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NewROAC 1-AXIS CONTROLLER
UM-RCS6-E0501
RCS-6000 SeriesUSER'S MANUAL
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SAFETY INSTRUCTIONS
Before installing, running, repairing and examining our product, read all of the contents of this
manual and attached documents carefully. Please use controller after reading carefully
about the safety information of machinery and tools.
SAFETY SYMBOLS
This manual uses safety symbols as follow. As the safety symbols contain very important
matters, you must keep these in mind as you read through this manual.
If mishandled, you may suffer sever, or even fatal injury.
If mishandled, you may suffer serious or light injury. Keep in
mind that you may also suffer sever injury.
This mark is a notice of prohibition.
For example, strict prohibition of fire use is marked as .
This mark is a notice of compulsive particular.For example, mark of compulsive earth is .
After reading, keep this manual somewhere easy to find for reference in the near future.
This manual contains other reasonable notices marked as follows, which need to be read carefully.
NOTE Referenceor
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FOR SAFE USEFor prevention of electric shock
The wiring work and the check should be done after more than 3 minutes since the power was off and after POWER LED was off. The controller and motor should be set up more than the third class grounding.
A well-trained engineer should inspect the wiring work and the check only.
Prevent cable from damaging, loading heavy things, and folding.
For prevention of fire
In case of trouble, disconnect the controller power. It causes a fire if the charged currentflows continually.
Install controller, resurrection resistor and servomotor at noninflammability things. If install
at or near inflammability things, it may causes fire.
For prevention of injury
Do not input any voltage to each terminal except the voltage referred to the operating
manual. It causes an explosion, breakage, etc. Connect the terminal correctly. It causes an explosion, breakage, etc. Polarize correctly (R.S.T, U.V.W). It causes an explosion, breakage, etc. For a moment do not touch the resurrection resistor, heat radiation plate, servomotor, etc., while current flow or even power was off. It causes a burn.
Several Cautions
¡ß
Caution about Installation
Keep the right using method of controller and servomotor combination. Else it causes fire
or trouble. Do not use product in water sputtering or near inflammable gas area. It causes electric shock or fire.
Keep standard distance between controller and additional machinery and tools.
Prevent insertion to controller’s inside of any conductive material or oil.
Do not inflict considerable impact on controller or neither drop.
Fix the controller on weight supportable place and servomotor on machine firmly.
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Caution about Wiring
A ground terminal ( ) must be set up at third class grounding or higher. It causes electric shock or fire.
Do not touch any switch with wet hand. It causes electric shock.
Implement wiring after fixing controller and servomotor.
Correct the wiring polarity. It causes the shock-turn of motors.
Do not connect three-phase power source to U, V, W terminals of controller’s output
directly. It causes injury or fire. Fasten power source and output terminals with bolts firmly. It causes breakage or fire.
¡ß Caution about Running
Do not remodel product. Check each parameter before running. As machines may operate unexpected action.
Do not change parameter extremely. It causes unstable motion.
Do not touch motor’s body of rotation while running. It causes injury. Run with only servomotor (no connection between motor and machine) while test running to avoid unexpected accident.
Hold the emergency stop enabling state always when start running.
Do not touch heat radiation plate while controller is running neither power was off for a moment.
¡ß Caution about Maintenance and Repair
Do not disjoint product. Do not touch inside of controller. It causes electric shock. Do not change wiring while current flow.
Cover the terminal block with panel certainly while current flow.
Do not touch after more than 3 minutes since the power was off.
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Contents
Safety Instruction
For Safe Use
Chapter 1 Product Overview
1.1 Summary 1-1
1.2 Product Composition 1-2
1.3 Configuration ( RCS-6000 Series ) 1-3
1.4 Teach Pendant : RCS-7000T 1-10
1.5 I/O Terminal Block & Cable 1-14
1.6 I/O Connector 1-14
1.7 Back-up Battery Unit ( only for Absolute Encoder ) 1-14
1.8 MPG Unit 1-14
1.9 PC Interface Program 1-15
1.10 Noise Filter 1-15
1.11 Cable 1-15
1.12 Brake Unit 1-20
Chapter 2 Installation and Connection
2.1 Placing and fixing Controller 2-2
2.2 Connecting Cables 2-3
2.2.1 Connection on Front Panel 2-5
Chapter 3 Parameter Setup
3.1 Opening Parameter Display 3-1
3.2 Parameter Setup 3-2
3.2.1 Parameter for SERVO 3-2
3.2.2 Parameter for MECH 3-10
3.2.3 Parameter for OPER 3-13
3.2.4 Parameter for I/O 3-26
C-1
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Contents
Chapter 4 I/O Instructions
4.1 I/O Contact Status Verification & Test Method 4-1
Chapter 5 JOG operation & Origin
5.1 JOG Operation 5-1
5.2 IJOG (Inching Jog) Movement 5-2
5.3 In JOG Mode, trouble shooting when problem occur 5-3
5-4. Check the limit sensor of axis after moving the Robot to JOG 5-6
5-5. Operate Origin when there is no problem in Robot to move with JOG. 5-7
Chapter 6 Editing New Program
6.1 Edit and input new program 6-1
6.1.1 Edit program 6-3
Chapter 7 Point Teaching
7.1 How to teach MDI(Manual Direct value Input) 7-1
7.2 Teaching by JOG movement 7-2
7.3 Teaching by IJOG movement 7-4
Chapter 8 Robot Commands
8.1 Movement Condition Commands 8-1
8.2 Movement Commands 8-6
8.3 Variable Treatment Commands 8-12
8.4 I/O Treatment Commands 8-13
8.5 Program Control Commands 8-14
Chapter 9 PLC Commands
C-2
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Contents
Chapter 10 Programming Example
10.1 Step (Incremental) Movement 10-1
10.2 Movement using I/O Port 10-3
10.3 Unlimited Constant Speed Movement 10-4
10.4 Movement by Pulse Input 10-5
10.5 Turret Movement 10-6
10.6 The plural operation program 10-7
10.7 SImple Pick & Place Systems with Palletizing Function 10-8
Chapter 11 Program RUN using T/P
11.1 Program Excution 11-1
11.1.1 Selection of Robot Program 11-1
11.1.2 Program Excution ( Step RUN -> AUTO RUN ) 11-2
11.1.3 Restart from stopped step 11-4
11.2 PLC Program Selection 11-5
11.2.1 Select PLC Program 11-5
11.2.2 PLC program excution 11-6
Chapter 12 Program RUN using I/O
12.1 Contact point for JOG operation 12-1
12.1.1 Movement timing chart during JOG operation 12-2
12.2 Origin operation using external I/O contact point 12-3
12.2.1 Contact point during Origin operation 12-3
12.2.2 The Movement Timing Chart during Origin operation 12-3
12.3 Robot Program Operation using external Contact point 12-4
12.3.1 Contact point during Robot Program operation 12-4
12.3.2 The Movement Timing Chart during Program Operation 12-4
C-3
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Contents
Appendix 1 . Trouble and Measures
Appendix 2. The Operation by Multipoint Communication
Appendix 3. Cautions on Installing Servo Motor
Appendix 4. The Structure of T/P Manu Tree
13. Warranty
14. Revision Record
C-4
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Chap.1 Pro duc t Overview
The single controller can construct the control system independently without other peripheral equipment
because it is united with the single axis controller, AC servo drive and PLC function.
Besides the single operation function, the single controller can also operate the synchronous operation,
the unlimited rotation operation, the determined position operation by external contact point , and theMPG operation functions as well.
