MISUMI C1 User manual

User’s Manual ENGLISH E
MISUMI SINGLE-AXIS ROBOT CONTROLLER
C1
4-43, Toyo 2-chome, Koto-ku, Tokyo, 135-8458 Japan
URL http://www.misumi.co.jp/english/company/office/
MISUMI Corporation
KE1-Ver. 3.00

i
Introduction
Introduction
Thank you for purchasing the C1 Controller (hereafter referred to simply as
"Controller"). Please read this manual carefully to ensure correct and safe use of this
controller.
Main functions
Function Explanation Reference Section
Positioning
operation
Moves the robot slider to the specified position.
There are 4 types of position operation:
1. Positioning operation Section 5.3
"Positioning operation".
2. Positioning merge operation Section 5.3.3
"
Positioning merge operation ".
3. Push operation Section 5.3.4
"Push operation".
4. Decel. Push Section 5.3.5
"
Deceleration push operation ".
* Positioning can be specified in an "absolute
position" or "relative position" format.
Point data
Specifies the slider position (point).
Up to 255 points of point data can be handled.
Each point includes the following elements:
RUN Type, Position, Speed, Accel., Decel.,
Push Force, Zone (-), Zone (+), Near Width
(In-Position Zone), Jump, Flag, Timer.
Section 3.2
"Point data".
Point table
type setting
The "point data type" setting can be selected
as "Standard setting" or "Custom setting". This
is possible only from the support software.
Section 3.2
"Point data".
Origin search
Performs an origin search (return-to-origin)
simply by entering a return-to-origin command.
Section 5.1
"Operation procedure".
Section 5.2
"Origin search".
JOG operation
and current
position teaching
Robot JOG operation and current position
teaching can be performed from the host
controller.
Section 5.3
"Positioning operation".
Soft limit
function
Sets the robot's movement range. This function is used
to avoid collisions, etc., when obstacles are present.
Section 5.7.1
"Soft limit function"
Output function
The following statuses can be selected and
output to the host controller.
Point No. output, alarm No. output, zone
output, personal zone output, near output (in-
position zone output), push status, origin return
completion status, warning output, movement-
in-progress output, manual mode status.
Section 4.3
"I/O signal details".
Alarm history
Saves up to 50 of the most recent alarms. The
following elements are saved:
Cause, start time, position, speed, operation status,
operation point, elec. current, voltage, input, output.
Section 6.2
"
Alarm recording function ".
Operation modes
Exclusive I/O and communication control is possible.
Section 5.6
"Operation modes".
Support tools
H1 (Handy Terminal)
Offers point and parameter data editing/
monitoring functions.
RS-Manager (PC software for Windows)
Support software for data designing,
debugging, maintenance, and management.
H1 Operation Guide

ii
About this manual
iii
About this manual
This manual is divided into 3 main parts: Safety Cautions, Controller Guide, and a
Supplement (H1 Operation Guide, Communication Command Guide). In order to
use the controller and optional devices in an efficient manner, users should read
the parts which are pertinent to the objective in question. Moreover, after reading
this manual, keep it on hand for easy referencing as needed, and always make it
available to the end user.
Configuration of this manual
Contains the handling cautions related to the
controller and the optional Handy Terminal. Be
sure to read these cautions before using the
equipment, and strictly observe them at all times.
Explains the controller functions, as well as the
controller installation and operation procedures.
Be sure to read this section before operating the
controller, and strictly observe the instructions at
all times.
Explains the procedures for using the H1 (Handy
Terminal) to edit point data, and to operate the
robot, etc.
H1 Operation Guide
Be sure to read this section before writing the data,
such as parameter or point data, or operating the
robot using a communication unit, such as a personal
computer through the RS-232C communication.
Communication
Command Guide
•Safety Cautions
•Controller Guide
•Supplement
Use any of the following methods for referencing this manual content during
controller installation, operation, and adjustment procedures.
Keep this manual close at hand for referencing when performing
■
installation, operation, and adjustments.
Display the CD-ROM version of this manual onscreen for referencing
■
when performing installation, operation, and adjustments.
Print out the required pages of this manual from the CD-ROM in
■
advance, and use them for reference when performing installation,
operation, and adjustments.
Although every effort was made to ensure that this manual content is accurate and
complete, please contact MISUMI if errors, misprints, or omissions are found.
For information related to the robot unit, support software, and other optional
devices, please refer to the operation manuals for those items.

