the Serial Communication [for Modbus] ME06 3 Instruction Manual for the Slider Type ME379 Instruction Manual for the Wide Slider Type ME370 Instruction Manual for the Rod Type ME37 6 Instruction Manual for the Wide Rod Type ME37 7 Instruction Manual for the Radial Cylinder Type ME373 Instruction Manual for the Table Type ME37 9 PC Software RCM-0-MW/RCM-0-USB Instruction Manual ME0 0 Touch Panel Teaching CON-PTA/PDA/PGA (S) Instruction Manual ME09 Touch Panel Teaching TB-0, TB-0D, TB-0DR Applicable for Position Controller Instruction Manual ME03. How to read the model plate l RCM-P6GW-CC SER NO Input DCV,.6A Output DCV, A. How to read controller model code RCM - P6GW - CC CC : CC-Link Connection Type DV : DeviceNet Connection Type P6GW : Standard Type PR : PROFIBUS-DP Connection Type P6GWG : Safety Categories Complied EP : EtherNet/IP Connection Type EC : EtherCAT Connection Type PRT : PROFET-IO Connection Type RCM - P6HUB - DN Built-in Controller P6HUB : Standard Type Number of Controlled Axes Power-supply Voltage Control Power Capacity Load Current (Including current consumption for control) Motor Type for Electromagnetic Brake (for actuator equipped with brake) (Not Specified) : Screw Attachment Type DN : D Rail Mounting Type Basic s -axis V DC±0% 0.3A (Built-in Controller only) Details of s P, 3P, High-thrust function is disabled.7a max. P, 6P High-thrust function is enabled 3.A max. 6SP, 60P.7A max. V DC±0% 0.A (Note) 0.7A is required for 0.sec at brake release. Heat Generation W (Motor type P, 3P, P, 6P) 9.W (Motor type 6SP, 60P) (Note ).3A with in-rush current protection circuit (Motor type P, 3P, P, 6P) Rush Current 0A with in-rush current protection circuit (Motor type 6SP, 60P) Motor Control System Weak field-magnet vector control Corresponding Encoder Battery-less absolute encoder Resolution 9pulse/rev Cable Length Serial Communication (SIO Port) External Interface Data and Input Data Retention Memory Insulation Resistance Protection Function against Electric Shock l code Serial number Between gateway unit and : 0m max. Between gateway unit and actuator: 0m max. RS: CH (based on Modbus Protocol RTU/ASCII) Based on ASCII is CH Speed: 9.6 to 30.Kbps Fieldbus connection (Note) Connection of gateway unit is necessary separately. CC-Link, DeviceNet, PROFIBUS-DP, EtherCAT, EtherNet/IP, PROFET-IO PC software, Touch panel teaching Saves position data and parameters to non-volatile memory (There is no limitation in number of writing.) SV (GR) / ALM (): Servo ON / Alarm generated and emergency stop 00V DC 0M l RCM-P6HUB-DN SER NO Input DCV, max A Output DCV, max 0.7A Note In-rush current will flow for approximately to msec after the power is turned on (at 0 C). The value of inrush current differs depending on the impedance of the power supply line. l code Serial number Details of s 6-axes max. (Four axes for gateway unit itself) Number of Controlled Axes For those except for CC-Link which are used in the direct indication mode, the maximum number of the axes should be eight (and two axes with the gateway unit itself). Power-supply Voltage V DC ±0% Control Power Capacity 0.6A ( unit itself 0.3A+Fieldbus module 0.3A) Motor Power Capacity Current consumption 6.6A (Effective value 0A) Emergency-stop Input B contact input Enable Input T.P. Enable Input Equipped Enable Servo OFF or shutdown (Select the parameter) Backup Memory FRAM (6kbit), No limitation in number of writing Calendar Function Equipped (Data retained for ten days after power cutoff) Board SYS LED (RUN/ALM), EMG LED, MODE LED (AUTO/MANU), T.ERR LED, C.ERR LED, Status LED lamp for each fieldbus module LED Tool Connection T/P connector : RS ch (based on Modbus protocol) USB connector : USB ch Electromagnetic Brake Compulsory Release Feature System I/O connector: External brake release signal input (V