4 Axis Step Motor Controller

Transcription

1 INFORMATION 4 Axis Step Motor Controller (Parallel I/O) RoHS V 4 axis synchronous control V Linear/circular interpolation Linear interpolation 50 Circular interpolation 50 Target position Axis 0 Target position Axis 0 Center 0 Origin 0 Current position Axis 0 Origin 0 Current position Axis Pick and place V Positioning/pushing operation V Step data input (Max. 048 points) V Space saving, Reduced wiring LECP6 x 4 stations 70 Footprint reduced by approx. 8% V Absolute/relative position coordinates instructions JXC73/83 CN5 I/O To CN5 I/O cable x 4 For LEm, size 5 or larger Provided by customer PLC To I/O I/O cable x Provided by customer PLC Power supply for I/O signal Power supply for I/O signal Series JXC73/83 4-E643

2 Series JXC73/83 Step Data Input: Max. 048 points 4 axis operation can be set collectively in one step. Step 0 Axis Movement mode Speed Position Acceleration Deceleration Positioning/ Area Area In position Comments mm/s mm mm/s mm/s Pushing mm mm mm Axis ABS Axis ABS Axis 3 ABS Axis 4 ABS Axis INC Axis INC Axis 3 INC Axis 4 INC Axis 4 ABS Axis ABS Axis ABS Axis 3 ABS Axis 4 ABS Movement mode Pushing operation Blank Invalid data (Invalid process) Details ABS v Moves to the absolute coordinate position based on the origin of the actuator. INC v Moves to the relative coordinate position based on the current position. LIN-A Moves to the absolute coordinate position based on the origin of the actuator by linear interpolation. LIN-I Moves to the relative coordinate position based on the current position by linear interpolation. Axis is assigned to the X-axis and Axis to the Y-axis, and moves in the clockwise direction by circular interpolation. Specifies the target coordinates and center coordinates by the relative coordinates CIR-R from the current position. The position data is assigned as follows. Axis : Target position X Axis : Target position Y Axis 3: Center point X Axis 4: Center point Y Axis is assigned to the X-axis and Axis to the Y-axis, and moves in the counter-clockwise direction by circular interpolation. Specifies the target coordinates and center coordinates by the relative coordinates CIR-L from the current position. The position data is assigned as follows. Axis : Target position X Axis : Target position Y Axis 3: Center point X Axis 4: Center point Y SYN-I Moves to the relative coordinate position based on the current position by synchronous control. Performs a circular operation on a plane using Axis and Axis. Controller Setting Software (Connection with a PC) Easy file management The step data is loaded from the file. Save The step data is saved in a file. Upload The step data is loaded from the controller. Download The step data is written in the controller. Step data window Abundant edit functions Copy Delete Cut Paste (Insert) Paste (Overwrite) Insert The selected step data is copied on the clipboard. The selected step data is deleted. The selected step data is cut. The step data copied to the clipboard is inserted in the cursor position. The step data copied to the clipboard is overwritten in the cursor position. A blank line is inserted in the selected step data line. Operation confirmation of entered step data Enter the step number to be executed. Executes the specified step number. Stop Displays whether the step number is being executed or stopped. All axes return to origin Performs a return to origin of all the valid axes.

3 4 Axis Step Motor Controller Series JXC73/83 System Construction Provided by customer PLC Provided by customer. For details, refer to the WEB catalog. V Electric actuators Power supply for I/O signal V I/O cable (Option) Part no. JXC-C-m Page 8 V Controller To I/O To USB To ENC To MOT V Actuator cable Robotic cable LE-CP-m-m Standard cable LE-CP-m-m-S To C PWR To CI V Cable with main control power supply connector Page 8 Cable length:.5 m (Accessory) Part no. JXC-C Provided by customer Main control power supply V Motor control power supply connector (Accessory) <Applicable cable size AWG0 (0.5 mm ) Page 5 Provided by customer Motor control power supply/ Motor power supply To M PWR V Motor power supply Page 5 connector (Accessory) <Applicable cable size AWG6 (.5 mm ) V USB cable Page 8 (Option) JXC-W- Cable length: 3 m V Controller setting kit Page 8 (Controller setting software and USB cable are included.) (Option) JXC-W PC Provided by customer V Controller setting software (Option) JXC-W- Page 8 The connected actuators should be ordered separately.

