Instruction Manual ESA-S

Transcription

1 取説 07-P070-1 Aug 2016 Instruction Manual ESG1 Series Support Software ESA-S For safe use of product Wrong operation of the product may result in sub-optimal performance of the product or lead to a serious accident. To prevent occurrence of an accident, be sure to read the Instruction Manual of the product carefully to completely understand the contents given therein before operating the product. If you find any unclear point, contact us. TAIYO, LTD Kitaeguchi Higashiyodogawa-ku, Osaka Japan Web site : 1

2 Table of contents 1. Preface For safe use Overview Features of ESA-S System Requirements Handling Procedures and Cautions Connection between Actuator and Controller Installation Guide Installation Uninstallation Installation Method of USB-RS485 Converter Driver Screen Full Screen Starting Support Software Create new file Connecting to Controller Editing Parameters Dialog for Initial Parameter Settings Dialog for operation Related Parameters Dialog for Original Position Parameters Editing Point Data Positioning Dialog Copying Multiple Point Data Canceling Selected Point Data Operating Actuator Movement to Specified Point Continuous Operation Continuous Operation Inching Operation Saving, Transferring and Checking Data Writing Data Reading Data Checking Data Saving Data Assigning Address

3 5.10. Displaying I/O Signal Status System Initializing Point Data Initializing Parameters Displaying Alarm History Configuring Communication Port Connection to Actuator Connection of Controller Adjustment of Communication Timing Adjusting Communication Timing with Controller Notes before Adjusting Communication Timing with Controller Printing

4 1. Preface Thank you for purchasing our ESG1 series Electric Gripper. The ESA-S01 is computer software that has been designed to support edit of parameters and point data for ESG1- series controllers. With use of this software, you can easily edit the special parameters or point data (position, operation mode, speed and force) for actuator, and save the edited data as a file or print the saved files. In addition, you can check for the correct movement operations according to the edited point data, display the current position and check operational status before operating the gripper using a sequencer or other devices. 4

5 2. For safe use Cautionary descriptions given here are for correct use of the products and for prevention of hazard on the user and other people in the vicinity. Strictly observe the instructions described in the Controller and Gripper operation manuals for safe use. 5

6 3. Overview 3.1. Features of ESA-S01 Function Edit point data Backup point data Operate Actuator Monitor Details Edits point data Edits parameter Saves edit data Saves controller data Moves to specified point Moves continuously between two points / Displays the current position Displays I/O signal status Displays alarm history 4. System Requirements Windows98SE, Windows2000, WindowsXP Computer system Computer Computer with Pentium CPU Memory Usable memory (Free memory) 32MB minimum Free Hard disk space 4MB or more * Required space of memory and hard drive may differ depending on your system environment. Display Resolution 800 x 600 minimum ( recommended) Serial port Any of RS-232C serial ports (COM 1-9) must be unoccupied. 6

7 5. Handling Procedures and Cautions 5.1. Connection between Actuator and Controller To connect the computer and controller, a communication cable and RS232C-RS485 converter (optional) is needed. It is necessary to install a special driver for USB-RS485 converter. Refer to item or details on how to install the driver. Connect the computer and controller as shown in the following connection diagram. Serial converter ESA-R1 The following diagram shows pin arrangement of the connectors. DOS/V personal computer Serial converter ESA-R2, R3 DCD 1 1 DCD RxD 2 2 RxD TxD 3 3 TxD NC 1 1 SG DTR 4 4 DTR A 2 2 A SG 5 5 SG B 3 3 B DSR 6 6 DSR 5V 4 4 5V RTS 7 7 RTS CTS 8 8 CTS RI 9 9 RI Serial converter ESA-R1 Controller ESC11-B Serial converter ESA-R1 7