DC) * Used only when connected directly to gateway. Invalid when hub connected. Protection Function against Electric Shock Insulation Strength 00V DC 0M Mass 0g 3W H 3D Details of s Number of Controlled Axes -axes max. Power-supply Voltage V DC ±0% Control Power Capacity 0.3A ( unit itself) Motor Power Capacity Total connected axes MAX..A Emergency-stop Input Enable Input T.P. Enable Input Backup Memory System status LED (RUN/ALM), Axis status LED (RUN/ALM) Tool Connection Electromagnetic Brake Compulsory Release Feature Brake release switch Protection Function against Electric Shock Insulation Strength 00V DC 0M Mass 0g 30W H D of Environment (Built-in Controller// in Common) Environment Details of s Surrounding Air Temperature 0 to 0 C Surrounding Humidity %RH or less (non-condensing) Surrounding Environment Refer to Installation Environment Surrounding Storage Temperature -0 to 70 C Usage Altitude %RH or less (non-condensing) Protection Class,000m or lower above sea level Frequency 0 to 7Hz / Swing width: 0.07mm Vibration Durability Frequency 7 to 0Hz / Acceleration: 9.m/s XYZ Each direction Sweep time: 0 min. Number of sweep: 0 times Shock Resistance Dropping height 00mm corner, 3 edges and 6 surfaces Pollution Degree Pollution degree Protection Class IP0 The Calculation of V DC Power Capacity, Number of Connectable Axes> To calculate the number of axes connectable to one unit of the gateway unit and the current amperage of V DC, figure out () to () below and follow (). () The Calculation of Number of Connectable Axes, and Motor Current Consumption Condition : Sum total of motor current consumption connectable to one unit of hub unit Condition : Number of controlled axes connectable to corresponding unit: -axes or less * By adjusting the number of connected axes or motor type, select the connected axes so each hub unit satisfies the formulas below. Sum total of motor current consumption for hub unit= Motor current consumption of st axis + Motor current consumption of nd axes (if connected) + Motor current consumption of 3rd axes (if connected) + Motor current consumption of th axes (if connected).a ) Sum total of motor current consumption = Motor current consumption of hub unit st unit + Motor current consumption of hub unit nd units (if connected) + Motor current consumption of hub unit 3rd units (if connected) + Motor current consumption of hub unit th units (if connected) ) () Control Power Current Consumption: 0.3A Number of actuator + 0.6A ( unit) + 0.3A Number of hub unit 3) (3) Rush Current:.3A (Motor type P, 3P, P, 6P) / 0A (Motor type 6SP, 60P) ) () Current Consumption of Brake Release Power: Number of actuators with brake 0.07A ) * When servo is on, it should be 0.sec or less, after that retaining of released status should be 0.A/axis. When using the control power source and the motor power source in common, calculate with the number of brake-equipped actuators * 0.A. () Selection of : Usually, the rated current is to be approximately. times higher than the total of Control Power ) + 3) + ) above considering approximately 30% of margin to the load current. However, considering the inrush currents ), even though it is a short time, select a power supply with sufficient peak load capacity. Inrush current of ) from occurring at the same time by having the timing of emergency stop release (turning the motor power on) and timing to turn the servo on shifted (Note ) from each other and so on. Huge current flow of the same time may cause a transient voltage drop. Be careful especially when selecting a power source equipped with remote sensing. Note The timing to turn the servo on can be tuned in Parameter No. 6 Latency after Shutdown Release. (Note) Ensure motor and control power supplies reference the same potential when using multiple power supplies.