ii iii
Safety alert symbols and signal words
Safety alert symbols and signal words
The following safety alert symbols and signal words are used in this manual to
describe safety concerns, handling precautions, prohibited or mandatory action and
key points when using this product. Make sure you fully understand the meaning of
each symbol and signal word and comply with the instructions.
DANGER
"DANGER" indicates an imminently hazardous situation which, if not avoided, will
result in death or serious injury.
WARNING
"WARNING" indicates a potentially hazardous situation which, if not avoided, could
result in death or serious injury.
CAUTION
"CAUTION" indicates a potentially hazardous situation which, if not avoided, could
result in minor or moderate injury or damage to the equipment or software.
Indicates a prohibited action related to the handling of this product. Read the
content carefully to ensure that the prohibited action is not performed.
[Example]
Indicates a mandatory action related to the handling of this product. Read the
content carefully to ensure that the mandatory action is performed.
[Example]
Mandatory action
Cut off power

iv
CE marking
v
CE marking
1. Safety standard
Cautions regarding compliance With EC Directives
■
The MISUMI robot (robot and controller) is not, in itself, a robot system. The
MISUMI robot is just one component that is incorporated into the customer's
system (built-in equipment), and MISUMI robots are in compliance with the EC
Directives as they apply to built-in equipment. Therefore, this does not guarantee
EC Directive compliance in cases where the robot is used independently.
Customers who incorporate a MISUMI robot into a system which will be shipped
to, or used in, the EU, should therefore verify that the overall system is compliant
with EC Directives.
•Differences between a MISUMI robot (robot and controller), and a robot system:
A MISUMI robot (robot and controller) is just one component in a robot system, and is not, in
itself, a robot system.
This is because a MISUMI robot does not include the "end effectors" or "any equipment,
devices, or sensors required for the robot to perform its tasks", as defined in the EN10218-
1:2006 Standard, Item –3.20.
Applicable EC Directives and their related standards
■
The following table lists the Directives (and related standards) which apply to the
robot's CE Marking compliance.
EC Directive Related Standards
Machinery
Directive
2006/42/EC
EN ISO12100-1: Safety of machinery - Basic concepts Part1
EN ISO12100-2: Safety of machinery - Basic concepts Part2
EN ISO14121-1: Safety of machinery - Risk assessment
EMC Directive
2004/108/EC
EN 55011 : EMC Emission of ISM Equipment
EN 61000-6-2 : EMC Immunity for Industrial Environments
Referred standards: EN ISO10218-1: Safety requirements - Part1:Robot
Cautions regarding the official language of EU countries
■
For MISUMI robots that will be installed in EU countries, the language used for
the user's manuals, CE declarations, and operation screen characters is English
only, except for warning labels.
Warning labels only have pictograms or else include warning messages in
English. In the latter case, Japanese language messages might be added.

iv
v
CE marking
2. Safety measures
Usage Conditions
■
The usage conditions which apply to the MISUMI robot series are described below.
•EMC (Electromagnetic Compatibility)
MISUMI robots are designed for industrial environments. (Applicable standard
relating to the EMC Directive: Refer to the EN61000-6-2 Standard, Item 1 "Scope".)
EMC Directive compliance requires that the customer have the final product
(over equipment system) evaluated, with any necessary measures being
implemented.
•Explosion-proof
The robot and controller do not have explosion-proof specifications, and the
robot should therefore not be used in environments exposed to flammable
gases which could explode or ignite, or to gasoline and solvents, etc.
3. EMC countermeasure example
Regarding EMC directives, the customer's final product (entire system) including
the MISUMI robot must provide the necessary countermeasures. We at MISUMI
determine a model for single units of MISUMI robots (controller, robot, and
peripheral device) and verify that it complies with the relevant standards of EMC
directives.
In order to ensure the customer's final product (entire system) complies with
EMC directives, the customer should take appropriate EMC countermeasures.
Typical EMC countermeasures for a single unit of MISUMI robot are shown for your
reference.
CAUTION
The examples shown here are the countermeasures tested under our installation
conditions. When our product is installed in the customer's system, the test
results may differ due to the difference in the installation conditions.
●Configuration
MP24V
CP24VROB I/O
IO
COM1
Power connector
0V
Power supply
(200V)
Ground
AC/DC
converter
24V
AC/DC converter JWS100-24: made by TDK Lambda
Single-axis robot
External safety circuit
Controller
Meaning of symbols
I/O circuit or
network
Handy Terminal with
ENABLE switch

