IAI PSA-24 User manual

Instruction Manual First Edition ME0379-1A
24V Power Supply Unit
PSA-24
Chapter
Specifications
1
Chapter
Installation
2
Chapter
Wiring
3
Chapter
Operation
4
Chapter
Preventive/Predictive
Maintenance
5
Chapter
Before Considering
Failure
6
Chapter
Maintenance and
inspection
7
Chapter
External Dimensions
8
Chapter
Life
9
Chapter
Warranty
10
Chapter
Appendix
11

Please Read Before Use
Thank you for purchasing our product.
This instruction manual explains the handling methods, structure and maintenance of this
product, providing the information you need in order to use the product safely.
Before using the product, be sure to read this manual and fully understand the contents
explained herein to ensure safe use of the product.
The DVD enclosed with the product contains instruction manuals for IAI products.
When using the product, refer to the necessary sections of the applicable instruction manual
by printing them out or displaying them on a PC.
After reading the instruction manual, keep it in a convenient place so that whoever is
handling the product can refer to it quickly when necessary.
[Important]
●This instruction manual is an original document dedicated for this product.
●This product cannot be used in ways not shown in this instruction manual. IAI shall not be
liable for any result whatsoever arising from the use of the product in any other way than
what is noted in the manual.
●The information contained in this instruction manual is subject to change without notice for
the purpose of product improvement.
●If any issues arise regarding the information contained in this instruction manual, contact our
customer center or the nearest sales office.
●Use or reproduction of this instruction manual in full or in part without permission is
prohibited.
●The company names, names of products and trademarks of each company shown in the
text are registered trademarks.

PSA-24 Power Supply Unit
Instruction Manual Configuration
Product name Instruction manual name Control
number
24V Power Supply Unit PSA-24 First Step Guide ME0380
24V Power Supply Unit PSA-24 Instruction Manual (this document) ME0379

Contents
Safety Guide ·················································································· Intro-1
Precautions for Handling ···································································· Intro-8
International Standard Compliance······················································· Intro-9
EMC specifications ····················································································· Intro-9
Safety standard specifications ······································································· Intro-10
Part Names ····················································································· Intro-11
Functions of each part ················································································· Intro-13
Chapter 1 Specifications
1.1 Product Configuration··································································· 1-1
Components ·································································································· 1-1
How to read the model nameplate······································································ 1-1
Model name ·································································································· 1-2
1.2 General Specifications·································································· 1-3
Input specifications ························································································· 1-3
Output specifications ······················································································· 1-4
Protective function specifications ······································································· 1-5
Insulation specifications ·················································································· 1-6
Chapter 2 Installation
2.1 Environmental Conditions······························································ 2-1
2.2 Heat Dissipation and Mounting ······················································· 2-3
Chapter 3 Wiring
3.1 Connection to Peripheral Devices (Overall Electrical Wiring Diagram)···· 3-1
3.2 Connection Cables······································································· 3-2
Communication cable ······················································································ 3-2
Power supply cable························································································· 3-3
Chapter 4 Operation
4.1 Specification Details ····································································· 4-1
Output voltage ······························································································· 4-1
Parallel operation···························································································· 4-3
Power ON/OFF sequence ················································································ 4-6
Inrush current prevention circuit········································································· 4-7
Overload detection·························································································· 4-8
Signal line ····································································································· 4-9

Chapter 5 Preventive/Predictive Maintenance
5.1 Preventive Maintenance Function ··················································· 5-1
Connection method························································································· 5-1
Status data···································································································· 5-2
Fan installation······························································································· 5-2
Chapter 6 Before Considering Failure
6.1 Before Considering Failure ···························································· 6-1
Chapter 7 Maintenance and Inspection
7.1 Maintenance and Inspection ·························································· 7-1
Precautions for inspection ················································································ 7-1
Chapter 8 External Dimensions
8.1 External Dimensions ···································································· 8-1
Chapter 9 Life
9.1 Consumable Parts ······································································· 9-1
Chapter 10 Warranty
10.1 Warranty Period········································································· 10-1
10.2 Scope of the Warranty ································································ 10-1
10.3 Honoring the Warranty ································································ 10-1
10.4 Limited Liability·········································································· 10-2
10.5 Conformance with applicable standards/regulations, etc., and application conditions ·· 10-2
10.6 Other items excluded from warranty ·············································· 10-2
Chapter 11 Appendix
11.1 Relation of Actuator and Power Supply Current································ 11-1
11.2 Connected Unit Count Determination Method ·································· 11-9
11.3 Index ······················································································· 11-11
11.4 Revision History········································································· 11-13

