IAI MSCON User manual

MSCON Controller
Instruction Manual Second Edition

[Important]
•This Instruction Manual is original.
•The product cannot be operated in any way unless expressly specified in this Instruction Manual.
IAI shall assume no responsibility for the outcome of any operation not specified herein.
•Information contained in this Instruction Manual is subject to change without notice for the
purpose of product improvement.
•If you have any question or comment regarding the content of this manual, please contact the
IAI sales office near you.
•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.
•DeviceNet is a registered mark of ODVA.
•CC-Link is a registered mark of Mitsubishi Electric Corporation.
•PROFIBUS is a registered mark of SIEMENS.
•CompoNet is a registered trademark of OMRON Corporation.
•EtherCAT® is a registered mark of Beckoff Automation GmbH.
•EtherNet/IP is a trademark used under the license of ODVA.
Please Read Before Use
Thank you for purchasing our product.
This Instruction Manual describes all necessary information items to operate this product safely
such as the operation procedure, structure and maintenance procedure.
Before the operation, read this manual carefully and fully understand it to operate this product safely.
The enclosed DVD in this product package includes the Instruction Manual for this product.
For the operation of this product, print out the necessary sections in the Instruction Manual or
display them using the personal computer.
After reading through this manual, keep this Instruction Manual at hand so that the operator of this
product can read it whenever necessary.
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ME0306-2A

Contents
Safety Guide ···································································································· 1
Precautions in Operation ···················································································· 8
International Standards Compliances ···································································11
Name for Each Parts and Their Functions ···························································· 13
Actuator Axes································································································· 17
Starting Procedures ························································································· 19
Chapter 1 Specifications Check .....................................................................................21
1.1 Product Check................................................................................................................... 21
1.1.1 Parts .................................................................................................................... 21
1.1.2 Teaching Tool ............................................................................................................... 21
1.1.3 Instruction Manuals related to this product, which are contained in the DVD. ............ 22
1.1.4 How to read the model plate........................................................................................ 22
1.1.5 How to read the model................................................................................................. 23
1.2 Basic Specifications .......................................................................................................... 24
1.3 Selection of Power Source and Power Supply Supportive Devices ................................. 26
1.3.1 Power Capacity and Heat Generation ......................................................................... 26
1.3.2 Selection of Circuit Breaker ......................................................................................... 26
1.3.3 Selection of Leak Current Breaker............................................................................... 27
1.3.4 Control Power (24V DC) Capacity ............................................................................... 27
1.4 Specifications for each Fieldbus........................................................................................ 28
1.4.1 Specifications of DeviceNet Interface .......................................................................... 28
1.4.2 Specifications of CC-Link Interface.............................................................................. 28
1.4.3 Specifications of PROFIBUS-DP Interface .................................................................. 29
1.4.4 Specifications of CompoNet Interface.......................................................................... 29
1.4.5 Specifications of EtherNet/IP Interface ........................................................................ 30
1.4.6 Specifications of EtherCAT Interface ........................................................................... 30
1.5 External Dimensions ....................................................................................................... 31
1.5.1 Incremental Type ......................................................................................................... 31
1.5.2 Absolute Type .............................................................................................................. 32
1.6 Option ....................................................................................................................... 33
1.6.1 Regenerative Resistor Unit.......................................................................................... 33
1.7 Installation and Storage Environment ............................................................................... 35
1.8 Noise Elimination and Mounting Method .......................................................................... 36
Chapter 2 Wiring ............................................................................................................39
2.1 Wiring Diagram (Connection of construction devices)...................................................... 39
2.2 Circuit Diagram.................................................................................................................. 40
2.3 Wiring Method ................................................................................................................... 47
2.3.1 Wiring of Control Power Supply and Drive Power Supply Input Connector ................ 47
2.3.2 Wiring Layout of System I/O Connector ...................................................................... 49
2.3.3 Actuator Connection .................................................................................................... 50
2.3.4 Battery Connection (For Absolute Type)...................................................................... 52
2.3.5 Connection of Regenerative Resistance Unit .............................................................. 53
2.3.6 Connection of SIO Connector...................................................................................... 55
2.3.7 Wiring Layout of Field Network Connector .................................................................. 56
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Chapter 3 Operation.......................................................................................................61
3.1 Basic Operation................................................................................................................. 61
3.1.1 Basic Operation Methods ............................................................................................ 61
3.1.2 Parameter Settings ...................................................................................................... 65
3.2 Initial Setting...................................................................................................................... 66
3.3 Setting of Position Data..................................................................................................... 71
3.4 Fieldbus Type Address Map.............................................................................................. 77
3.4.1 PLC Address Construction by each Operation Mode.................................................. 77
3.4.2 Example for Address Map Construction for each Field Network ................................. 80
3.4.3 Gateway Control Signals (in common for all operation modes) .................................. 90
3.4.4 Control Signals for Direct Simple Direct ...................................................................... 93