4 4 Axis Step Motor Controller (Parallel I/O) Series JXC73/83 How to Order Controller JXC 7 3 I/O type Symbol I/O type 7 NPN 8 PNP 4 axis type Applicable Actuators Applicable actuator Electric Actuator/Rod Series LEY Electric Actuator/Guide Rod Series LEYG Electric Actuator/Slider Series LEF Electric Slide Table Series LES/LESH Electric Rotary Table Series LER Note) Electric Actuator/Miniature Series LEPY/LEPS Electric Gripper (-finger Type, 3-finger Type) Series LEH Catalog no. E0 Note) Except the continuous rotation (360 ) specification Actuators should be ordered separately. For Speed Work graph of the actuator, refer to For LECPA in the Electric Actuators catalog (CAT.E0). I/O cable, Mounting Symbol I/O cable Mounting.5 m Screw mounting.5 m DIN rail 3 3 m Screw mounting 4 3 m DIN rail 5 5 m Screw mounting 6 5 m DIN rail 7 None Screw mounting 8 None DIN rail Two I/O cables are included. Specifications Item Number of axes Compatible motor Compatible encoder Power supply Note ) Specifications Max. 4 axes Step motor (Servo/) Incremental A/B phase (Encoder resolution: 800 pulse/rotation) Main control power supply Power voltage: ±0% Max. current consumption: 0 ma Motor power supply, Motor control power supply (Common) Power voltage: ±0% Max. current consumption: Based on the connected actuator. Note ) 6 inputs (Photo-coupler isolation) 3 outputs (Photo-coupler isolation) USB.0 (Full Speed Mbps) Flash-ROM/EEPROM PWR (Green), RUN (Green), USB (Green), ALM (Red) Parallel input Parallel output Serial communication Memory LED indicator Lock control Forced-lock release terminal Note 3) Cable length I/O cable: 5 m or less, Actuator cable: 0 m or less Cooling system Natural air cooling Operating temperature range 0 C to C (No freezing) Operating humidity range 90% RH or less (No condensation) Storage temperature range 0 C to 60 C (No freezing) Storage humidity range 90% RH or less (No condensation) Insulation resistance Between all of external terminals and the case: 50 MW (500 VDC) Weight 050 g (Screw mounting), 00 g (DIN rail mounting) Note ) Do not use a power supply of inrush current limited type for the controller. Note ) The power consumption changes depending on the actuator to be connected. Refer to the specifications of actuator for more details. Note 3) Applicable to non-magnetizing lock. 3

5 4 Axis Step Motor Controller Series JXC73/83 Dimensions Screw mounting mounting hole mounting hole DIN rail mounting DIN rail mounting bracket DIN rail AXT00-DR-m L.5 (Pitch) For m, enter a number from the No. line in the table below. Refer to the dimensions above for the mounting dimensions. 5.5 (35) (5) L Dimension 8 (.5) [mm] No L No L DIN rail mounting bracket JXC-Z (with 6 mounting screws) This should be used when the DIN rail mounting bracket is mounted onto the screw mounting type controller afterwards. 4