8 DOS/V Personal computer USB port フレームフレーム NC 1 1 SG A 2 2 A B 3 3 B NC 4 4 5V NC Serial converter ESA-R2 コントローラ Controller ESC11-B Serial converter ESA-R2 DOS/V Personal computer USB port フレームフレーム NC 1 1 SG A 2 2 A B 3 3 B 5V 4 4 5V Serial converter ESA-R3 Controller ESC11-B CAUTION When connecting the communication cable to the controller or removing the cable from the controller, always turn off the controller power first. Failure to do so may result in damage to the product. Serial converter ESA-R3 Do not turn off the controller power during communication between the controller and computer. Connect the controller and computer through a serial converter (ESA-R1, ESA-R2 and ESA-R3 optional) Use the straight RS232C cable (commercially available) in case of ESA-R1. In case of ESA-R2, ESA-R3, use B type male for converter connector. Be sure to install an emergency stop circuit in a readily accessible external position so that the device can be stopped and power supply to the controller can be shut down immediately upon occurrence of a dangerous situation during operation. Specifications of communication cable (recommended) CO-SPEV-SB (A) 4P 0.3SQ LF, Hitachi Cable No 名称 1 NC 2 A 3 B 4 5V 5 0V 8

9 5.2. Installation Guide Installation In order to use the ESA-S01 support software on your computer, you need to install it on your hard drive. Install the software by following the procedure below. Installing using CD-ROM 1 Double click the setup.exe file in the Main folder in the CD-ROM. 2 After the setup program starts, the setup screen is displayed. 3 Click the NEXT button to continue. License agreement is displayed on the screen. Read it, and if you agreed the terms and conditions of this agreement, click the Agree button and the Next button to continue. 4 Enter your User Information. Enter user information and click the Next button to continue. 9

10 5 Accept the default installation folder by clicking the Next button. If you wish to install the software to a different folder, select the desired folder. 6 Verify the setting information Verify that the current setting information displayed is correct. Click the Install button to continue. 7 After installation completed, the install completion message is displayed. Click the Finish button. 10

11 Uninstallation If you wish to uninstall the software, select Program > TAIYO-ESA-S01 from the START menu and select Uninstallation 11

12 Installation Method of USB-RS485 Converter Driver In case of Windows 2000 When converter is connected to a personal computer, driver is installed through plug and play function. Two types of drivers are a must for converter. Driver installation method is shown below. 1 Insert CD-ROM included with the controller in CD drive of your computer and connect converter to USB port. 2 A dialogue, as given below, is displayed through plug and play function. 3 Click on Next button to display the screen below. Select Search for optimal drivers for the device (recommended) (S) and click on Next 12

13 4 Select Specify location (S), and click on Next button. 5 Click on Reference and select Driver folder from CD. Click on OK button. 6 Driver file is retrieved and the below screen is displayed. Click on Next button. 13

14 7 If the following screen is displayed, then it is assumed that first driver is installed normally. Click on Finish. 8 After clicking on Finish, installation of the next driver starts. 9 Select Search for optimal drivers for the device (recommended) (S) and click on Next. 14

15 10 Select Specify location (S) and click on Next. 11 Check that Driver folder from CD is selected and then click on OK button. 12 Driver file is retrieved and following screen is displayed. Click on Next button. 15

16 13 If below-mentioned screen is displayed, then it is assumed that second driver is installed normally. Click on Finish button. Check COM port number in device manager, set port number in settings of support software port. 16

17 In case of Windows XP When the converter is connected to a computer, driver is installed through plug and play function. Two types of drivers are a must for converter. Installation method of driver is shown below.. 1 Insert CD-ROM included with the controller in CD drive of your computer and connect converter to USB port. 2 A dialogue as given below is displayed by plug and play function. Select No, do not connect now (T) and then click on Next button. 3 Click on Next button to display screen as shown below. Select Install from list of drivers or from specified location (Recommended) (S) and then click on Next. 17

18 4 Select Select optimal drivers from this location (S) and then execute item 5 and click on Next. 5 Click on Reference and select driver folder from CD. Click on OK button. 6 If following screen is displayed, then it is assumed that first driver is installed normally. Click on Finish. 18

19 7 After clicking on Finish, installation of the next driver starts. Select No, do not connect now (T) and click on Next. 8 Select Installation from list of drivers or from specified location (Recommended) (S) and click on Next 9 Select Search for optimal drivers from this location (S) and then click on Next. 19