Safety Guide
Intro-1
Safety Guide
The Safety Guide is intended to permit safe use of the product and thus to prevent risks and property
damage.
Be sure to read it before handling the product.
Safety Precautions for Our Products
Common safety precautions for the use of robots in various operations are indicated here.
No.
Operation
Precautions
1 Model
Selection
●This product is not intended or designed for applications where high levels of
safety are required, and so cannot guarantee that human lives will be
protected. 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 or machinery designed for the purpose of moving or
transporting people
(vehicles, railway facilities, aviation facilities etc.)
(3) Machinery components essential for safety (safety devices etc.)
●Do not use the product outside the range of the specifications. Otherwise, the
product life may be drastically shortened, and product damage or facilities
stoppage may occur.
●Do not use it in any of the following environments.
(1) Locations with flammable gases, ignitable objects or explosives
(2) Locations with potential exposure to radiation
(3) Locations with ambient temperature or relative humidity exceeding the
specifications range
(4) Locations where radiant heat is applied by direct sunlight or other large heat
source
(5) Locations where condensation occurs due to abrupt temperature changes
(6) Locations with corrosive gases (sulfuric acid, hydrochloric acid etc.)
(7) Locations exposed to significant amounts of dust, salt or iron powder
(8) Locations subject to direct vibration or impact
●For an actuator used in vertical orientation, select a model with brake. If a
model without brake is selected, the moving parts may fall when the power is
turned OFF, causing accidents such as injury or workpiece damage.

Safety Guide
Intro-2
No.
Operation
Precautions
2 Transportation ●When transporting heavy objects, do the work with two or more persons or
utilize equipment such as a crane.
●When working with two or more persons, make it clear who is to be in charge
and communicate well with each other to ensure safety.
●During transportation, carefully consider the carrying positions, weight, and
weight balance, and be careful to avoid collisions or dropping.
●Use appropriate transportation measures for transport.
The actuators available for transportation with a crane have eyebolts attached
or tapped holes to mount bolts. Follow the instructions in the instruction
manual for each model.
●Do not climb onto the package.
●Do not put anything heavy that could deform the package on it.
●When using a crane with capacity of 1t or more, have an operator qualified for
crane operation and sling work.
●When using a crane or equivalent equipment, make sure not to suspend loads
exceeding the equipment's rated load.
●Use a hook that is suitable for the load. Consider the safety factor of the hook
in such factors as shear strength. Also, check to make sure that the hook is
free of damage.
●Do not climb on loads suspended from cranes.
●Do not leave loads suspended from cranes for long periods.
●Do not stand under loads suspended from cranes.
3
Storage and
Preservation
●
For the storage and preservation environment, see the installation
environment. However, give especial consideration to the prevention of
condensation.
●Store the products so as to prevent them from falling over or down in the case
of natural disasters such as earthquakes.
4 Installation
and Startup
(1) Installation of robot body and controller, etc.
●Be sure to securely hold and fix the product (including the workpiece). If the
product falls over, is dropped, or operates abnormally, it may lead to damage
and injury.
Also, be equipped for falls over or down due to natural disasters such as
earthquakes.
●Do not climb on or put anything on the product. Otherwise, this may lead to
accidental falling, injury or damage to the product due to falling objects,
product loss of function or performance degradation, or shortening of product
life.
●When using the product in any of the places specified below, provide sufficient
shielding.
(1) Locations where electrical noise is generated
(2) Locations with strong electrical or magnetic fields
(3) Locations with mains or power lines passing nearby
(4) Locations where the product may come in contact with water, oil or
chemical spray