Embedded PLC has contact point arithmetic, counter, and timer functions, enabling it to process
several switch signals and sensors installed within the system.
This product is easily programmable due to the various program methods, and can respond to many
kinds
of AC servomotors according to digital control.
This product is able to keep accurate control because the extent of position control is a ±1 pulse of the
encoder pulse.
This product is able to operate remotely through serial communication and up/down-loads of inputted
programs and parameters. Also each serial bus can connect to up to 32 controllers.
Our product is able to search the starting point without any origin sensors (CW, CCW, ORG sensor).
(When attached to rectangular machinery)
Basic user I/O functions are user selectable through the contact point terminal.
Available for single and three-phase power source.
This product can be used for linear movements, rotations, conveyor systems, turret machines, and roll
feeders.
Chapter 1 Product Overview
1-1. Summary
1-1
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Chap.1 Pro duc t Overview
Main Option Remark
Controller RCS-6001~6045 (9 Models) ¡Ü
Teach Pendant RCS-7000T ¡Ü
I/O Terminal Block ¡Ü
I/O Connector ¡Ü
PC Interface Program Unihost ¡Ü
Serial Connector RS 232C ¡Ü
Noise Filter For Utiliy Power ¡Ü
Flexible Cable for Cartesian ¡Ü
Inflexible Cable for Cartesian ¡Ü
Regenerative resistor 6001,6002(X),6030,6045(2),Others(1) ¡Ü
Manual Single Axis User's Manual ¡Ü
Unihost User's Manual¡Ü
Item Product
Cable
¡á Basic Product Composition included in Controller BOX
- AC 1 Axis Controller (1) - User's Manual (1)
- Unihost User's Manual (1)
- Regenerative Risistor (1ea / 6001, 6002 - None, 6030, 6045 - 2ea)
1-2. Product Composition
¡á Ref 1.1 Composition Table
1-2
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Chap.1 Pro duc t Overview
á Small Capacity Size (RCS-6001 ~ 6004)
1-3. Configuration (RCS-6000 Series)
1-3-1. External Shape and Dimension
1-3
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Chap.1 Pro duc t Overview
á Middle Capacity Size (RCS-6005 ~ 6010)
¢º In case of CE Controller, this size covers RCS-6001 to RCS-6010.
1-4
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Chap.1 Pro duc t Overview
á Large Capacity Size (RCS-6015 ~ 6045)
ROBOSTAR
RCS-6000
1-5
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Chap.1 Pro duc t Overview
á Composition of Model Designation
RCS - 6001P
¡á
Sticker Contents (attached on case of controller)
¡á Description
RC : Robot Controller
S : Single (1 axis)
60 : 6000 Series
01 : Capacity (9 models)
01 (100W), 02 (200W), 04 (400W), 05 (500W)
10 (1KW), 15 (1.5KW), 20 (2KW), 30 (3KW), 45 (4.5KW)
1-3-2. Model Designation & Sticker Contents
NewRo AC ROBOT
Model : 1 AXIS CONTROLLER
TYPE : RCS-6002
SOURCE : AC 220~230V, 50/60 Hz
OUTPUT CURRENT : 2.1A
SER No. : 9907 001
Robostar Co., Ltd. Korean Design
Model
Model
Input Power
Output Rated Current
Production Date & Order No.
1-6
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Chap.1 Pro duc t Overview
á Table for Adopted Motor per Controller Capacity
RCS-6001
RCS-6002
RCS-6004
RCS-6005
RCS-6010
RCS-6015
RCS-6020
RCS-6030
RCS-6045
Weight per Product Model
6004 6005 6010 6015 6020 6030 6045
1.5 2.2 2.2 4.15 4.25 4.25 4.3
1.7 2.52 2.52 4.55 4.75 4.75 4.8
Gross (kg)
Net (kg)
Weight
1.2
1.4
Small
Middle
6001, 6002
-
-
-
-
800/1KW 750/1KW
1.5KW
2.2KW
3.5KW
-
-
--
850W
1.3KW
1.8KW
2.9KW
-
-
-450W
1.2KW
2KW
3KW
-
600/900W
50W/100W
200W
300/400/500W400(N80)/600W 300W
-
-
-
TF Series KF SeriesSize Model
Adopted Motor (LG Servo Motor)
CN Series LF Sries
4.4KW 5KW
Large
1-3-3. Adopted Motor per Controller Capacity
Note) Net Weight : Controller Itself
Gross Weight : Controller + Package
1-7
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Chap.1 Pro duc t Overview
á RCS-6000 Series
Model
Item 6001/02 6004 6005 6010 6015 6020 6030 6045
Input Voltage
Watt (KVA) 0.8 0.9 1.1 2.1 3.1 4.1 6.0 8.0
-50§Ù
/500W
Circumstances of use
¡á I/O Specification of the contact point
1000 [step/program] (ROBOT, PLC program)
Driving Current
DC24V
Max. 80 mA5~10 mA
DC24V
Item
Applying Voltage
Input Contact Point Output Contact Point
Preservative Humidity
Room Condition
Vibration
Below 90% RH (No dew)
No dust or corrosive Gas
0.6G
Condition
0¡É ~ +45¡É (No freeze)
Below 85% RH (No dew)
-15¡É ~ +65¡É (No freeze)
Environment
Temperature
Humidity
Preservative Temp.
Control Type
Programming
RCS-
1Ф AC220V
+10%~15%
50 / 60Hz
Utility
Power
Program size
3 Phase AC220V, +10%~15%, 50 / 60Hz
25§Ù 220W (6030,6045 - 2 parallel)
Air Blowing (FAN)Natural Air Cooling
50§Ù /140W
3 phase sine wave modulated PWM
Teach Pendant or PC (Above windows 95)
Regenerative Resistor
Cooling Method
The conditions of use are as follows. If you consider using the product in an environment
that differs from the conditions below, contact the Customer Support Department
Incremental Encoder (15 signal, 9 signal), Absolute Encoder Encoder type
Max. MPG frequency 300 (kpps)
1-3-4. System Specification
1-8
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Chap.1 Pro duc t Overview
á Encoder : Line Driver (9 signal, 10 signal, 15 signal), Absolute type.
Line Driver 15 Signal
Line Driver 9 Signal
Absolute
It is to drive Motor using MPG
A Phase : Lead
B Phase : Lag
A Phase : CW
B Phase : CCW
A Phase : Pulse
B Phase :
Direction
MPG Output Voltage Output Sequence (standard)
5V A¡æ B
1
2
3
Setting
Value
Input Pulse Line
CW CCWRemark
Encoder type Pos. Order UVW Order Voltage
A ¡æ B
A ¡æ B
A ¡æ B
U¡æ V¡æ W
U¡æ V¡æ W
U¡æ V¡æ W
5V
5V
5V
Rotating Direction of Motor
Configuring in Program
Note) As it above, the motor rotation direction is CCW in view of motor shaft
10 signal (position, UVW phase: B ¡æ A/W¡æ V¡æ U) has reverse order of 9 signal's position & UVW.
A Phase
B Phase
A Phase
B Phase
A Phase
B Phase
01
1-3-5. Encoder information
1-3-6. Pulse Generator (MPG)
1-9
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Chap.1 Pro duc t Overview
á Outlook & Dimension
¡á Controller Pin Wiring Information
¢º Shield wire is connected to connector conductive part
Ordering T/P by different length of cable
15 Pin Connector
+12V 1
Signal
TxD 2
RxD 3
RCS-7000T
5 m RCS-7000T
10 m RCS-7000T-10
15 m RCS-7000T-15
Model Cable Length Order Number
-12V 4
GND 5
EMG 6
1-4. Teach Pendant : RCS-7000T
1-10
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Chap.1 Pro duc t Overview
á I/O Terminal Block Outlook & Dimension
When using the I/O Terminal Block, I/O Terminal Cable is needed.