20 10 Check that driver folder from CD is selected and then click on OK button. 11 If below-mentioned screen is displayed, then it is assumed that second driver is installed normally. Click on Finish button. 12 Check COM port number in device manager, set port number in settings of support software port. 20

21 5.3. Screen Full Screen When you start the support software, the following opening screen is displayed. 1) Menu bar 2) Tool bar Parameter list 3) Edit buttons 4) Operation buttons 5) Parameter buttons 6) Point buttons 7) Address 8) I/O button Point display 9) System button 9システム 10) Connect button 11) Adjust button 12) Communication status bar 13) Status bar 21

22 Menu Bar Descriptions of each menu are listed as follows. File New Creates a new document. Open Opens selected file. Close Closes file without terminating application Save Saves file to the same location without changing the file name. Save as Saves file to specified location with specified name. Print Prints parameters and point data. Print preview Displays file as it will appear when printed. Printer setup Make the printer settings. Files recently used Displays files most recently used. Exit Closes the application. Edit Undo Retrieves last action. Clicking this button twice undo the last two actions. Cut Cuts selected point data and copy them. Copy Copies selected point data. Paste Pastes copied point data to specified location. Insert Inserts data in selected row. Edit Edits selected point data. 22

23 System Initialize point data Initializes point data. Initialize parameter Initializes parameters. Enter connected actuator number Display alarm history Displays a list of alarm history. This function is activated while controller and computer are connected online. Communication port setup Setups communication port on computer Normally COM1 port is selected. Timing adjustment Adjusts communication timing Normally, the default setting value is used as it is. View Tool bar Shows/hides the tool bar Status bar Shows/hides the status bar. Window New window Opens a new window Cascade Displays layered multiple windows 23

24 Help About ESA-S01 Displays support software version. Displays version information of connected controller. Show help Displays help information of support software. Display ESG1_AR_ support software Displays the manual of support software. Display ESG1_AR_ Hardware manual Displays the ESG1_AR_ Hardware manual. Display ESG1_AR_ Controller operation manual Displays controller operation manual. Display ESG1_RS485 communication manual Displays RS485 communication manual. 24

25 5.4. Starting Support Software Start the support software Create new file Select Create new file and click on OK button. Select the actuator type of file and OK button. Initial parameter values of the selected actuator type are displayed. The screen for editing parameters and point data is displayed. Edit parameters and point data at this step. Only the buttons that are used for editing parameters and point data are activated. 25

26 Connecting to Controller Select Connect to the Controller and click the OK button. Check connection status of the controller. If connection is established, the computer reads parameter data and point data from the controller and displays the on the screen. If not connected, select Address reset or Address auto detection and click OK button. If controller address cannot be confirmed (the controller is located far away from the computer to which the support software is installed), you can choose the Address auto detection. In case the wrong communication port is specified, choose correct one. For details of verification method of COM port number, refer to USB-RS485 converter driver installation method. 26

27 5.5. Editing Parameters Click Edit in the menu bar, and choose Edit Parameter. A parameter edit dialog box is displayed. Refer to Controller Instruction Manual for details on each parameter. A parameter edit dialog box pops up upon double clicking on Parameter display. Move the cursor to the desired item to edit the parameter Dialog for Initial Parameter Settings Edit parameters of Actuator type, Soft Limit, Stroke, Positioning Completed Distance, Timing Adjustment and operation delay. To change an actuator type, perform Initialize parameter first. 27

28 Dialog for operation Related Parameters This is for editing parameters of acceleration, program maximum speed, gripping speed, constant-speed movement distance and limit width Dialog for Original Position Parameters This is for editing parameters of return direction to original position, movement speed to original position, shift of original position and method for original position return. 28

29 5.6. Editing Point Data After moving the cursor to the desired point number, click Edit in the menu bar and choose Edit from the drop-down list. The positioning dialog box appears. Double-click the desired point data to edit Positioning Dialog Refer to the Controller Instruction Manual for details of movement mode. 29