6 Series JXC73/83 Controller Details q w e r u t i y!3!4 No. Name Description Details q PWR Power supply LED (Green) Power supply ON: Green turns on. Power supply OFF: Green turns off. w RUN Operation LED (Green) Running in parallel I/O: Green turns on. Running via USB communication: Green flashes. Stopped: Green turns off. e USB USB connection LED (Green) USB connected: Green turns on. USB not connected: Green turns off. r ALM Alarm LED (Red) With alarm: Red turns on. Without alarm: Red turns off. t USB Serial communication Connect to a PC via the USB cable. y C PWR Main control power supply connector ( pins) Main control power supply (+) ( ) u I/O Parallel I/O connector ( pins) Connect to a PLC via the I/O cable. i I/O Parallel I/O connector ( pins) Connect to a PLC via the I/O cable. o ENC z Encoder connector (6 pins)!0 MOT z Motor power connector (6 pins) Axis : Connect the actuator cable.! ENC x Encoder connector (6 pins)! MOT x Motor power connector (6 pins) Axis : Connect the actuator cable.!3 CI zx Motor control power supply connector Motor control power supply (+), Axis stop (+), Axis lock release (+), Axis stop (+), Axis lock release (+)!4 M PWR zx Motor power supply connector For Axis,. Motor power supply (+), Common ( )!5 ENC c Encoder connector (6 pins)!6 MOT c Motor power connector (6 pins) Axis 3: Connect the actuator cable.!7 ENC v Encoder connector (6 pins)!8 MOT v Motor power connector (6 pins) Axis 4: Connect the actuator cable.!9 CI cv Motor control power supply connector Motor control power supply (+), Axis 3 stop (+), Axis 3 lock release (+), Axis 4 stop (+), Axis 4 lock release M PWR cv Motor power supply connector For Axis 3, 4. Motor power supply (+), Common ( ) Connectors are included. (See below.) Accessories (Connector) y Cable with Main Control Power Supply Connector: C PWR pc. Terminal name Function Details +4V Main control power supply (+) Power supply (+) supplied to the main control 4 0V Main control power supply ( ) Power supply ( ) supplied to the main control Part no.: JXC-C (Cable length:.5 m) Cable with main control power supply connector Cable color: Blue (0V) Cable color: Brown (4V)!4@0 Motor Power Supply Connector: M PWR pcs. Motor power supply connector Terminal name Function Details 0V Motor power supply ( ) M 4V terminal/c 4V terminal/emg terminal/lkrls terminal are common ( ). M 4V Motor power supply (+) Power supply (+) supplied to the motor power Manufactured by PHOENIX CONTACT. (Part no.: MSTB, 5/-STF-5, 08) 0V M 4V!3!9 Motor Control Power Supply Connector: CI pcs. Motor control power supply connector Terminal name Function Details C 4V Motor control power supply (+) Power supply (+) supplied to the motor control EMG/EMG3 Stop (+) Axis /Axis 3: Input (+) for releasing the stop EMG/EMG4 Stop (+) Axis /Axis 4: Input (+) for releasing the stop LKRLS/LKRLS3 Lock release (+) Axis /Axis 3: Input (+) for releasing the lock LKRLS/LKRLS4 Lock release (+) Axis /Axis 4: Input (+) for releasing the lock Manufactured by PHOENIX CONTACT. (Part no.: FK-MC0, 5/5-ST-, 5) C 4V EMG/EMG3 EMG/EMG4 LKRLS/LKRLS3 LKRLS/LKRLS4 5

7 4 Axis Step Motor Controller Series JXC73/83 Wiring Example Parallel I/O Connector When you connect a PLC to the I/O or I/O parallel I/O connector, use the I/O cable (JXC-C-m). The wiring should be changed depending on the type of the parallel I/O (NPN or PNP). Wiring diagram I/O : NPN I/O : PNP +COM +COM IN0 IN IN IN3 IN4 IN5 IN6 IN7 IN8 IN9 IN0 SETUP HOLD DRIVE RESET SVON OUT0 OUT OUT OUT3 OUT4 OUT5 OUT6 OUT7 OUT8 BUSY (OUT9) AREA (OUT0) SETON INP SVRE ESTOP ALARM COM COM COM COM +COM IN0 IN IN IN3 IN4 IN5 IN6 IN7 IN8 IN9 IN0 SETUP HOLD DRIVE RESET SVON OUT0 OUT OUT OUT3 OUT4 OUT5 OUT6 OUT7 OUT8 BUSY (OUT9) AREA (OUT0) SETON INP SVRE ESTOP ALARM COM COM COM Input Signal Name +COM +COM IN0 to IN8 IN9 IN0 SETUP HOLD DRIVE RESET SVON Details Connects the power supply 4 V for input/output signal Step data specified Bit No. (Standard: When 5 points are used) Step data specified extension Bit No. (Extension: When 048 points are used) Instruction to return to origin Operation is temporarily stopped Instruction to drive Alarm reset and operation interruption Servo ON instruction Output Signal Name OUT0 to OUT8 BUSY (OUT9) AREA (OUT0) SETON INP SVRE ESTOP Note) ALARM Note) COM Details Outputs the step data no. during operation Outputs when the actuator is moving Outputs when all actuators are within the area output range Outputs when the return to origin of all actuators is completed Outputs when the positioning or pushing of all actuators is completed Note) Signal of negative-logic circuit Outputs when servo is ON Not output when EMG stop is instructed Not output when alarm is generated Connects the power supply 0 V for input/output signal 6