DO NOT CONNECT E+24V, EG24 AND +24V, G24 PORT AT A TIME.
IF SO, CONTROLLER CAN BE DAMMAGED.
¡á
Description of Contact Point
- E+24V, EG24 Port : External Power Port
- +24V, G24 : Controller Internal Power Connection
- Each Port of Terminal Block is matched to the si nal of User I/O.
1-5. I/O Terminal Block & Cable (Non-CE type)
1-11
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Chap.1 Pro duc t Overview
á I/O Terminal Board Outlook (CE Type)
When using the I/O Terminal Block, I/O Terminal Cable is needed.
¡á
Description of Contact Point
- Only 24V external power is available
- +24V can be connected to PCOM1, PCOM2
- G24V(Ground of +24V) can be connected to NCOM1, NCOM2, NCOM3
- Each Port of Terminal Block is matched to the signal of User I/O.
1-5-1. I/O Terminal Block & Cable (CE type)
1-12
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Chap.1 Pro duc t Overview
á I/O Terminal Block Bracket Dimension (CE type)
¡á I/O Terminal Cable Outlook (Non-CE type)
ç̈
è̈
ç̈ HIF3BA-64D-2.54R(HIROSE)
è̈ CONNECTOR : 10150-3000VE(3M)
HOOD : 10350-52F0-006(3M)
171.60
142.40
151.60
5
10
1 0 6
8.20
10.20
5
10
1 0
5
1-13
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Chap.1 Pro duc t Overview
á I/O Terminal Cable Outlook (CE type)
ç̈
¨è
ç̈ HIF3BA-50D-2.54R(HIROSE)è̈ CONNECTOR : 10150-3000VE(3M)
HOOD : 10350-3210-006(3M)
Input/Output Connector connected to Controller
- Model No. : 10150-3000VE(3M)
- Connector Case : 10350-52F0-008(3M)
It is to save data of Absolute Encoder.
- Composition part :
Battery Holder : 1 ea (to fix on PCB)
Battery Cover : 1 ea
3.6V Lithium Battery : 1 ea
It is the manual pulse generator sending pulse to controller.
- TYPE : LGF-003-100 (SUMTAK)
1-6. I/O Connector
1-7. Back-up Battry Unit (only for Absolute Encoder)
1-8. MPG Unit
1-14
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Chap.1 Pro duc t Overview
It consists of as below.
- Unihost Program
- RS232C Cable : 15 Pin, 5M (1EA)
- Unihost User's Manual (1)
It reduces noise through power line.
- Noise Filter (1EA)
¡á Model Designation
RCK - 1N05DA-S
¢Ñ Description
RCK : Robot Cable 1 : RCS-6000 (SIngle Axis) N : F (Flexible), N (Inflexible) 05 : Cable Length 03 (3 m) , 05 (5 m), 10 (10 m), 15 (15 m)
D : Encoder Type (15 signal)
A : Motor Type A (PANASONIC,MSMZ)
B (PANASONIC,MSMA)
C (LG,CN)
D (LG,KF)
E (LG,TF)
S : Connector Type S (Straight Type)
E (Elbow Type)
H (Housing Type)
1-11. Cable
1-9. PC Interface Program
1-10. Noise Filter
1-15
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Chap.1 Pro duc t Overview
¡á
No.ç̈
Connector (Motor side)¡á
No.è̈
Connector (Controller CN1 side)Pin No. Signal Pin No. Signal Pin No. Signal Pin No. Signal
1 A 11 W 1 W 11 /Z
2 /A 12 /W 2 /W 12 SHIELD
3 B 13 +5V 3 V 13 /B
4 /B 14 0V(GND) 4 /V 14 Z
5 Z 15 SHIELD 5 U 15 /A
6 /Z 6 /U 16 B
7 U 7 - 17 -
8 /U 8 - 18 A
9 V 9 0V(GND) 19 +5V
10 /V 10 - 20 -
NO.é̈ Connector (Motor Power Cable)
4
Pin No.
3 W (Black)
2
U (Red)
V (White)
1
SignalPin No.
FG (Green)
Signal
1-11-1. Cable for N60 Series Motor
Soder Part:C-C' SECTION:B-B'
1-16
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Chap.1 Pro duc t Overview
¡á NO.ç̈ Connector (Motor side)
¡á No.è̈ Connector (Controller CN1 side) is same to the cable for N60 Motor.
¡á No.é̈ ,ê̈ Connector (Motor Power Cable)
Pin No. Pin No. Pin No. Pin No. Signal
A C E G -
B D F
J
F /Z G
SignalSignal
W (Black)
FG (Green)
Signal
V (White)
BRAKE +U (Red)
K U
L /U
/B R /W
E Z H +5V
D
V
Pin No. Signal Pin No. Signal
A A
/A NB
M
/V
SHIELD
0V (GND)
C B P W
BRAKE -
Encoder Cable
Power Cable(Brake ¾øÀ½)
Power Cable(Brake ºÎÂø)
1-11-2. Cable for TF, KF Series Motor
Power Cable (No Brake)
Encoder Cable
Power Cable (with Brake)
Soder Part:C-C' SECTION:B-B'
1-17
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Chap.1 Pro duc t Overview
¡á No.ç̈ Connector (Motor side)
Pin No. Pin No. Pin No.
1 12 23
2 13 24
3 14 A
4 15 B
5 16 C
6 17 D
7 18
8 19
9 20
10 21
11 22
No.è̈ connector (Controller CN1 side) is same to N60 Motor's cable.
CCW
G24
/W
CW
V
W
FG
/V
Z
/Z
W
/U
B
BRAKE+
+24V
ORG
SignalSignal
BRAKE-
ENC SHILED
U
Signal
/A
U
0V(GND)
A
+5V
+5V
0V(GND)
/B
V
ORG
BRK+
BRK-
+24V
G24
U
V
W
FG
CCW
CW
ºñ°¡µ¿Çü Cable
°¡µ¿ÇüCable
1-11-3. Cable for Cartesian (Non-CE type)
Inflexible Cable
Flexible Cable
Soder Part:
C-C'SECTION:B-B'
Soder Part:
C-C'SECTION:B-B'
1-18
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Chap.1 Pro duc t Overview
¡á No.ç̈ Connector (Motor side)
Pin No. Pin No. Pin No.
1 12 23
2 13 24
3 14 A
4 15 B
5 16 C
6 17 D
7 18
8 19
9 20
10 21
11 22
No.è̈ connector (Controller CN1 side) is same to N60 Motor's cable.
Signal Signal Signal
+5V /V BRAKE-
+5V Z ENC SHILED
0V(GND) /Z U
0V(GND) W V
A /W W
/A CW FG
U CCW
/U G24V
B +24
/B ORG
V BRAKE+
1-11-4. Cable for Cartesian (CE type)
CW
CCW
FG
W
V
U
+24v
G24
BRK-
BRK+
ORG
Cable
v
G24
CableInflexible Cable
Flexible Cable
Soder Part:
C-C'SECTION:B-B'
Soder Part:
C-C'SECTION:B-B'
1-19
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Chap.1 Product Overv iew
It is used to produce power to Brake of TF, KF Series Brake type motor.