30 Copying Multiple Point Data Click the first point number you want to copy and click the last number while holding down the Shift key. Choose Copy from the Edit menu. The selected point data are copied to the clipboard. Click the point numbers that you want to replace with the data copied to the Clipboard and select Paste from the Edit menu. Note: If any existing data in the destination point is replaced with the copied data Canceling Selected Point Data Click the first point number you want to cancel and click the last number while holding down the Shift key. Right click and Choose Clear. The selected point data is cleared. 30

31 5.7. Operating Actuator Movement to Specified Point (Point at) Movement to specified point No. 1 Select point No. A list of registered point numbers is displayed. 2 Confirm display of origin return condition. If display shows return is unfinished, it means that the original point return is yet incomplete. Click ORG button and execute original point return. 3 Check the speed settings. Initial value is set to 50%. This means that the speed of movement is 50% of specified point speed. If you want the speed to be as per speed of specified point, enter 100%. 4 Click the GO button. Movement towards specified point No. starts. 5 Current position is displayed in the Present position box. 6 Click STOP button if you want to stop during operation. 7 If you want to operate the controller of another address, change the address number and click the Connection button to check if the controller is connected. If it is properly connected, the address setting will be updated. Refer to section 5.9, Assigning address. 8 After changing the address, load parameter data and point data. Refer to Section 5.8 Saving, Transferring, and Checking Data. 31

32 Continuous Operation 1 (Continuance) Movement from one specified point to another. Movement interval between the points can be adjusted using the Timer. 1 Select point number. A list of registered point numbers is displayed. There is orderly movement from the point No. specified in the left box to the point No. specified in the right box. Points not registered are ignored and movement takes place to the next point. Specify the point numbers in ascending order. 2 Confirm display of origin return condition. If display shows return is unfinished, it means that the original point return is yet incomplete. Click ORG button and execute original point return. 3 Check the speed setting. 4 Specify timer parameter. Initial timer parameter has been set to 200ms. 5 Click the GO button. Movement towards specified point No. starts. 6 Current position is displayed in the Present Position box. 7 Click STOP button if you want to stop during operation. 8 If you want to operate the controller of another address, change the address number and click the Connection button to check if the controller is connected. If it is properly connected, the address setting will be updated. Refer to section 5.9, Assigning address. 9 After changing the address, load parameter data and point data. Refer to Section 5.8 Saving, Transferring, and Checking Data. 32

33 Continuous Operation 2 (Continuance) There is continuous movement between specified points. Check the Continuance check box. The setting and operating procedures are the same as those for Continuous Operation Inching Operation (Inching) This function is for inching operation of actuator. The position to which movement by inching operation takes plans is added to point data 1 Select a point No. Upon clicking of Write button after performing inching operation, current position data is added to the point specified in point No. 2 Confirm display of origin return condition. If display shows return is unfinished, it means that the original point return is yet incomplete. Click ORG button and execute original point return. 33

34 3 Check the setting for movement distance. Single clicking the OPEN or CLOSE button changes movement distance of the fingers. (Maximum input distance: 2.55mm). Distance 1 :1.00mm Distance 2 : 0.10mm Distance 3 : 0.01mm 4 Click the OPEN or CLOSE button to allow movement of specified distance. 5 If you wish to set a point by directly moving the moving parts of actuator, click the Servo Off button. After the motor of actuator entered in the non-excitation status, the moving parts can be moved by hand (by single cam type only) 6 Click the Write button to add the current position to the specified point data. If the number of point having no point data is specified, a dialog box for setting a point position will appear. Set the items required for setting point position and click the Write button. 7 Click the CLOSE button to close the inching dialog box. 34

35 5.8. Saving, Transferring and Checking Data The controller data edited on a computer are not updated until the data Write command is executed. Whenever controller data were edited, execute Write command to determine Writing Data A dialog box pops up upon clicking the Write button. Click the Yes button to continue. After data has been successfully written, the following dialog box is displayed. Point data too is written in the same manner. 35

36 Reading Data A confirmation dialog box pops up upon clicking Read button. Click Yes button to continue. If data has been successfully read, the following dialog box will be displayed. Point data is also read in the same manner. 36

37 Checking Data This is to check if the parameters and point data edited on the computer match the data in the specified controller. A confirmation dialog box appears upon clicking Compare button. Click Yes button to continue. If the data has been successfully written, the following dialog box is displayed. Point data too is checked in the same manner Saving Data This is for saving edited parameters and point data. Create a new folder, give a name to it and save the file in that folder. 37