Safety Guide
Intro-3
(2) Cable wiring
●Use IAI genuine cables for connecting the actuator and controller, and for the
teaching tools.
●Do not scratch cables, bend them forcibly, pull them, coil them, snag them, or
place heavy objects on them. Otherwise, this may lead to fire, electric shock,
or abnormal operation due to leakage or conduction malfunction.
●Perform the wiring for the product after turning OFF the power to the unit, and
avoid miswiring.
●When wiring DC power (+24V), be careful with the positive/negative polarity.
Incorrect connections may lead to fire, product breakdown or abnormal
operation.
●Connect the cable connector securely so that there is no disconnection or
looseness. Otherwise, this may lead to fire, electric shock, or abnormal
operation of the product.
●Never cut or reconnect the cables supplied with the product for the purpose of
extending or shortening the cable length. Otherwise, this may lead to fire or
abnormal operation of the product.
(3) Grounding
●Grounding must be performed, in order to prevent electric shocks or
electrostatic charge, enhance noise-resistant performance and control
unnecessary electromagnetic radiation.
●For the ground terminal on the AC power cable of the controller and the
grounding plate in the control panel, be sure to use a twisted pair cable with
wire thickness 0.5mm2(AWG20 or equivalent) or more for grounding work. For
safeguard grounding, it is necessary to select an appropriate wire diameter for
the load. Perform wiring that satisfies the specifications (electrical equipment
technical standards).
●Perform Class D grounding (former Class 3 grounding, with ground resistance
100Ωor below).

Safety Guide
Intro-4
4 Installation
and
Startup
(4) Safety measures
●When working with two or more persons, make it clear who is to be in charge
and communicate well with each other to ensure safety.
●When the product is operating or in the ready mode, take safety measures
(such as the installation of safety/protection fences) so that nobody can enter
the area within the robot's movable range. Contact with an operating robot
may lead to death or serious injury.
●Be sure to install an emergency stop circuit so that the unit can be stopped
immediately in an emergency during operation.
●Take safety measures such that turning the power ON alone will not start up
the unit. Otherwise, this may cause the product to start unexpectedly, leading
to injury or product damage.
●Take safety measures such that emergency stop cancel or recovery after
power failure alone will not start up the unit. Otherwise, this may lead to injury
or equipment damage.
●When installation or adjustment operation is to be performed, display signs
such as "Operating: No Power ON!" etc. Sudden power input may cause
electric shock or injury.
●Take measures to prevent workpieces, etc. from falling during power failures or
emergency stop.
●Wear protection gloves, goggles and safety shoes, as necessary, to secure
safety.
●Do not insert fingers or objects into the openings in the product. Otherwise,
this may lead to injury, electric shock, product damage, or fire.
●When releasing the brake on a vertically oriented actuator, be careful that it
does not fall under its own weight, catching the operator's hand or damaging
workpieces.
5 Teaching ●When working with two or more persons, make it clear who is to be in charge
and communicate well with each other to ensure safety.
●Perform teaching operation from outside the safety/protection fence, if
possible. If operation must be performed within the safety/protection fence,
prepare "Work Regulations" and make sure that all the workers acknowledge
and understand them well.
●When operation is to be performed inside the safety/protection fence,
operators should have emergency stop switches available at hand so that the
unit can be stopped at any time if abnormalities occur.
●When operation is to be performed inside the safety/protection fence, have a
monitor standing by in addition to the operator(s) so that the unit can be
stopped at any time if abnormalities occur. Also, keep watch on the operation
so that a third party cannot operate the switches carelessly.
●Place a sign indicating "Operating" where it can be seen easily.
●When releasing the brake on a vertically oriented actuator, be careful that it
does not fall under its own weight, catching the operator's hand or damaging
workpieces.
* Safety/protection fence: If there is no safety/protection fence, the movable
range should be indicated.

Safety Guide
Intro-5
6 Trial
Operation
●
When working with two or more persons, make it clear who is to be in charge
and communicate well with each other to ensure safety.
●After teaching or programming, carry out trial operation step by step before
switching to automatic operation.
●When trial operation is to be performed inside the safety/protection fence, use
the same work procedure, determined in advance, as teaching operation.
●Be sure to confirm program operation at safe speeds. Otherwise, this may lead
to accidents due to unexpected motion caused by program error, etc.
●Do not touch the terminal block or any of the various setting switches while the
equipment is live. Otherwise, this may lead to electric shock or abnormal
operation.
7 Automatic
Operation
●Check before starting automatic operation or restarting after operation stop
that there is nobody within the safety/protection fence.
●Before starting automatic operation, make sure that all peripheral equipment is
ready for automatic operation and that there is no alarm indication.
●Be sure to start automatic operation from outside the safety/protection fence.
●If the product produces abnormal heat, smoke, odor, or noise, immediately
stop it and turn OFF the power switch. Otherwise, this may lead to fire or
damage to the product.
●When a power failure occurs, turn OFF the power switch. Otherwise, this may
lead to injury or product damage due to unexpected product motion during
recovery from the power failure.