- TYPE : BPU109-A (YILE)
Signal 9 pin connector of PC side 15 pin connector of Serial side
2 (RxD)TxD - RxD 3 (TxD)
RxD - TxD 2 (RxD) 3 (TxD)
SHILED Connector Conductive part
GND 5 5
-RTS, CTS Pin No. 7 & 8 Short
DTR, DSR Pin No. 4 & 6 Short
1-11-4. Serial Cable (RS 232C)
1-12. Brake Unit
1-20
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Chap. 2. Instal lat ion and Con nection
¡á Installation and Connection Procedure
1. Placing and Fixing Controller
2. Connect all connectors to Controller after deciding desired I/O
3. Setup Parameters (set I/O contact in Parameter)
4. I/O Connection Check
Chapter 2 Installation and Connection
2-1
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Chap. 2. Instal lat ion and Con nection
¡á Caution on Installation
1. Do not inflict considerable impact on controller or neither drop . It can cause breakage of internal devices in controller.
2. Keep the proper distance when placing Controller to Panel.
3. Do not use product in water sputtering or near inflammable gas area. It causes electric
shock or fire.
4. The regenerative resistor connected to P-B port of controller should be placed to
the well-heat-radiated place because it radiates heat according to rated output of motor
propotionally. It is recommanded that the resistor is far more than 20mm from controller.
5. To get more information on the condition for installation circumstances, refer to Chap.1,
Product Overview.
2-1. Placing and fixing Controller
Bottom Direction
2-2
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Chap. 2. Instal lat ion and Con nection
The controller and motor should be at third class grounding or higher.
¡á Fig 2.1 Example of General Connection (Non-CEType)
2-2. Connect Cables
MNF
RCS-6000
DCN
I/O
SERIAL
R
S
T
U
V
W
MCCB1 MC1
Ȩ̀»ý¹æÀüÀúÇ×
ENC
P B
AC200~230V
50/60Hz 3»
¼®́Ü
R-S »
DummyConnector
I/O
Teach Pendant,PC,RS-422
¿¬°á́ÜÀÚ
EI/OÈ® ÀåI/O
NC
NC
ÃÊÅ © ÄÚÀ Ï 1
ÃÊÅ©
ÄÚÀ Ï 2
Regenerative Resistor
Choke
Coil 2
Choke
Coil 1
Small Capacity
uses 1Ф R-S
AC200~230V
50/60Hz 3Ф
Extension I/O
Connector
Use circuit breaker
before AC input terminal
2-3
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Chap. 2. Instal lat ion and Con nection
The controller and motor should be at third class grounding or higher.
Use circuit breaker
before AC input terminal
¡á
Fig 2.2 Example of General Connection (CE Type)
Regenerative
Discharge Resistor
RCS-6000
EMC UNIT
(Option)
I/OI/O
Teach Pendent,
PC, RS-422 port
Main Board
SERIAL
MCCB1 AC INPUT
AC200~230V
50/60Hz
3-phase
(R,S single-phase
available at RCS
6001~6004)
EN
AMP Board
FG
W
V
U
NC
NC
FG
W
V
U
M
V
U
NC
NC
NF(option
)
S
T
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Chap. 2. Instal lat ion and Con nection
Fig.2.3 Status LED
R
ST
P
U
V
W
B
RS
T
NC
NC
P
B
UV
W
R,S,T Port- AC 3Ф Input Port
- 1Ф AC220V :RCS-6001~6010
(Using R-S Port)
- 3Ф AC220V :RCS-6005 and above
P, B Port- Output port for Regenerative
Discharging Energe from Motor.
- Port for connecting Regenerative
Resistor.
U, V, W Port- Connect power wires
of motor.
- U Port : Red Wire
V Port : White Wire
W Port : Black Wire
Earth Port- Controller FG port.
- Connect FG(green) wire of Motor
and connect the other wire to
ground.
Status LED
(Fig. 2.3)
T/P Connector
Encoder
Connector
I/O Cable
Connector
¢Ñ POWER (Green) : AC Power
¢Ñ ORIGIN (Green) : Origin complete
- When PLC program runs, it flashes every 0.4 seconds.
¢Ñ SVON (Orange) :
- When power produces to motor, it is ON (SVON state)
- When Robot Program runs (RUN), flashing every 0.4
seconds.
¢Ñ ALARM (Red) : Alarm, Error, Ext. EMG, it flashes.
2-2-1. Connection on Front Panel
Power port (R,S,T) and Regenerative Resistor port (P,B)
NC (Not Connect) :if needed,
connect it to
Choke Coil to
reduce noise.
NC (Not Connect) :For CE
Controller, be sureto connect it to
Choke Coil to
reduce noise.
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Chap. 2. Instal lat ion and Con nection
Pin Pin
No. No.
1 11
2 12
3 13
4 14
5 15
6 16
7 17
8 18
9 19
10 20
Encoder Signal
U, V, W
A,B Used to detect the position of the motor and its rotation number
Z Used to search the origin
+5V Provides Vcc power to the encoder
EP +5V Provide Vcc power to the encoder when using a 9 signal encoder.
GND (5V) Basic electric potential for +5V and EP +5V.
BAT+,BAT- Backup battery power for data of the absolute encoder
ERST Data reset terminal of the absolute encoder
Rx, /Rx Position receiver of the absolute encoder
A
+V5
ERST
Z
A
B
Encoder
Signal
Encoder
Signal
W(Rx)
W(Rx)
Z
SHIELD
The encoder signal being the electric signal of motors, the U, V, W
of the motor are synchronized to this signal. When an error occurs
in this signal, the motor does not rotate.
V
V
U
U
BAT+
BAT-
GND(5V)
EP+5V
B
¡á Connection method for encoder is shown as below.
ç̈ 15 signal type encoder connection
è̈ 9 signal type encoder connection
é̈ Absolute encoder connection
2> Connector pin specification of ENC (Encoder)
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Chap. 2. Instal lat ion and Con nection
ç̈ 15 signal type encoder connection
Pin Pin
No. No.
1 11
2 12
3 13
4 14
5 15
6 16
7 17
8 18
9 19
10 20
è̈ 9 signal type encoder connection
Pin Pin
No. No.
1 11
2 12
3 13
4 14
5 15
6 16
7 17
8 18
9 19
10 20
GND(5V)
A
B
B
A
Encoder
Signal
Encoder
Signal
Z
Z
SHIELD
+V5
Encoder
Signal
Encoder
Signal
A
U A
Z
W SHIELD
U B
V B
V Z
W
GND(5V)
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Chap. 2. Instal lat ion and Con nection
é̈ Absolute encoder connection
Pin Pin
No. No.