2 EtherCAT Interface Attachment D Rail Type IEC6 type 00Base-TX (IEEE0.3) Follows EtherCAT specifications (Distance between each node: 00m max.) Slave Type I/O slave 0 to 63 Network-powered insulation node Category e ( ) RJ connector pcs (Input, Output ) Master-slave system (Polling) Connect Daisy chain only Number of Occupied Channels Max. 7CH (Input, Output) Number of Occupied Nodes Node DeviceNet Interface DeviceNet.0 Group dedicated server Max. Network Length Total Branch Line Length 00kbps 00m 39m 0kbps 0m 7m kbps 00m 6m (Note ) Follows master unit MSTB./-GF-.0 AU (Manufactured by PHOENIX CONTACT or equivalent) 60mA Category ( ) RJ connector pc GSDML File Version Ver.3 Remote device station (MAX. four stations occupied) 0M/M/.M/6k/6kbps Broadcast polling system Number of Occupied Stations Max. 63stations Note Note 3 0M M.M 6k 6k (bps) Total Cable Length (m). 3 Apply the dedicated cable MSTB./-GF-.0 AU (Manufactured by PHOENIX CONTACT or equivalent) For T branch communication, refer to the Instruction Manuals for the master unit and PLC to be mounted. The cable-side connector is a standard accessory. 6. PROFIBUS-DP Interface PROFIBUS-DP Hybrid System (Master-slave system or token passing system) Occupied Area Max. bytes (Input, Output) Number of Occupied Stations Max. 3stations/segment MAX. Total Network.,00kbps 00m 00kbps 000m 7.kbps 00m 9.6/9./93.7kbps Equipped with shield twist pair cable AWG (Note ) 9-pin female D-sub connector Transmission Path Format Bus/Tree/Star Note Please prepare a 9-pin male D-sub connector for the cable-end connector. Type A cable φ 0 φ 30. IEC6 (IEEE0.3) 0BASE-T/00BASE-T (Autonegotiation setting is ) Follows EtherNet/IP specifications (Distance between hub and each node: 00m max.) Number of Connection Follows master unit to... Category e ( ) RJ connector pc. 0 R Relay coil 3. Noise Sources and Elimination Surge absorber. Precautions regarding wiring method ) Wire is to be twisted for the V DC power supply. ) Separate the signal and encoder lines from the power supply and power lines. EtherNet/IP Interface Do not share the ground wire with or connect to other equipment. Ground wach unit. Earth Terminal Grounding resistance at 00 or less () 00m Installation and Noise Elimination Copper wire: Connect a ground wire with a diameter of.6 mm (mm: AWG ) or larger.. 0 3,000/6,000/,000kbps. Storage and Preservation Environment Storage and preservation environment follows the installation environment. Especially in a long-term storage, consider to avoid condensation of surrounding air. Unless specially specified, moisture absorbency protection is not included in the package when the machine is delivered. In the case that the machine is to be stored in an environment where dew condensation is anticipated, take the condensation preventive measures from outside of the entire package, or directly after opening the package. Connect the ground line to the FG terminal block on the controller unit. Put a tool such as a screwdriver into the square slot and connect the line. Attachment Screws Type 0 00m Cable Type When using the product in any of the locations specified below, provide a sufficient shield. Location subject to electrostatic noise Location where high electrical or magnetic field is present Location with the mains or power lines passing nearby. Noise Elimination Grounding (Frame Ground) 6stations are available by the repeater This product is capable for use in the environment of pollution degree * or equivalent. * Pollution Degree : Environment that may cause non-conductive pollution or transient conductive pollution by frost (IEC6066-).. Installation Environment Do not use this product in the following environment. Location where the surrounding air temperature exceeds the range of 0 to 0 C Location where condensation occurs due to abrupt temperature changes Location where relative humidity exceeds %RH Location exposed to corrosive gases or combustible gases Location exposed to significant amount of dust, salt or iron powder