Safety Guide
Intro-6
8 Maintenance
and
Inspection
●
When working with two or more persons, make it clear who is to be in charge
and communicate well with each other to ensure safety.
●Perform the work outside the safety/protection fence, if possible. If operation
must be performed within the safety/protection fence, prepare "Work
Regulations" and make sure that all the workers acknowledge and understand
them well.
●When work is to be performed inside the safety/protection fence, turn OFF the
power switch as a rule.
●When operation is to be performed inside the safety/protection fence,
operators should have emergency stop switches available at hand so that the
unit can be stopped at any time if abnormalities occur.
●When operation is to be performed inside the safety/protection fence, have a
monitor standing by in addition to the operator(s) so that the unit can be
stopped at any time if abnormalities occur. Also, keep watch on the operation
so that a third party cannot operate the switches carelessly.
●Place a sign indicating "Operating" where it can be seen easily.
●For the grease for the guide or ball screw, use appropriate grease according to
the Instruction Manual for each model.
●Do not perform dielectric strength testing. Otherwise, this may lead to damage
to the product.
●When releasing the brake on a vertically oriented actuator, be careful that it
does not fall under its own weight, catching the operator's hand or damaging
workpieces.
●The slider or rod may be misaligned from the stop position if the servo is
turned OFF. Avoid injury or damage due to unnecessary operation.
●Be careful not to lose the cover or any removed screws, and be sure to return
the product to the original condition after maintenance and inspection work.
Otherwise, this may lead to product damage or injury due to incomplete
mounting.
* Safety/protection fence: If there is no safety/protection fence, the movable
range should be indicated.
9 Modification
and
Disassembly
●Do not modify, disassemble/assemble, or use maintenance parts not specified
on your own discretion.
10 Disposal
●
When the product exceeds its useful life or is no longer needed, dispose of it
properly as industrial waste.
●When removing the actuator for disposal, avoid dropping components when
detaching screws.
●Do not put the product in a fire when disposing of it. The product may rupture
or generate toxic gases.
11 Other ●If you are equipped with a medical device such as a pacemaker, do not
approach the product or its wiring, as the device may be affected.
●See the Overseas Standard Compliance Manual to check compliance with
overseas standards if necessary.
●For the handling of actuators and controllers, follow the dedicated instruction
manual of each unit to ensure safety.

Safety Guide
Intro-7
Precaution Indications
The safety precautions are divided into "Danger", "Warning", "Caution" and "Notice" according to the
warning level, as follows, and described in the Instruction Manual for each model.
Level
Degree of risk to persons and property
Symbol
Danger
This indicates an imminently hazardous situation which, if the product
is not handled correctly, will result in death or serious injury. Danger
Warning
This indicates a potentially hazardous situation which, if the product
is not handled correctly, could result in death or serious injury. Warning
Caution
This indicates a potentially hazardous situation which, if the product
is
not handled correctly, may result in minor injury or property
damage.
Caution
Notice
This indicates a situation in which, while injury is not a likely result,
the precautions should be observed in order to use the product
appropriately.
Notice

Precautions for Handling
Intro-8
Precautions for Handling
The Safety Guide attached with the product is intended to permit safe use
of the product and thus to prevent risks and property damage. Be sure to
read it before handling the product.
Do not attempt any handling or operation that is not indicated in this instruction
manual.
 PSA-24 Power Supply is a power supply unit dedicated for IAI controllers which
utilize 24 VDC.
Specifications include a wide input voltage range of 100 VAC to 230 VAC.
Even when this unit has insufficient power capacity, there is no need to replace
it with a larger-capacity power supply.
Another identical power supply unit can be added to the connection to perform
parallel operation. Connection of up to 5 units is supported.
This power supply unit has some voltage fluctuation so that it can be used in
parallel operation. (24V ±10%)
Connection with a different power supply is not possible.
Make sure that the connection to I/O terminals is configured properly, as shown
in this Instruction Manual.
When wiping dirt off the product, use a neutral detergent. Do not use alcohol,
etc., which may damage the paint and silk printing on the surface.