1 11
2 12
3 13
4 14
5 15
6 16
7 17
8 18
9 19
10 20 ERST
GND(5V) +V5
Encoder
Signal
Encoder
Signal
BAT+
B
Z
Rx Z
BAT- A
A
B
Rx SHIELD
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Chap. 2. Instal lat ion and Con nection
ç̈ RS232C communication
Pin No Signal Pin No Signal
1 +V12 11 FG
2 RxD 12 RDA
3 TxD 13 RDB
4 -12V 14 SDA
5 GND 15 SDB
6 EMG
7
8
9
10
è̈ RS422 communication Pin No Signal
5 GND
11 FG
12 RDA
13 RDB
14 SDA
15 SDB
¡á Serial communication type
ç̈ RS232C
è̈ RS422
é̈ Teach Pendent
ê̈ PC(Personal Computer)
ë̈ MultiPoint
3> Spedification of Serial signal
¡á Communication standard setting
- Type : Asynchronous
- Baud rate: 9600 bps (fixed)
- Stop bit : 1
- Frame bit : 8 Bit
- Parity check : No parity
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Chap. 2. Instal lat ion and Con nection
é̈ Teach Pendent communication
Pin No Signal
1 +12V
2 RxD
3 TxD
4 -12V
5 GND
6 EMG
ê̈ PC (Personal Computer) communication
PC communication consists of followings
- Unihost Program
- RS 232C cable (15 signal type - 5m)
- Refer to Unihost User's Manual
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Chap. 2. Instal lat ion and Con nection
á Fig 2.4 Table of I/O contact points
B000 ~ B022 3 Input Contact Use of both System & User Input Contact
B030 ~ B047 2 Output Contact Use of both System & User Output Contact
B050 ~ B317 27 Internal Contact Use of User Internal Contact
B320 ~ B337 2 Extension Input Contact Use of both System & User Input Contact
B340 ~ B347 1 Extension Output Contact Use of both System & User Output Contact
B350 ~ B387 4 System Input Contact Use of Internal System Input Contact
B390 ~ B417 3 System Output Contact Use of Internal System Output Contact
Set range in B000~B022 for input (Fig 2.4)
Set range in B030~B047 for output (Fig 2.4)
- Define I/O contact refering to Fig. 2.5 & Fig. 2.6
- Define original values of I/O
(Ex) System Input ORIGIN contact set to Not Use ¡æ Set User Input to B005
(settable in range of B000~B022)
(Ex) System Output IN_POS contact set to Not Use ¡æ Set User Output to B030
(settable in range of B030~B047)
Address Byte Type Contents
¡á When connecting I/O,
A. Define input/output contact points, set these information in Parameter mode.
B. Connect contact points.
There are System I/O and User I/O
4> I/O Connection
A. Set I/O Contacts in Parameter mode
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Chap. 2. Instal lat ion and Con nection
á Fig 2.5 System Input Contact Default : preset values in factory.
Group
ROB_RUN Robot Program Execution
PLC_RUN PLC Program Start
STOP Robot Program Stop
RESET Alarm Release
SVON Servo ON
SVOFF Servo OFF
ORIGIN Origin Execution
STEP_RUN Robot Program Step Execution
PGM_SEL Robot Program Step Clear & Program Selection
PGM_SEL0
PGM_SEL1 Robot Program Selection Code
PGM_SEL2
JOG+
JOG-
JOG_SET0
JOG_SET1
JOG_MODE JOG Movement Method Selection
IOPOS0
IOPOS1
IOPOS2
IOPOS3
IOPOS4
IOPOS5
IOPOS6
IOPOS7
IOSPD0
IOSPD1
CW S/W CW Limit Switch
CCW S/W CCW Limit Switch
ORG S/W Origin Switch
MPG_RATE Select Input pulse & moving rate in MOVM
MOVT_ST Start movement by MOVT command
Not Use
Not Use
Not Use
Not Use
Select SPD of Robot Program in IOSPDNot Use
Not Use
Not Use
Moving position selection code in MOVT command
(Robot Program)
Not Use
Not Use
Not Use
Not Use
Not Use
Not Use
Not Use
Not Use
JOG Movement Selection CodeNot Use
Not Use
Not Use
Not Use
Not Use
JOG MovementNot Use
Not Use
Not Use
Not Use
B002
Not Use
B003
Not Use
Not Use
Input
Not Use
B000
B001
Signal Contents Default
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Chap. 2. Instal lat ion and Con nection
á Fig 2.6 System Output Contact Point Default : Preset values in factory.
Group
ALARM Alarm Status output
READY Output when no problem after power on
ORIGIN Output when Oringin executes without problem
IN_POS Output when arrival in position
ALARM0
ALARM1
ALARM2
ALARM3
BRAKE Output when Servo Motor Brake runs
Example
Not Use
Not Use
Not Use
Alarm Information Code
Not Use
Not Use
Not Use
Contents Default
Output
Not Use
Not Use
Not Use
Signal
- Output
ALARM : B030
READY : B031
ORIGIN : B032
IN POS : B033
- Input
ROB RUN : B000
STOP : B001
RESET : B002
ORIGIN : B003
PGM SEL : B004
CW S/W : B005
CCW S/W : B006
Enter Contact Point Numbers (B000,B001,------)
defined above
in Parameter
¡á Method to enter parameter
(Ex: Set B000 in ROB RUN Input Contact point)
Using T/P,
F4 : PARA ¡æ F4:I/O ¡æ F1:INPUT¡æ put * at "ROB RUN" using arrow keys
¡æ ENT ¡æ type "B000" ¡æ ENT ¡æ push ESC key until seeing "SAVE" menu
¡æ F1:SAVE
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Chap. 2. Instal lat ion and Con nection
ç̈ Connection using I/O Terminal Block
è̈ Connection NOT using I/O Terminal Block
ORG
BRK+
BRK-
+24V
G24
U
V
W
FG
CCW
CW
ºñ°¡µ¿ÇüCable
°¡µ¿ÇüCable
¡á Two types of I/O connection as below.
ç̈ Using I/O Terminal Block
è̈ Not using I/O Terminal Block
PLC
CW
S/W
CCW
S/W
1 Axis
Controller
Encoder
I/O
Motor
Power
I/O Terminal Block
OutputInput
OutputInput
CW,CCW,ORG S/W
BRK+,BRK-
1 AxisCartesian
PLC
CW
S/W
CCW
S/W
1 Axis
Controller
Encoder
I/OMotor
Power
Output
Input
CW,CCW,ORG S/W
BRK+,BRK-
1Axis
Cartesian
Cable
B. Connecting
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Chap. 2. Instal lat ion and Con nection
á Fig. 2.7 User I/O Connector Pin Assignment (for PNP Type)
- User Input : B000~B022
- User output : B030~B047
¢Ñ Connector Contact Point
- Basic User Input : B000~B022 (19 ports)
- Basic User Output : B030~B047 (16 ports)
- EMG+, EMG- : Input contact point for emergency stop
- BRAKE+, BRAKE- : Output port for Brake ON/OFF
- MPGA, MPGB : Pulse Input Signal for the general purpose
- GND: Standard Electric Potential (0V) on MPG pulse input
Pin AssignmentI/O
PNP Type : Input - N common, Output - P common NPN Type : Input - P common, Output - N commonNOT
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Chap. 2. Instal lat ion and Con nection
á Fig. 2.7.1 User I/O Connector Pin Assignment (for NPN type)
- User Input : B000~B022
- User output : B030~B047
Pin No. Signal
1
3
5
7
9
11
13
15
17
19
21
23
2
4
6
8
10
12
14
16
18
20
22
/MPGB
B032
B031
B041
B045
B044
B047
NCOM2
B004
B005
B006
B007PCOM1
B012
B016
B010
B020
25
24
Pin No. Signal
26
28
30
32
34
36
38
40
42
44
46
48
27
29
31
33
35
37
39
41
43
45
47
B037
B034
B030
NCOM1
B042
B043
B046
FG
B003
B002
B001
B000B013
B011
B017
PCOM2
B022
50
49
/MPGA
GND(+5V)
B040
B014
B021
EMG-
EMG+
MPGB
MPGA
B036
B033
B015
PCOM3
BRAKE+
BRAKE-
B035
Soldering
side
¢Ñ Connector Contact Point
- Basic User Input : B000~B022 (19 ports)
- Basic User Output : B030~B047 (16 ports)
- Emergency Stop Input : EMG+, EMG-
- Brake ON/OFF Output (Relay Contact): BRAKE+, BRAKE-
- General Purpose Pulse Input Signal : MPGA, MPGB
- Reference Electric Potential (0V) on MPG pulse input : GND
I/O Pin Assignment
PNP Type : Input - N common, Output - P common NPN Type : Input - P common, Output - N commonNOT
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Chap. 2. Instal lat ion and Con nection
á Fig. 2.8 User I/O Connection (for PNP Type)
- User Input : B000~B022, - User Output : B030~B047
NOTE Inside parenthesis represents the I/O Address.