3.4.5 Control Signals for Positioner 1 Mode ......................................................................... 98
3.4.6 Control Signals for Direct Indication Mode ................................................................ 103
3.4.7 Control Signals for Direct Indication Mode 2 ..............................................................110
3.4.8 Control Signals for Positioner 2 Mode ........................................................................117
3.4.9 Control Signals for Positioner 3 Mode ....................................................................... 121
3.4.10 Control Signals for Remote I/O Mode........................................................................ 124
3.4.11 About Commands (Position Data Read/Write and Alarm Axis Read)........................ 128
3.5 Input and Output Signal Process for Field Network........................................................ 143
3.6 Power Supply and Cutoff ................................................................................................ 145
3.7 Control and functions of Input and output signals of Modes
other than Remote I/O Mode ....................................................................... 147
3.8 Control and functions of Input and output signals of Remote I/O Mode ......................... 169
3.8.1 Operation Supportive Signal = Patterns 0 to 2, 4 and 5 in common ......................... 169
3.8.2 Operation with the Position No. Input = Operations of PIO Patterns 0 to 2 ................. 177
3.8.3 Direct Position Specification (Solenoid Valve Mode 1)
= Operation of PIO Pattern 4.................................................................... 197
3.8.4 Direct Position Specification (Solenoid Valve Mode 2)
= Operation of PIO Pattern 5.................................................................... 209
3.9 About Gateway Parameter Setting Tool.......................................................................... 217
3.9.1 Startup of Tool ............................................................................................................ 217
3.9.2 Explanation of each Menu ......................................................................................... 218
3.9.3 Description of Functions ............................................................................................ 220
3.9.4 Operation Mode Setting............................................................................................. 226
3.10 Field network status LEDs .............................................................................................. 227
3.10.1 DeviceNet .................................................................................................................. 227
3.10.2 CC-Link .................................................................................................................. 227
3.10.3 PROFIBUS................................................................................................................. 228
3.10.4 CompoNet .................................................................................................................. 228
3.10.5 EtherNet/IP ................................................................................................................ 228
3.10.5 EtherNet/IP ................................................................................................................ 229
3.10.6 EtherCAT .................................................................................................................. 230
3.11 Gateway status LED ....................................................................................................... 231
Chapter 4 Vibration Suppress Control Function...........................................................233
4.1 Setting Procedure ........................................................................................................... 235
4.2 Settings of Parameters for Vibration Suppress Control .................................................. 236
4.3 Setting of Position Data................................................................................................... 237
Chapter 5 Power Saving Function (Automatic Servo-off Function) ...........................239
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Chapter 6 Absolute Reset and Absolute Battery..........................................................241
6.1 Absolute Reset................................................................................................................ 241
6.2 Absolute Battery.............................................................................................................. 244
6.2.1 Absolute encoder backup specifications ................................................................... 244
6.2.2 Replacement of absolute battery ............................................................................... 246
Chapter 7 Parameter....................................................................................................247
7.1 Parameter List................................................................................................................. 248
7.2 Detail Explanation of Parameters.................................................................................... 253
7.3 Servo Adjustment ............................................................................................................ 280
Chapter 8 Troubleshooting...........................................................................................283
8.1 Action to Be Taken upon Occurrence of Problem ........................................................... 283
8.2 Fault Diagnosis ............................................................................................................... 285
8.2.1 Impossible operation of controller.............................................................................. 285
8.2.2 Positioning and speed of poor precision (incorrect operation) .................................. 286
8.2.3 Generation of noise and/or vibration.......................................................................... 287
8.2.4 Impossible Communication........................................................................................ 287
8.3 Alarm ..................................................................................................................... 288
8.3.1 Gateway Alarm Codes ............................................................................................... 288
8.3.2 Alarm Code for Each Axis.......................................................................................... 290
8.4 Noise Prevention............................................................................................................. 301
Chapter 9 Appendix .....................................................................................................303
9.1 List of Specifications of Connectable Actuators .............................................................. 303
Chapter 10 Warranty .......................................................................................................347
10.1 Warranty Period .............................................................................................................. 347
10.2 Scope of the Warranty..................................................................................................... 347
10.3 Honoring the Warranty .................................................................................................... 347
10.4 Limited Liability................................................................................................................ 347
10.5 Conditions of Conformance with Applicable Standards
/Regulations, Etc., and Applications ............................................................ 348
10.6 Other Items Excluded from Warranty.............................................................................. 348
Change History ................................................................................................................349
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1
Safety Guide
“Safety Guide” has been written to use the machine safely and so prevent personal injury or
property damage beforehand. Make sure to read it before the operation of this product.