8 Series JXC73/83 Wiring Example Parallel I/O Connector When you connect a PLC to the I/O or I/O parallel I/O connector, use the I/O cable (JXC-C-m). The wiring should be changed depending on the type of the parallel I/O (NPN or PNP). Wiring diagram I/O : NPN I/O : PNP +COM3 +COM BUSY BUSY BUSY3 BUSY4 AREA AREA AREA3 AREA4 INP INP INP3 INP4 ALARM ALARM ALARM3 ALARM COM3 +COM BUSY BUSY BUSY3 BUSY4 AREA AREA AREA3 AREA4 INP INP INP3 INP4 ALARM ALARM ALARM3 ALARM Note ) Not connected Note ) Not connected Input Signal Name +COM3 +COM4 N.C. Details Connects the power supply 4 V for input/output signal Not used Output Signal Name Details BUSY Operating signal of axis BUSY Operating signal of axis BUSY3 Operating signal of axis 3 BUSY4 Operating signal of axis 4 AREA Area signal of axis AREA Area signal of axis AREA3 Area signal of axis 3 AREA4 Area signal of axis 4 INP Positioning or pushing completion signal of axis INP Positioning or pushing completion signal of axis INP3 Positioning or pushing completion signal of axis 3 INP4 Positioning or pushing completion signal of axis 4 ALARM Note ) Alarm signal of axis ALARM Note ) Alarm signal of axis ALARM3 Note ) Alarm signal of axis 3 ALARM4 Note ) Alarm signal of axis 4 Connects the power supply 0 V for input/output signal Note ) Signal of negative-logic circuit 7

9 4 Axis Step Motor Controller Series JXC73/83 Options Cable with main control power supply connector JXC C Cable length:.5 m (Accessory) Number of cores AWG size AWG0 Cable color: Blue (0V) Cable color: Brown (4V) I/O cable ( pc.) JXC C Cable length (L) [m] (Terminal no.) 0 Controller side (ø7.5) (R.5-4) L PLC side Number of cores AWG size AWG8 Pin no. Wire color Pin no. Wire color Pin no. Wire color Pin no. Wire color Orange (Black ) 6 Orange (Black ) Orange (Black 3) 6 Orange (Black 4) Orange (Red ) 6 Orange (Red ) 3 Orange (Red 3) 36 Orange (Red 4) Gray (Black ) 7 Gray (Black ) Gray (Black 3) 7 Gray (Black 4) Gray (Red ) 7 Gray (Red ) 3 Gray (Red 3) 37 Gray (Red 4) 3 White (Black ) 8 White (Black ) 3 White (Black 3) 8 White (Black 4) 3 White (Red ) 8 White (Red ) 33 White (Red 3) 38 White (Red 4) 4 Yellow (Black ) 9 Yellow (Black ) 4 Yellow (Black 3) 9 Yellow (Black 4) 4 Yellow (Red ) 9 Yellow (Red ) 34 Yellow (Red 3) 39 Yellow (Red 4) 5 Pink (Black ) 0 Pink (Black ) 5 Pink (Black 3) 0 Pink (Black 4) 5 Pink (Red ) Pink (Red ) 35 Pink (Red 3) Pink (Red 4) Controller setting kit JXC W Controller setting kit (Japanese and English are available.) wusb cable (A-B type) qcontroller setting software PC Contents qcontroller setting software (CD-ROM) wusb cable (Cable length: 3 m) Description Model q Controller setting software JXC-W- w USB cable JXC-W- Can be ordered separately. Hardware Requirements PC/AT compatible machine with Windows7 or Windows8. and USB. or USB.0 port Windows is a registered trademark of Microsoft Corporation in the United States. 8