Location subject to direct vibration or impact Location exposed to direct sunlight Location where the product may come in contact with water, oil or chemical droplets Environment that blocks the air vent [Refer to Noise Elimination and Mounting Method] (Attachment Screws and Attachment D Rail Type) Installation Environment CC-Link ver.0 or ver.00 Station Type Distance between each segment: 00m Max to... (Note ) 00Mbps CC-Link Interface Number of Connection Use the dedicated cable. Communication V DC (Supplied from DeviceNet) Note For T branch communication, refer to the Instruction Manuals for the master unit and programmable logic controller (PLC) to be mounted. Note The cable-side connector is a standard accessory. IEC6 (IEEE0.3), IEC67 (6.) Consumption Current of Communication 6m 0 Max. Branch Line Length from D rail center Dﾚｰﾙ中心から66. PROFET-IO Interface 3. (Width of 3mm D rail) 3. (3mm Dﾚｰﾙ幅) 3. (Width of 3mm D rail) Physical Layer 66. from D rail center (Reference) Selection of Protection Circuit Breaker It is that the power supply protection is conducted on the primary side (AC power side) of the V DC power supply unit. When selecting the protection breaker, consider the rated cutoff current of the circuit breaker so a cutoff is surely performed even in the case of inrush current of V DC power supply unit or a short-circuit of the power supply. Rated Breaking Current > Short-circuit Current = Primary Capacity / Power Voltage (Reference) In-rush Current of IAI PS = 0 to 60A, 3msec. Carry out noise elimination measures for electrical devices on the same power path and in the same equipment. The following are examples of measures to eliminate noise sources. ) AC solenoid valves, magnet switches and relays [Measure] Install a Surge absorber parallel with the coil. ) DC solenoid valves, magnet switches and relays [Measure] Mount the windings and diodes in parallel. Select a diode built-in type for the DC relay.. Cooling Factors and Installation. C Relay coil +V + +V 0V 0V Design and Build the system considering the size of the controller box, location of the controller and cooling factors to keep the surrounding temperature around the controller below 0 C. Pay a special attention to the battery unit since the performance of it would drop both in the low and high temperatures. Keep it in an environment in the room temperature as much as possible. (Approximately 0 C is the temperature.)

3 0mm Positioner 3 0mm Contents. Connection to and Overview position data of 6 points at maximum set in the position table. The monitoring of the current position is not available This is the mode to control with the minimized number of signals to perform the positioning operation by reducing the amount of sent and received data from Positioner. 00mm 0mm 00mm Axis * Extension Cable is utilize these holes if necessary. in the cable model code should be the cable length. e.g.) 030=3m, -RB should be included in the model code when it is the robot cable. The maximum length should be 0m between the gateway and hub unit. The maximum length should be 0m from the gateway unit to regardless of a hub unit is used or not used., 3, and 0m are prepared in standard for ), 3, and m are prepared in standard for ) and ) and Emergency Stop Circuit 0mm 0mm Wiring Diagram 0mm The following diagram shows an example of how the emergency stop switch for the teaching pendant may be included in the emergency stop circuit you may construct. Teaching Tool Stop Switch System I/O (Top Surface) Teaching Pendant (to be purchased separately) 00mm Fieldbus Connecting Host System (master unit) PLC etc. Please prepare separately) System I/O Emergency Stop Circuit PC software (to be purchased separately) Dummy Plug DP- (Note) Wiring Conducted at Delivery It is also available to connecting with miniusb. Drive Cutoff Circuit Control/Drive (V DC Please prepare separately) Selected This controller are available to select from 6 types of operation modes. The settings are to be established with Parameter