Safety Precautions for Our Products
The common safety precautions for the use of any of our robots in each operation.
No. Operation
Description Description
1 Model
Selection
●This product has not been planned and designed for the application
where high level of safety is required, so the guarantee of the protection
of human life is impossible. Accordingly, do not use it in any of the
following applications.
1) Medical equipment used to maintain, control or otherwise affect
human life or physical health.
2) Mechanisms and machinery designed for the purpose of moving or
transporting people (For vehicle, railway facility or air navigation
facility)
3) Important safety parts of machinery (Safety device, etc.)
●Do not use the product outside the specifications. Failure to do so may
considerably shorten the life of the product.
●Do not use it in any of the following environments.
1) Location where there is any inflammable gas, inflammable object or
explosive
2) Place with potential exposure to radiation
3) Location with the ambient temperature or relative humidity exceeding
the specification range
4) Location where radiant heat is added from direct sunlight or other
large heat source
5) Location where condensation occurs due to abrupt temperature
changes
6) Location where there is any corrosive gas (sulfuric acid or
hydrochloric acid)
7) Location exposed to significant amount of dust, salt or iron powder
8) Location subject to direct vibration or impact
●For an actuator used in vertical orientation, select a model which is
equipped with a brake. If selecting a model with no brake, the moving
part may drop when the power is turned OFF and may cause an
accident such as an injury or damage on the work piece.
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2
No. Operation
Description Description
2 Transportation ●When carrying a heavy object, do the work with two or more persons or
utilize equipment such as crane.
●When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
●When in transportation, consider well about the positions to hold, weight
and weight balance and pay special attention to the carried object so it
would not get hit or dropped.
●Transport it using an appropriate transportation measure.
The actuators available for transportation with a crane have eyebolts
attached or there are tapped holes to attach bolts. Follow the
instructions in the instruction manual for each model.
●Do not step or sit on the package.
●Do not put any heavy thing that can deform the package, on it.
●When using a crane capable of 1t or more of weight, have an operator
who has qualifications for crane operation and sling work.
●When using a crane or equivalent equipments, make sure not to hang a
load that weighs more than the equipment’s capability limit.
●Use a hook that is suitable for the load. Consider the safety factor of the
hook in such factors as shear strength.
●Do not get on the load that is hung on a crane.
●Do not leave a load hung up with a crane.
●Do not stand under the load that is hung up with a crane.
3 Storage and
Preservation
●The storage and preservation environment conforms to the installation
environment. However, especially give consideration to the prevention
of condensation.
●Store the products with a consideration not to fall them over or drop due
to an act of God such as earthquake.
4 Installation
and Start
(1) Installation of Robot Main Body and Controller, etc.
●Make sure to securely hold and fix the product (including the work part).
A fall, drop or abnormal motion of the product may cause a damage or
injury.
Also, be equipped for a fall-over or drop due to an act of God such as
earthquake.
●Do not get on or put anything on the product. Failure to do so may cause
an accidental fall, injury or damage to the product due to a drop of
anything, malfunction of the product, performance degradation, or
shortening of its life.
●When using the product in any of the places specified below, provide a
sufficient shield.
1) Location where electric noise is generated
2) Location where high electrical or magnetic field is present
3) Location with the mains or power lines passing nearby
4) Location where the product may come in contact with water, oil or
chemical droplets
ME0306-2A