International Standard Compliance
Intro-9
International Standard Compliance
EMC specifications
This power supply unit satisfies the following EMC specifications.
Item Condition Specifications
Noise-resistance ability
(Impulse noise test)
±2000 V
Pulse width (100/1000 ns, repeating
cycle 30-100Hz, normal/common
mode, 10-minute positive/negative
polarity switching)
No output DC fluctuations or
malfunctions
Electrostatic discharge
EN 61000-4-2 compliant
Air discharge: 8 kV / Contact
discharge: 6 kV
Implemented in FG/case
Application: Each location 10 times
(1s/1 time)
No malfunction/failure
Radioactive radio frequency
electromagnetic fields
EN 61000-4-3 compliant
10 V/m (80-1000 MHz)
3 V/m (1.4-2 GHz)
1 V/m (2-2.7 GHz)
No malfunction/failure
Fast transient burst
EN 61000-4-4 compliant
Line/PE: ±2 kV
No malfunction/failure
Lightning surge
EN 61000-4-5 compliant
Normal: ±1 kV / Common: ±2 kV
Application: 5 times each
No malfunction/failure
Conductive radio frequency
electromagnetic fields
EN 61000-4-6 compliant 10V No malfunction/failure
Power-frequency magnetic
field immunity
EN 61000-4-8 compliant 30 A/m No malfunction/failure
Voltage dip/fluctuations EN 61000-4-11 compliant
Continuous rated output 330 W
100% voltage dip, 1 cycle (20 ms)
Continues normal operation
60% voltage dip, 10 cycles (200 ms)
30% voltage dip, 25 cycles (500 ms)
100% voltage dip, 250 cycles (5 s)
Recovers upon reboot
Noise terminal voltage
VCCI/FCC/CISPR22/EN55022
Class B
·Rated input / continuous rated
output 330 W
Power supply unit alone
satisfies the standards
Radiated disturbance
VCCI/FCC/CISPR22/EN55022
Class B
·Rated input / continuous rated
output 330 W
Power supply unit alone
satisfies the standards

International Standard Compliance
Intro-10
Safety standard specifications
This power supply unit meets the following safety standards.
Item Standards
UL/cUL UL61010-1
CE Marking LVD: EN61010 / EMC: EN55011

Part Names
Intro-11
Part Names
PSA-24 (204W / without fan) PSA-24L (330W / with fan)

Part Names
Intro-12
DIN tab Screw mounting hole
Left side Right side Rear
Fan connector
Communication connector
Communication address switch
Fan unit
Fan alarm notification LED
Normal operation notification LED
Power terminal block
TopFront

Part Names
Intro-13
Functions of each part
[Fan alarm notification LED / normal operation notification LED]
This power supply unit is equipped with the following two kinds of LED.
Name Panel notation Display color Status Description
Fan alarm
notification
LED
FAN Orange
Light ON Fan rotation speed abnormality
Blinking Fan rotation speed warning
Light OFF No fan abnormality *1
Normal
operation
notification
LED
SYS Green
Light ON Normal operation
Light OFF Stopped *2
*1: The LED is OFF when the fan is not connected.
*2: During parallel operation at light load, this LED may be OFF even if an AC power supply is
connected, since only some of the power supplies may be operating. It lights up when the
load increases and operation starts.
[Communication address switch]
Sets the allocation of the slave address for communication when multiple power supply units are
connected by using multi-drop and while monitoring status via communication.
Switch name: DRR 7016C (Copal)
Item Description
Initial value "0"
Setting range "0" ~ "F"
FAN
SYS
ADRS

Part Names
Intro-14
[Power terminal block]
Terminal block for AC power supply input, frame ground, and output voltage wire connections.
Connector name: DT-5C-B84W-6717-07 (DINKLE)
Pin No. Signal Description
1 +24 V
24V output terminal (Pins 1 and 2 are internally connected)
2 +24 V
3 0 V
0V output terminal (Pins 3 and 4 are internally connected)
4 0 V
5 FG Frame ground terminal (ground terminal connected to power supply housing)
*1
6 AC(N) AC input neutral terminal (Grounded side)
7 AC(L) AC input live terminal (Ungrounded side)
*1: " " represents a functional earthing terminal.
1
2
3
4
5
6
7
N
+
-
-
OUTPUT
100 ~ 230VAC
50/60Hz 3.9A
INPUT
L
+
DC24V
13.8A