Tool. Contents The target position can be indicated directly by inputting a value. Also, monitoring of the current position is available in 0.0mm unit. Those other than the target position are to be indicated in the position table, and the setting can be done for 76 points at maximum. Axis Axis Control (Bottom Surface) Target Position Target Position No. Control Signal Control Actuator Target Position Positioning Width Speed Acceleration/Deceleration Push % Control Signal Current Value (Command Value) Current Speed (Command Value) Alarm Code Status Signal Communication with Fieldbus +V PLC Emergency Stop Release Switch Emergency Stop Switch Emergency Stop Switch on the Teaching Pendunt System I/O SIO (Note ) Axis Control Axis Power Supply (C) (M) (Note 3) Emergency Stop Detection Circuit Drive Cutoff (MAX. units) Stop Detection Times Motor Example for shutting off motor power supply externally at emergency stop input. Control Direct Indication The target position, speed acceleration/deceleration and pressing current limit can be indicated with inputting a number. As well as monitoring of the current position in 0.0mm unit, monitoring of current speed and command current is also available. * For those except for CC-Link, the maximum number of the connectable axes should be eight axes when a hub unit is used and two when not used. (MAX. 6 units) 3 +V Note For RCM-P6GWG, in case a teaching tool is not connected to SIO connector, have the enclosed dummy plug plugged (DP-) in the connector. Motor Positioner position data of 76 points at maximum set in the position table. The monitoring of the current position is not available This mode is that the transferred data is reduced from Positioner. (MAX. 6 units) Communication with Fieldbus Actuator Built in Drive Cutoff Circuit (MAX.6 units) Control ) Connection Cable between GW and CB--RLY (Prepare separately) Completed Position No. Status Signal The 76 points of position data can be registered at the maximum and is able to stop at the registered positions. Also, monitoring of the current position is available in 0.0mm unit. V DC Motor 3) connecting cable (Enclosed in Actuator) Drive Cutoff Overview PLC SIO Teaching Tool Connection Dedicated Detection Circuit (Contact opens Stop when connected) Circuit SIO 0mm Positioner ) Connection Cable* -JY Simple Direct 3. Connection to unit and position data of 6 points at maximum set in the position table. It is a mode that enabled to monitor the current position in 0.mm unit by number of position table from Positioner. 00mm ) Connection Cable* -JY Axis Control 3) Connection Cable Positioner 0mm 3) Connection Cable Caution : Make sure to turn the power to the gateway unit OFF when inserting or removing the connector that connects the PC software or gateway unit to the controller. Inserting or removing the connector while the power is turned ON causes a gateway unit failure. Use a hub unit if necessary. One hub unit is available four units of actuator to be connected at the maximum. Control (Note ) Connect actuator to the axes control connector (C) when a hub unit is not to be used. Connection Cable. Connection to and Axis Axis Control ) GW-hub Connection Cable CB--RLY ) GW-hub Extension Cable* CB--RLY -JY Control Note RCM-P6GW : When there is nothing plugged in the SIO connector, S and S are short-circuited inside the controller. RCM-P6GWG : When there is nothing plugged in the SIO connector, S and S are not short-circuited. To make them short-circuited, have the enclosed dummy plug DP- plugged in the SIO connector. Note When the motor power must be disconnected externally for safety category compliance, apply a safety rated relay between MPI-AXIS and MPO-AXIS. Note 3 The rating for the emergency stop signal (EMG-) to turn ON/OFF at contact CR is V DC and 0mA or less. Note For CR, select the one with coil current 0.A or less. (Note) When supplying the power by turning ON/OFF the V DC, keep the 0V being connected and have the +V supplied/disconnected (cut one side only).