vi
Safety cautions
vii
Safety cautions
The controller was designed and manufactured with ample consideration given to
safety. However, incorrect handling or use may lead to injury, fire, electrical shocks,
or other accidents or equipment failures. To prevent possible problems, be sure to
observe the following safety cautions at all times.
Also carefully read the safety cautions listed in the robot user's manual and follow
all instructions given there.
DANGER
Never enter the robot movement range during operation.
Entering the movement range while the robot is in motion could
result in serious accidents or death. A safety enclosure or area
sensor with a gate interlock function should be installed to keep all
persons safely out of the robot's movement range.
Always turn the main power breaker OFF and establish an
"emergency stop" status before performing tasks within
the robot's movement range.
Failing to do so could result in serious accidents or death. (See
Section 2.7, "Configuring an emergency stop circuit".)
The controller and robot were designed as general-
purpose industrial equipment, and cannot be used
for the following applications.
·In medical equipment systems which are critical to human life.
·
In systems which significantly affect society and the general public.
·In environments which are subject to vibration, such as aboard
ships and vehicles.
For safety purposes, be sure to install an "emergency
stop" circuit.
Use the controller's "emergency stop" input terminal to install a main
power shutoff circuit (required).

vi
vii
Safety cautions
WARNING
•Installation environment
Use only in environments where the prescribed
ambient temperature and humidity are maintained.
Usage in other environments could cause electrical shocks, fires,
malfunctions, and product deterioration.
Do not use in environments which are subject
to vibration and impact shocks, electromagnetic
interference, electrostatic discharges, and radio
frequency interference.
Usage in these environments could cause malfunctions and
equipment failure.
Do not use in environments which are exposed to
water, corrosive gases, metal cutting chips, dust, or
direct sunlight.
Usage in these environments could cause malfunctions and
equipment failure.
Do not use in flammable or explosive environments.
Usage in these environments could hamper operating tasks, and
could possibly cause injuries.
Provide ample space to ensure that tasks (teaching,
inspections, etc.) can be performed safely.
Failing to provide adequate space makes tasks difficult to perform,
and can cause injuries.
Secure the equipment firmly to a non-flammable
vertical wall of metal material.
The controller becomes hot during operation, and must be secured
to a metal wall in order to prevent the risk of fires.
Install in a well ventilated site with ample space
around the equipment.
Failing to do so could cause malfunctions, equipment failure, and fires.

viii
Safety cautions
ix
•Wiring and connections
Always shut off the power to the controller before
performing wiring work and connecting cables.
Failing to do so could result in electrical shocks and equipment
failure.
When connecting cables, use care to avoid subjecting
the connectors to impact shocks or excessive loads.
Failing to do so could result in connector pin deformation, and
internal PCB damage.
Handle cables with care to avoid damaging them.
Do not attempt to modify the cables, and avoid pulling them or
placing heavy objects on them. These actions could damage the
cable, possibly resulting in malfunctions and electrical shocks.
Be sure that cable connectors and terminals are fully
inserted and securely fastened.
Tighten the fastening screws securely. Failing to do so could cause a
poor connection, possibly resulting in malfunctions.
Securely ground the power terminal block's ground
terminal.
Failing to do so could result in malfunctions or breakdowns.
•Operation and handling
The controller and the H1 should be operated only by
personnel who have received safety and operation
training.
Operation by an untrained person is extremely hazardous.
Set the payload, acceleration, and deceleration to
appropriate values.
Payload, acceleration, and deceleration settings which differ greatly
from the actual values will result in operation time loss, shorten the
robot life, and cause vibration. Be sure to set them to appropriate
values.
Do not enter the robot's movement range while power
is supplied to the controller.
Doing so could result in a serious accident, injury, or death.

viii
ix
Safety cautions
•Operation and handling
Do not touch the controller or robot during operation.
The controller and robot unit become hot during operation, and
touching them could result in burn injuries.
Do not remove the controller or H1 covers, and do not
attempt to disassemble or modify them.
Doing so could result in fires or equipment failure.
Do not touch or operate the controller or H1 with wet
hands.
Doing so could result in electrical shocks or equipment failure.
Immediately turn off the power if abnormal odors,
sounds, or smoke are noticed during operation.
Failing to do so could result in electrical shocks, fires, or equipment
failure. Stop operation immediately, and contact MISUMI Corporation.
•Maintenance and inspection
Perform maintenance and inspection tasks only when
instructions for doing so are provided by MISUMI
Corporation.
Maintenance and inspections performed by a person who lacks the
proper knowledge or training is extremely hazardous.
Shut off the power to the controller before performing
inspections and maintenance tasks.
Shut off the power before beginning the tasks.
Failing to do so could result in electrical shocks or burn injuries.