The connection figure above has a common terminal per every 8th I/O port.
ExternalPower Supply(DC24V)
I/O Terminal
User OutputController InsideI/O connector
32(PCOM1)
31(B030)
6(B031)
5(B032)33(B033)
30(B034)
4(B035)
29(B036)
28(B037)
12(PCOM2)
8 B040
7(B041)
34(B042)
10(B044)
35(B043)
36(B046)
9(B045)
11(B047)
25 EMG+
25(EMG-)
41(B000)
40(B001)
39(B002)
38(B003)
13(B004)
14(B005)
15(B006)
16(B007)
17(NCOM1)
21(B010)
44(B011)
19(B012)
42(B013)
18(B014)
43(B015)
20(B016)
45(B017)
46 NCOM2
22(B020)
23(B021)
47(B022)
48 NCOM3
External Power
+24V
G24V
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
LOADLOAD
LOAD
LOAD
LOAD
LOAD
User Input
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Chap. 2. Instal lat ion and Con nection
á Fig. 2.8.1 User I/O Connection (for NPN Type)
- User Input : B000~B022, - User Output : B030~B047
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
17(PCOM1)
41(B000)
40(B001)
39(B002)
38(B003)
13(B004)
14(B005)
15(B006)
16(B007)
46(PCOM2)
21(B010)
44(B011)
19(B012)
42(B013)
18(B014)
43(B015)
20(B016)
45(B017)
48(PCOM3)
22(B020)
23(B021)
47(B022)
25(EMG+)
24(EMG-)
14(B047)
48(NCOM2)
13(B040)
49(B041)
15(B042)
51(B043)
17(B044)
16(B045)
50(B046)
44(B030)
10(B031)
46(B032)
12(B033)
47(B034)
11(B035)
45(B036)
9(B037)
43(NCOM1)
ÄÁÆ®·Ñ·̄³»ºÎ»ç¿ëÀÚÀÔ·Â »ç¿ëÀÚÃâ·Â
ÁÖ1)°ýÈ£¾ÈÀºÁ¢Á¡¹øÁöÀỐḮÙ.
ÁÖ2)»ó±âÁ¢¼Óµµ́ÂÀÔ.Ãâ·ÂÀÌ8Á¡̧¶́Ù°øÅë(Common) ǗÀÚ°¡ÀÖÀ̧¹Ç·ÎÁÖÀÇÇϽʽÿÀ.
+24V
G24
CN2 connector
42(+24V)
40(G24)
42(+24V
)
40(G24)
I/O Terminal Port
ExternalPower Supply(DC24V)
User Input Controller Inside User Output
Inside parenthesis represents the I/O Address.
The connection figure above has a common terminal per every 8th I/O port.
NOTE
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Chap. 2. Instal lat ion and Con nection
á Fig. 2.9 User Input (B000~B022) and Sensor Connection (for PNP Type)
Photo coupler Input Output
+24V
outG24
+24VoutG24
+24VoutG24
CW
CCW
ORG
CW
CCW
ORG
CW
CCW
ORG
Maximum outputcurerent is 80mA.
10k
General switches or sensors
For the sensors which needed driving power
Robostar actuator sensor connection
DC24V
DC24V
DC24V
NCOM
NCOM
NCOM
P24V
CW
CCW
ORG
( Dashed line is Cable wire label)
¢Ñ Photo Coupler Connection inside
Controller
¢Ñ General Switches or
Sensor
¢Ñ For the sensors whichneeded driving power
¢Ñ Cartesian sensor
connection (Dashed line is
Cable wire label)
Inside Dashed line means inner side of Controller NOTE
¢Ñ Inside Controller
(Refer to User I/O Connection
diagram)
¢Ñ Inside Controller
¢Ñ Inside Controller
(Refer to User I/O Connection
diagram)
¢Ñ Inside Controller
(Refer to User I/O Connection
diagram)
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Chap. 2. Instal lation and Con nectio n
á Fig. 2.9.1 User Input (B000~B022) and Sensor Connection (for NPN Type)
¡á Sensor type ç̈ CW Sensor (Normal close) è̈ CCW Sensor (Normal close) é̈ ORG Sensor (Normal open)
Ä ÁÆ®·Ñ· ³̄»º ÎÆ÷ Åä Ä¿Ç Ã· ¯ ±̧¼º ÀÔ·  Ãâ· Â
+24VoutG24
+24VoutG24
+24VoutG24
CW
CCW
ORG
CW
CCW
ORG
CW
CCW
ORG
ÁÖ) Ç ¥½ þÈÂÊ ÀºÄ ÁÆ®·Ñ· ³̄»º Î ÀÓ
Ãⷠ±̧µ¿Àü·ù́ ÂÃÖ́ë80mA ÀỐḮÙ
10k (ÀÌÇÏ»ý·«)
ÀϹݽº À§ Ä¡¶Ḉ ¼¾¼-Á¢¼Óµµ
±̧µ¿Àü¿ø ÀÌÇÊ¿äÇѼ¾¼-Á¢¼Óµµ
Á÷°¢±â±̧¿ëCable ¼¾¼-¼±Á¢¼Óµµ
DC24V
DC24V
DC24V
PCOM
PCOM
PCOM
G24V
CW
CCW
ORG
( Á¡¼±¾È ÀºCable wire labelÀÓ)
¢Ñ Photo Coupler Connection inside Controller
¢Ñ General Switches or Sensor
Input Photo Coupler Output
¢Ñ Inside Controller (Refer to User I/O Connectiondiagram)
¢Ñ Inside Controller
¢Ñ Inside Controller (Refer to User I/O Connectiondiagram)
¢Ñ Inside Controller (Refer to User I/O Connectiondiagram)
Maximum output current is 80mA.
¢Ñ For the sensors which
needed driving power
¢Ñ Cartesian sensor connection (Dashed line is
Cable wire label)
Inside Dashed line means inner side of Controller NOTE
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Chap. 2. Instal lation and Connect io n
á 2.10 MPG and Brake Connection
SERVO
MOTOR
SERVOMOTOR
1 2
3
4
5
6
AC 220V
1) Ç¥ÁØMPG Á¢¼Óµµ( DC 5VẤ¿Üº ÎÀü¿øÀ»»ç¿ëÇ Ï ½Ê½Ã¿À)
2) DC 24V¿ëBrake Á¢¼Óµµ
3) Brake unit ¹×DC 90V¿ëBrake Á¢¼Óµµ
MotorBrake¼±
Brake unit
DC 24V
Varistor
DC 5V
A
B
Varistor
+5V
0VController ³»º Î
Controller ³»º Î
Controller ³»º Î
A
B
MPG(¼öµ¿ ÆÞ½º¹ß»ý±â)
MPGA
/MPGA
MPGB
/MPGB
GND(+5V)
BRAKE+
BRAKE-
BRAKE+
BRAKE-
ÁÖ)µ¿±â¿ î ÀüÀ»ÇÒ°æ¿ ì¿¡́ÂMPǴë½Å¿£ÄÚ́õ½ÅÈ£̧¦À§¿Í°°À Ì¿¬°áÇ Ï ¿ ©ÁֽʽÿÀ
ÁÖ) ð̧ÅÍBrake ǗÀÚ¿¡º Î ÂøµḈÂVaristorẤBrake ÄÚÀ Ï ¿¡ÀÇÇ Ï ¿ ©À ¯ µµµḈÂSurge Àü¾ ÐÈí¼ö¿ë ÀỐ Ï Ù́. Surge Àü¾ ÐÈí¼ö¿ëDiode³ªVaristorẤ̧ðÅÍÃø¿¡°¡±õ°ÔÁ¢¼ÓÇ Ï ½Ê½Ã¿À.