4 DeviceNet Type () 3 on Name DeviceNet Cable Side MSTB./-STF-.0 AU M Enclosed in standard package Manufactured by PHOENIX CONTACT Controller Side MSTB./-GF-.0 AU Pin No. Signal Name (Color) Description () Cable Negative Side CAN L () Communication Data Low Side 3 Shield () Shield CAN H () Communication Data High Side () Cable Positive Side Terminal Resistance Ω V Communication power needs to be supplied by an external device. Applicable cable diameter Dedicated cable for DeviceNet Terminal Resistance GW-DeviceNet Type Ω (Formerly Class-III grounding: Grounding resistance at 00Ω or less) CC-Link Type (CAN H) Shield (SLD) YW (DG) Shield (CAN L) () PROFIBUS-DP Type 9 6 on 9 6 Shield Name PROFIBUS-DP Cable Side 9-pin D-sub (Male) Please prepare separately Controller Side 9-pin D-sub (Female) NC Disconnected NC Disconnected 3 B-Line Communication Line B (RS) RTS Request for Sending GND Signal GND (Insulation) 6 +V +V Output (Insulation) 7 NC Disconnected A-Line Communication Line A (RS) 9 NC Disconnected (Formerly Class-III grounding: Grounding resistance at 00Ω or less) EtherNet/IP Type Red B line (Positive side) Green A line (Negative side) Cable PROFIBUS-DP Dedicated Cable (Type A : EN07) GW-PROFIBUS Type EtherCAT Type on Name EtherCAT Cable Side PC Modular Plug Please prepare separately Controller Side PC Modular Jack TD+ Data sending + TD- Data sending - Disconnected Disconnected Disconnected PROFET-IO Type performance of Category e or Name PROFET-IO Cable Side PC Modular Plug Please prepare separately Controller Side PC Modular Jack Ethernet Straight Cable Category e (Note) Terminal resistance is not required GW- EtherCAT Type 3 on (DB) (DA) Name CC-Link Cable Side MSTB./-STF-.0 AU Enclosed in standard package Manufactured by PHOENIX CONTACT Controller Side MSTB./-GF-.0 AU Pin No. Signal Name (Color) Description DA () Communication Line A DB () Communication Line B 3 DG (YW) Digital GND SLD Connect the shield of the shielded cable (Connect the FG of the pins and controller FG internally) FG Frame Ground (Connect the SLD of the pins and controller FG internally) Applicable cable diameter Dedicated cable for CC-Link on Name EtherNet/IP Cable Side PC Modular Plug Please prepare separately Controller Side PC Modular Jack TD+ Data sending + TD- Data sending - Disconnected Disconnected Disconnected Switching performance of Category e or on TD+ Data sending + TD- Data sending - Disconnected Disconnected performance of Category or Disconnected Switching Terminal Resistance Terminal Resistance GW -CC-Link Type GW- PROFET-IO Type (Formerly Class-III grounding: Grounding resistance at 00Ω or less) The terminal resistor differs depending on the type of the dedicated cable for CC-Link. Cable FANC-SBH 30Ω/W (High Performance Cable dedicated for CC-Link) Cable FANC-SB 0Ω/W (CC-Link Dedicated Cable) SLD and FG are internally connected. Ethernet Straight Cable, Category e GW- EtherNet/IP Type Ethernet Straight Cable, Category

5 Starting Procedures When using this product for the first time, make sure to avoid mistakes and incorrect wiring by referring to the procedure below. PC stated in this section means PC software. Check of Packed s Are all the delivered items present? Contact your local IAI distributor. Yes Installation and Wiring Install the controller and actuator and perform wiring according. Important Check Is frame ground (FG) connected? Has the noise countermeasure been taken? and Alarm Check Connect the PC software, set the operation mode setting switch to MANU side and turn the power ON. Select [Teaching Safety Speed Activated / Prohibit PIO Startup] in the PC software. Check Is SYS in Status LEDs turned ON in green? Check the details of the alarm in the PC software to have a counteraction. Yes Initial ) Have the fieldbus and operation mode setting conducted with the gateway parameter setting tool. ) Set up the parameters (operation patterns) for each axis on the PC software. Servo ON Turn the