x
Safety cautions
xi
CAUTION
Use the controller and robot only in the prescribed
combinations.
Unsuitable combinations could result in fires and equipment failure.
Save the controller's internal data to an external
memory device.
The controller's internal data could be unexpectedly lost, and should
therefore be backed up to an external device.
Do not use solvents such as thinner, benzene, or
alcohol, etc., to wipe (clean) the H1 surfaces.
Doing so can cause the surface sheet and printing to peel off, and
can cause equipment failure. The H1 surface should be gently wiped
with a soft, dry cloth.
Do not use a hard or pointed object to operate the H1
keys.
Doing so could scratch the keys and cause malfunctions and
equipment failure. The H1 keys should be operated with the
fingertips.
When disposing of this product, it must be handled as
industrial waste.
Either dispose of the product in accordance with the local
regulations, or engage a commercial disposal service to handle the
disposal.

x
xi
Warranty
Warranty
The MISUMI robot and/or related product you have purchased are warranted
against defects or malfunctions as described below.
Warranty description: This warranty conforms to the "warranty description"
listed at the end of the MISUMI "FA Mechanical Standard
Components" catalog.
Warranty period : The warranty period ends when any of the following applies:
(1) After one year has elapsed from the date of installation
(2) After 2,400 hours of operation

xii
MEMO

Contents 1
Contents
Chapter 1 Overview
1.1 Unpacking check 1-1
1.2 Part names and functions 1-1
1.3 System configuration 1-3
1.4 Installation and operation sequence 1-4
Chapter 2 Installation and wiring
2.1 Installation method 2-1
2.2 Installation conditions 2-2
2.3 Wiring 2-3
2.3.1 Power supply connection 2-3
2.4 Connecting the robot 2-5
2.5 Connecting the communication unit 2-7
2.6 Connecting the I/O signals 2-10
2.7 Configuring an emergency stop circuit 2-11
2.8 Connecting the I/O unit 2-12
Chapter 3 Data setting
3.1 Data overview 3-1
3.2 Point data 3-2
3.2.1 "Standard setting" type 3-3
3.2.2 "Custom setting" type 3-4
3.3 Point data details 3-5
3.4 Parameter data 3-9
3.4.1 Parameter list 3-9
3.4.2 Parameter details 3-12
Chapter 4 I/O signal functions
4.1 I/O specifications 4-1
4.1.1 I/O specifications 1 (NPN and PNP type) 4-1
4.1.2 I/O specifications 2 (CC-Link type) 4-2
4.1.3 I/O specifications 3 (DeviceNet type) 4-4
4.2 I/O signal list 4-6

2 Contents
Contents 3
4.3 I/O signal details 4-7
4.3.1 Input signal details 4-7
4.3.2 Output signal details 4-9
Chapter 5 Operation
5.1 Operation procedure 5-1
5.1.1 Overall operation timing chart 5-1
5.1.2 Alarm occurrence and clearing 5-3
5.2 Origin search (return-to-origin) 5-4
5.2.1 Origin point detection method 5-4
5.2.2 Origin point and coordinates relationship 5-5
5.2.3 Return-to-origin timing chart 5-6
5.3 Positioning operation 5-7
5.3.1 Basic operation 5-7
5.3.2 Positioning timing chart 5-11
5.3.3 Positioning merge operation 5-13
5.3.4 Push operation 5-15
5.3.5 Deceleration push operation 5-17
5.3.6 Continuous operation 5-18
5.3.7 Output function 5-19
5.3.8 Operation examples 5-20
5.4 MANUAL mode 5-23
5.4.1 MANUAL mode timing chart 5-23
5.4.2 JOG movement 5-24
5.4.3 TEACH (Teaching) 5-25
5.5 Remote commands 5-26
5.5.1 Overview 5-26
5.5.2 Remote command list 5-26
5.5.3 Timing chart 5-29
5.5.4 Query 5-30
5.5.5 Point data writing 5-31
5.5.6 Point data reading 5-32
5.5.7 Parameter data writing 5-33
5.5.8 Parameter data reading 5-34
5.6 Operation modes 5-35
5.7 Other functions 5-36
5.7.1 Soft limit function 5-36
5.7.2 Zone output function 5-36
5.7.3 Alarm No. output function 5-37
5.7.4 Changing the payload 5-37