BRK+
BRK-
BRK+
BRK-
+24V
G24
¿ÜÀåRelay
InsideController
ExternalPower Supply
1) Standard MPG Connection ( Use External Power for DC
MPG(Manual Pluse Generator)
Controller Inside
In case of Syncronizing driving, connect Encoder signal like the above, instead of MPG.NOTE
Controller Inside
2) Brake Connection for DC 24V
3) Brake Unit and Brake Connection for DC 90V
Motor Brake Wire
Varistor attached in Motor Brake port is for absorbing Surge Voltage which is induced by Brake Coil.
Connect the Diode or Varistor for absorbing Surge Voltage close to Motor side.
Controller Inside
NOTE
External Relay
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Chap. 3 Parameter Setup
* Most of parameters are related to I/O and Operation
No.
¡á When setting Parameter for Operation
¡á When setting Parameter for I/O
4
¡á When setting Parameter for Manupulator
¡á When setting Parameter for Servo
T/P DisplayT/P KeyContents
3 Select Parameter
1 Turn Control ler Power On
2 Select Teach Pendant F1
F3
F1
F2
RCS-7000T Ver1.0A F1: Teach Pendant F2: RS-422 Multipoint F3: Data up/down Load
Servo Controller
ROBOT PLC PARA VIEW
Parameter Setting
SERVO MECH OPER I/O
Servo Parameter
AMP/MOT GAIN BRAKE
MECH. Parameter MIN_LMT MAX_LMT
F3 OPER. Parameter
MODE JOG DFT ETC.
F4 I/O Setting
INPUT BRAKE OUTPUT
(PARA)
(SERVO)
(MECH)
(OPER)
(I/O)
Chapter 3. Parameter Setup
3-1. Opening Parameter Display
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Chap. 3 Parameter Setup
¡á Setup embedded Servo Driver Capacity (AMP)
Group Default
AMP/
MOT
¡Ü Do not change parameter too much. It can cause unstable moti
Servo Driver Capacity AMP
Setting Range
1
ContentName
0~8
¡Ü To avoid unexpected movement, check each parameter before running.
- Servo Driver Capacity, Servo Motor Capacity, Encoder Type, Gain, Condition for Brake motor can be set. - Three Groups are in this mode (AMP/MOT, GAIN, BRAKE)
¡á Setup Procedure: SERVO ¡æ AMP/MOT ¡æ
AMP,MOT_TYPE, L, R, Kt, Jm, R_I, R_RPM, MAX_RPM, POLE,MAX_TRQ
¡á Parameter Classification - SERVO ¡æ Parameter for Servo - MECH ¡æ Parameter for Mechanic (Manipulator) - OPER ¡æ Parameter for Operation - I/O ¡æ Parameter for I/O
0 : 100W (RCS-6001) 1 : 200W (RCS-6002) 2 : 500W (RCS-6004) 3 : 600W (RCS-6005) 4 : 1000W (RCS-6010) 5 : 1300W (RCS-6015) 6 : 1800W (RCS-6020)
7 : 2900W (RCS-6030) 8 : 5000W (RCS-6045)
3-2. Parameter Setup
3-2-1. Parameter for SERVO
1> AMP / MOT
3-2
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Chap. 3 Parameter Setup
á Setting up Servo Motor Capacity & Constant
: MOT_TYPE,L,R,Kt,Jm,R_I,R_RPM,MAX_RPM,POLE,MAX_TRQ
Group Default
MOT_TYPE Type of Motor to be used 0~99 94
L Phase Inductance 0~999.99 (mH) 7.8
AMP/ R Phase Resistance 0~999.99 (§Ù) 2.3
MOT Kt Torque Constant 0~999.99 (kgfcm/A) 0
Jm Inerita Moment 0~999.999 (gfcms2) 0.17
R_I Rated Current 0~999.999 (A) 1.6
R_RPM Rated Rotation Speed 1~10000 (RPM) 3000
MAX_RPM Maximum Rotation Speed 1~10000 (RPM) 5000
POLE Number of Pole 1~99 (POLE) 8
MAX_TRQ Instant Maximum Torque 0~999.999 (Nm) 1.91
¢ MOT_TYPE : (Refer to Fig. 3.1)
1) Setting Servo Motor Capacity to be used
4) Example, how to select value
- If MOT_TYPE is set for LF 0.6KW Motor : 32 (3 : Colume, 2 : Row)
2) If MOT_TYPE is set to 1~99, L ~ MAX_TRQ value is set automatically, it can not be edit individually.
If wrong value is entered, controller and motor can be damaged.
1) Setup embedded AMP capacity
2) The value is decided by the capacity of controller purchased.
Name Content Setting Range
3) If an undesignated motor type is used or L ~MAX_TRQ needs to be revised individually, the MOT_TYPE should be set to 0
If the motor to be used and number of MOT_TYPE is different, Motor can be damaged
Description
Description
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Chap. 3 Parameter Setup
¢¹ L, R, Kt, Jm, R_I, R_RPM, MAX_RPM, POLE, MAX_TRQ :
¡á Fig. 3.1 Motor TYPE
N60 N80 LF- TF- KF- TBL-I LN,TN KN,CN Minas
1 2 3 4 5 6 7 8 9
1 100 100 400 0.3K 450 750 50 LN 0.3 KN 0.6 0.03
2 200 200 600 0.6K 850 1.0K 100 LN 0.6 KN 1.0 0.05
3 300 300 800 0.9K 1.3K 1.5K 200 LN 0.9 KN 1.5 0.1
4 400 400 1.0K 1.2K 1.8K 2.2K 400 LN 1.2 KN 2.0 0.2
5 500 500 2.0K 2.9K 3.5K 600 TN0.45 CN 0.8 0.4
6 450 3.0K 4.4K 5.0K 800 TN0.85 CN 1.5 0.75
7 850 TN 1.3 CN 2.0
8 1.3K TN 1.6 CN 3.0
9 1.8K
DefaultNo.
If MOT_TYPE is set to 1~99, L ~ MAX_TRQ value is set automatically. If wanting to modify indivisually, MOT_TYPE should be set to 0.
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Chap. 3 Parameter Setup
á Setting up Encoder Constant (ENC_TYPE, ENC_PLS)
Group Default
Encoder Type to use
AMP/
MOT
Pulse number to use 2500
1) Setting up Encoder to use.
2) Normal 15 signals Incremental Encoder is that consists of A,B,Z,U,V,W signal.
4) 10 line Incremental Encoder is that consists of A,B,Z,Rx signal.
Content
ENC_TYPE
Setting Range
0
0~2
ENC_PLS 1~10000 (Pulse)
3) 9 signals Incremental Encoder is that consists of A,B,Z signal. The Encoder outputs the signal of U, V, W during power input 5[msec] and after that it outputs signal of A,B,Z. The signal of Z corresponds to the electric angle 0°.
5) The applicable Absolute Encoder is SUMTAK's AEF-010-2048. It is possible to use other Encoder having same signal specification.