38 5.9. Assigning Address To establish communication between computer and controller, address settings for the support software must be the same as that of controller. Choose addresses of controller and the software from the drop-down list. Assigning address to controller Set the address by using the rotary switch on the controller. When setting the address to the controller, turn OFF the power. To change the preset address, turn off the power first, otherwise the address will not be changed. 38

39 5.10. Displaying I/O Signal Status Input and output signal status for the controller is displayed. ON: Green OFF: White The displayed current position may be different from the actual position depending on communication speed and processing speed of your computer. In such cases, set the timer between the specified points or use the displayed current position as reference. Note BUSY signal turns ON while communication between controller and computer. When controlling from I/O connector using PLC, close the I/O display screen. I/O signal is not received if I/O is controlled at the time when BUSY signal is ON. 39

40 5.11. System The SYSTEM window is used to initialize point data and parameter, display alarm history and set communication port Initializing Point Data If point data is corrupted, or if all the point data needs to be cleared, perform initialization. Check the address and click the Initialize point data button. The point data editing window and controller point data are initialized. Click the Yes button to continue. After the data initialization is complete, the following dialog box is displayed. Note: Once you perform initialization, point data gets completely cleared. It is recommended that you back up the point data as necessary. 40

41 Initializing Parameters In cases where the controller s parameters are corrupted, the parameters need to be initialized. Once you initialize parameters, parameters are changed to initial parameters of initialized actuator type. Confirm the address and click the Initialize parameters button. The parameter editing window and controller parameters are initialized. Actuator selection dialogue is displayed. Select an Actuator type. Confirm Actuator type and click on Yes to continue. When initialization is successfully completed, a confirmation dialog box pops up. Note: Once you perform initialization, all point data are changed to initial parameters. It is recommended that you back up the point data as necessary. 41

42 Displaying Alarm History Confirm the address and click the Display alarm history button. Alarm history is displayed. The last 10 alarms are displayed. The accumulated alarm time is also displayed. After reviewing the alarm information, take measures to eliminate the alarm error. For details, refer to Alarm Countermeasures in the instruction manual for Controller Configuring Communication Port Configures communication port. Configure the serial port on the computer connected to the controller. Settings for the communication port can be confirmed in Control panel > System Property > Device Manager > Ports (COM) Controller version 1.09 or higher supports communication speed setting. 42

43 5.12. Connection to Actuator This is for connecting to the actuator Connection of Controller After creating a new file, click the Connect button to connect between the computer and Controller. A dialog box appears asking for confirmation to proceed with detection of controller. Click the Yes button to continue. If the controller is successfully detected, a confirmation dialog box pops up. If the controller was not detected, check for address and communication port settings. See section Configuring Communication Port. 43

44 5.13. Adjustment of Communication Timing This function is used for adjusting communication timing with controller Adjusting Communication Timing with Controller Initial value of communication timing with the controller is 200ms. To make communication timing faster, click the Tuning button to adjust the timing. When setting the communication timing, take care so that timing parameter for the support software is always less than that for the controller. See the ESG1_RS485 communication manual for details of communication timing Notes before Adjusting Communication Timing with Controller If communication timing is too fast, communication between the computer and controller may not be established. Click the System button to initialize parameters. Communication between the devices cannot be established until communication timing parameter is initialized. 44

45 5.14. Printing Print the parameter data and point data that are currently displayed on the print preview screen. Print preview screen The data displayed on the point preview screen are printed. 45

46 TAIYO, LTD. Head Office International division Kitaeguchi, Higashiyodogawa-ku Osaka JAPAN Tel: Fax: URL: TAIYO AMERICA, INC. Head Office / Plant (Ohio) 1702 East Spring Street St.Marys, Ohio PHONE:+1 (877) Fax: FAX : +1 (419) OHIO Office PHONE:+1 (419) Illinois Office PHONE:+1 (630) Tennessee Office PHONE:+1 (615) Kentucky Office PHONE:+1 (502)