servo ON for all the connected axes by operating the PC. Caution Please perform this process with the actuator away from the mechanical end or interfering objects as much as possible. Move the actuator away from interfering surroundings. It may generate an alarm if the actuator hit the mechanical end or interfering objects when the servo is turned ON. The slider may get slightly dropped by self-weight if servo ON and OFF is repeatedly performed at the same position. Be careful not to pinch the hand or damage the work. Check Is SYS* on the status LED display for the driver on the axis number indicated for the servo-on turned ON in green? Yes Check of Safety Circuit Does the emergency stop circuit (drive cutoff circuit) work properly and turn the servo OFF? Yes If an alarm is generated, check the detail of the alarm on the PC and have an appropriate treatment. Check the emergency stop circuit. LED: SYS LED: AUTO LED3: EMG LED: T. ERR LED: C. ERR LED: AX3 STS LED: AX STS LED3: AX STS LED: AX0 STS LED: SYS Symbol Color and Status LED LED LED3 LED LED SYS AUTO EMG T. ERR C. ERR System Status Ready (Green Illuminating), Alarm (Red Illuminating) (AUTO/MANU) Status Automatic (AUTO) (Green Illuminating) Emergency Stop (EMG) Status Emergency Stop (EMG) (Red Illuminating) Bus Communication Error inside Controller T. ERR (Orange Illuminating) Fieldbus Network Communication Error C. ERR (Orange Illuminating) Symbol Color and Status LED LED LED3 LED LED AX3 STS AX STS AX STS AX0 STS SYS Axis No.0 to 3 Status Servo OFF (OFF) Servo ON (Green Illuminating) Automatic Servo OFF (Green Flashing) Alarm, Emergency Stop (Red Illuminating) Communication Error (Red Flashing) System Status Ready (Green Illuminating) Standby for Communication Establishment (Green Flashing) Control/Motor Power Voltage Drop (Red Illuminating) of Position Data [Except for direct numerical specification mode] Set the position (*), velocity and acceleration/deceleration in each position table. * is unnecessary in simple direct mode Test Run Adjustment ) Cancel the emergency stop, do not put a work piece on, set to low speed and check the operation with commands from the PC. ) Put on a work piece, set to the automatic operation speed, and then check the operation with the command from the PC. Check Any vibration or abnormal noise? Yes Check if there is any problem with the installation of the actuator and the condition of the actuator use exceeds the ranges of the rated values. Adjust the servo if necessary. Establish Link to Fieldbus ) Assign MCON as the host controller [Refer to the instruction manual of the master unit]. ) Put the operation mode setting switch on the front panel to AUTO side, and reboot the power. 3) Once the link with the master unit is established, turn ON MON signal in the gateway control signals. (While MON Signal is ON, control from fieldbus is available.) Test Run Adjustment Output an operation command from the host (such as PLC) to check by the system operation. Head Office: 77- Obane Shimizu-KU Shizuoka City Shizuoka -003, Japan TEL FAX website: Technical Support available in USA, Europe and China Head Office: 690 W. 37th Street, Torrance, CA 900 TEL (30) 9-60 FAX (30) 9-0 Chicago Office: 0 East State Parkway, Schaumburg, IL 6073 TEL(7) FAX (7) Atlanta Office: 0 Kennestone Circle, Suite 0, Marietta, GA TEL (67) FAX (67) 3-97 website: Built-in Controller Status Indicator LED Status Indicator LED Status of LED OFF Red Illuminating Red Flashing Green Illuminating Green Flashing Orange Illuminating status Status Servo OFF Alarm ( Cancellation Level ) In the Emergency Stop During Crash Detection Servo ON Motor Driving OFF In initializing process when the power is turned on Ober der Röth, D-6 Schwalbach am Taunus, Germany TEL FAX SHANGHAI JIAHUA BUSESS CENTER A-303, 0, Hongqiao Rd. Shanghai 00030, China TEL FAX website: PhairojKijja Tower th Floor, Bangna-Trad., Bangna, Bangna, Bangkok 060, Thailand TEL FAX Manual No.: ME030-A