10 Series JXC73/83 Controller and Peripheral Devices/ Specific Product Precautions Be sure to read this before handling. For Safety Instructions and Electric Actuator Precautions, refer to Handling Precautions for SMC Products and the Operation Manual on the SMC website, Design/Selection Warning. Use the specified voltage. If the applied voltage is higher than the specified voltage, malfunction and damage to the controller may result. If the applied voltage is lower than the specified voltage, there is a possibility that the load cannot be moved due to internal voltage drop. Check the operating voltage prior to start.. Do not use the products outside the specifications. Otherwise, fire, malfunction or damage to the product can result. Check the specifications prior to use. 3. Install an emergency stop circuit. Install an emergency stop outside the enclosure in easy reach to the operator so that the operator can stop the system operation immediately and intercept the power supply. 4. To prevent danger and damage due to a breakdown or malfunction of these products, which may occur at a certain probability, a backup system should be arranged in advance by using a multiple-layered structure or by making a fail-safe equipment design, etc. 5. If there is a risk of fire or personal injury due to abnormal heat generation, sparking, smoke generated by the product, etc., cut off the power supply from this product and the system immediately. Caution. When using an actuator not horizontally mounted, be sure to select an actuator with the lock option. It may cause burnout of the internal parts of the controller. If the actuator is not equipped with a lock, it will move and drop the workpiece when the power and servo are turned OFF. Handling Warning. Check the voltage using a tester at least 5 minutes after power-off when connecting/disconnecting cables. Otherwise, electric shock, injury, fire, or serious damage can result.. Do not touch the inside of the controller and its connector. Otherwise, electric shock or failure can result. 3. Do not operate or set up this equipment with wet hands. Otherwise, electric shock can result. 4. Do not use a product that is damaged or missing any components. Electric shock, fire or injury can result. 5. Use only the specified combination between the electric actuator and controller. It may cause damage to the actuator or to the controller. Handling Warning 6. Be careful not to touch, get caught or hit by the workpiece while the actuator is moving. An injury can result. 7. Do not connect the power supply or power up the product until it is confirmed that the workpiece can be moved safely within the area that can be reached by the workpiece. Otherwise, the movement of the workpiece may cause an accident. 8. Do not touch the product when it is energized and fo r s o m e t i m e a f t e r t h e p ow e r h a s b e e n disconnected, as it is very hot. Otherwise, it may cause burns due to the high temperature. 9. Check the voltage using a tester at least 5 minutes after power-off when performing installation, wiring and maintenance. Otherwise, electric shock, fire or injury can result. 0. Do not use the products in an area where they could be exposed to dust, metallic powder, machining chips or splashes of water, oil or chemicals. Otherwise, a failure or malfunction can result.. Do not use the products in a magnetic field. Otherwise, a malfunction or failure can result.. Do not use the products in an environment where flammable, explosive or corrosive gases, liquids or other substances are present. Otherwise, fire, explosion or corrosion can result. 3. Avoid heat radiation from strong heat sources, such as direct sunlight or a hot furnace. Otherwise, it will cause a failure to the controller or its peripheral devices. 4. Do not use the products in an environment with cyclic temperature changes. Otherwise, it will cause a failure to the controller or its peripheral devices. 5. Do not use the products in an environment where surges are generated. Devices (solenoid type lifters, high frequency induction furnaces, motors, etc.) that generate a large amount of surge around the product may lead to deterioration or damage to the internal circuits of the products. Avoid supplies of surge generation and crossed lines. 6. Do not install the products in a place subject to vibration and impact. Otherwise, a malfunction or failure can result. 7. If this product is used with a relay or solenoid valve, use the built-in surge absorbing element type. 8. This product cannot be used if multiple axes are fixed to one workpiece. 9

11 Safety Instructions Be sure to read the Handling Precautions for SMC Products (M-E03-3) and Operation Manual before use.