2 Contents
Contents 3
5.7.5 Stop mode 5-38
5.7.6 LED status indicators 5-38
Chapter 6 Troubleshooting
6.1 Alarm groups 6-1
6.2 Alarm recording function 6-1
6.3 Alarm list 6-2
6.4 Alarms: Possible causes and actions 6-3
Chapter 7 Specifications
7.1 C1 specifications 7-1
7.1.1 Basic specifications 7-1
7.1.2 Dimensional outlines 7-2
7.2 I/O interface specifications 7-3
7.2.1 NPN 7-3
7.2.2 PNP 7-3
7.2.3 CC-Link 7-3
7.2.4 DeviceNet 7-4
H1 Operation Guide
Introduction H-1
1. What the H1 does H-2
1.1 H1 panel layout H-3
1.2 Connecting to the external safety circuit (HD1) H-5
2. Connecting or disconnecting the H1 H-7
2.1 Connecting to the controller H-7
2.2 Disconnecting from the controller H-9
3. Basic operations H-10
3.1 Operation key layout and functions H-10
3.2 Screen configuration H-11
3.3 Starting to use the keys H-13
3.4 How to enter numbers H-17
3.5 Menu structure H-18
4. Editing the point data H-19
4.1 Point teaching H-19
4.1.1 Teaching playback H-19
4.1.2 Direct teaching H-22
4.2 Copying point data H-23
4.3 Deleting point data H-24

4 Contents
Contents 5
4.4 Displaying a list of point data H-25
5. Parameter setting H-26
5.1 Setting Run parameters H-26
5.2 Setting I/O parameters H-28
5.3 Setting Option parameters H-29
5.4 Setting Servo parameters H-30
6. Operating the robot H-31
6.1 Turning the servo on or off H-31
6.2 Origin search (return-to-origin) H-32
6.3 Operating the robot H-34
6.4 Resetting an alarm H-36
7. Monitor functions H-37
7.1 I/O monitor H-37
7.2 Status monitor H-38
7.3 Run monitor H-39
7.4 Alarm display H-40
7.5 Warning display H-41
7.6 Alarm record display H-42
7.7 Information display H-43
8. Other functions H-44
8.1 Operation mode H-44
8.2 Setting mode H-45
8.2.1 Changing the display language H-45
9. Specifications H-46
9.1 Basic specifications H-46
9.2 Dimensional outlines H-46
9.2.1 H1 H-46
9.2.2 HD1 H-47
Communication Command Guide
Introduction C-1
1. Communication specifications C-2
1.1 Communication parameter specifications C-2
1.2 Communication command specifications C-2
2. Communication command lists C-3
3. Communication command description C-5
3.1 Robot operation commands C-5
Positioning operation (START) C-5
Operation stop (STOP) C-5
Return-to-origin (ORG) C-6

4 Contents
Contents 5
JOG movement (JOG+, JOG-) C-6
Inching movement (INCH+, INCH-) C-7
3.2 Status change commands C-8
Servo status change (SRVO) C-8
Brake status change (BRK) C-8
Reset (RESET) C-8
3.3 Edit commands C-9
Point data writing 1 (M, P, S, AC, DC, Q, ZL, ZH, N, J, F, T) C-9
Point data writing 2 (P_, S_, AC_, DC_, Q_) C-10
Current position teaching (TEACH) C-11
Point data copying (COPY) C-11
Point data deleting (DEL) C-12
Parameter data writing (K) C-12
3.4 Query commands C-13
Point data reading (?M, ?P, ?S, ?AC, ?DC, ?Q, ?ZL, ?ZH, ?N, ?J, ?F, ?T) C-13
Parameter data reading (?K) C-14
Status data reading (?D) C-15
Input/output information reading (?IN, ?INB, ?OUT, ?OUTB) C-16
Word input/output information reading (?WIN, ?WOUT) C-17
Option information reading (?OPT, ?OPTB) C-18
Alarm/warning information reading (?ALM, ?WARN) C-19
Index
Index (Controller) 1
Index (H1) 3

MEMO
6 Contents