6) When changing Encoder Type, Main Power of controller should be recycled. (Turn Off and turn on)
7) Setting up the Encoder pulse number. - In case of Minas Motor : 2500 Pulse
Name
¢º Setting Encoder Type 0 : Normal Incremental Encoder (15 line) 1 : 9 line type Incremental Encoder 2 : Absolute Encoder
Description
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Chap. 3 Parameter Setup
á Setting up GAIN (POS_P, SPD_P, SPD_I, FEED_FWD)
Group Default
GAIN
5) Feed-Forward Ratio depends on application, but Generally it is set to about 70%.
SPD_P
Name Contents
Propotional gain for position control loop
POS_P
SPD_I
Setting Range
FEED_FWD 0~100 (%)
10
100
Integral Gain of speed control loop
10~150
15~300 (1/s)
Propotional gain for speed control loop 2~500
2) In a normal application, it is recommended to adjust it from SPD_P. If it is not successfully adjust with SPD_P, try to adjust it with POS_P.
3) When setting up SPD_P first, calculate the inertia moment of load converted to servo motor axis, and then if it is n times from inertia moment, use default value with n*10 +10.
Feed-forward ratio of speed calculated at Acc & Dec Calculator
4) The ACC/DEC (Acceleration & Deceleration) Calculator is satisfied with condition of ACC/DEC time and Motion Speed, it calculates the speed and position to reach desired position. The Feed-Forward Ratio means the ratio reflecting to the speed command of speed controller directly without pass by the position controller.
0
50
1) The position control uses a Proportional(P) Control, while the speed control applies
Proportional Integral(PI) control.
¡á Procedure to set SERVO ¡æ GAIN ¡æ POS_P, SPD_P, SPD_I, FEED_FWD
Description
2> GAIN
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Chap. 3 Parameter Setup
á Fig. 3.2 GAIN Adjustment
¡á Position Proportional Gain ( POS_P )
¡á Speed Proportional, Integral Gain ( SPD_P,SPD_I )
Speed Proportional Gain ( SPD_P )
Speed integral Gain ( SPD_I )
Do not change parameter too much. It can cause malfunction of controller or motor.
- The position proportional Gain is the value mediating the position following state. The larger the value, the faster the position response. But the time arriving at the steady state is delayed due to the overshoot proportional to this.
- Therefore the proper value is fixed when the motor is rotated. The proper value is about 80 ~120, generally it is fixed as 100.
- In the speed controller, the speed proportion Gain revises the difference between the standard value and the return-track value at the rate of as much as the value set up in the speed proportion Gain.
- Therefore, if this value increases, the speed change rate decreases, but the torque ripple increases due to the connection with the current controller.
- The proper value of speed controller should be mediated with the speed proportion Gain proportionally.
- The speed integral Gain improves the response about the normal state by accumulating the value about the speed deflection, and it does not affect the change about the external disturbance (generally Noise, Disturbance).
- If this value becomes large, the torque of motor can have an effect but the ripple becomes large in proportion with it.
- The proper speed integral Gain value should be added or subtracted according to the state of load from 30 ~ 70.
- In case of being attached the inertia load on a Motor, set the value between 40~70 to lower the mechanical Overshoot.
- Set 30~50 in a Cartesian Robot.
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Chap. 3 Parameter Setup
á Feed-forward Gain ( FEED_FWD )
¡á For rectangular machinery and tools
- Using with rectangular machinery and tools, generally set SPD_I Gain below 40.
- When controller drives heavy load by belt or reduction gear, set SPD_I 40~100.
6005 6010
120 150
30 35
50 50
¡á Driving inertial load like rotational circular plate
6005 6010
120 150
50 50
60 60
35
50
120
SPD_I 60 55 55
35
POS_P 120 120 150
SPD_P 50 30
6015~20 6020~30
50
30
- When driving rotational load by a motor or belt reduction gear with a direct connection, regulate the value of SPD_P and SPD_I as below.
Gain RCS-6001~4
50
6020~30RCS-6001~4
150
6015~20
120
SPD_I
30
POS_P
Gain
SPD_P
¡Ú
Standard Gain
- The Feed forward Gain is the rate ordering to the speed controller directly in the position-speed controller without passing the position controller.
- The larger this value, the better the response of the controller, but the over- shoot becomes large and affects the speed ripple. The proper value is 30 ~ 70, it is in a state of flux according to the kinds of motor.
- In addition, In case of Feeding equipment, set '0', taking the rolling condition of material into consideration.
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Chap. 3 Parameter Setup
á Brake Operation Condition Setting (BRK_TIME, BRK_DLY, BRK_RPM)Group Default
BRAKE
1) Start to brake when speed down to BRK_RPM before BRK_DLY. (*1)
3) Perform the brake run from Servo OFF to Motor Stop
4) It does not move during BRK_TIME after Servo ON even Move Command is applied.
0
0
2000
BRK_DLY
Name Contents Setting range
0~1000 (ms)BRK_TIME
0~1000 (ms)
2000~3000 (RPM)BRK_RPM
Waiting time until first moving after Servo ON
Maximum time keeping Brake Run after Servo OFF
Motor Speed to run Brake after Servo OFF
2) Start to brake when speed does not go down below than BRK_RPM even passing over BRK_DLY regardless speed. (*2)
¡á Procedure to set SERVO ¡æ BRAKE ¡æ BRK_TIME, BRK_DLY, BRK_RPM
Description
3> BRAKE
¼º̧ON
BRK_TIME
À ̵¿µ¿ÀÛ°¡́É
¼º̧OFF
BRK_RPM
°ü¼ºÀÌÅ«º ÎÇ Ï
°ü¼ºÀÌÀÛÀºº ÎÇ Ï
BRK_DLY
*1 *2
½Ã°£
À̵¿̧í·É
¼ÓµµSpeedLow inertia load
High inertia loadMove
Command
BrakeOFF
Servo ON Servo OFF
Time
Brake OFFBRK-TIME
BRK-DLY
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Chap. 3 Parameter Setup
á Setting up the operation field (MIN_LMT, MAX_LMT)Group Name
MIN_LMT -99999.999~99999.999 -99999.999
MAX_LMT -99999.999~99999.999 99999.999
¡á Setting up the operation limit (LMT_RPM, LMT_TRQ)Group Default
LMT_RPM 3000
LMT_TRQ 300
Default
Name Contents Setting range
MECH1~10000 (RPM)
0~300 (%)
Set the Max. of operation speed
Limited torque value in poeration
Setting rangeContents
Min.coordinate value in the operation fieldMECH
Max.coordinate value in the operation field
¡á The equipment parameter is data related to the motor and machinery. Be careful for the fact that tampering with wrong values may damage the equipment.
¡á Procedure to set MECH ¡æ MIN_LMT, MAX_LMT, LMT_RPM, LMT_TRQ, ORG_OFS, MOV_MOT, MOV_MECH, MOV_POL, MPG_MOV0, MPG_PLS0, MPG_MOV1, MPG_PLS1, T_CYCLE
3-2-2. Parameter for MECH
¢Ñ
Description
¢Ñ Description
1) During the Robot operation, if the position command is beyond limits of this parameter, it is treated as an alarm.
2) This parameter value is ignored in the JOG and Origin operations, and the common area that can be calculated is used as a limit value among user's coordinate value and the number of encoder pulse. (-99999.999
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Chap. 3 Parameter Setup
á Setting up the user's the coordinate value(ORG_OFS, MOV_MOT,
MOV_MECH, MOV_POL)Group Default
MECH
MOV_MOT Rotation quantity of motor 1
MOV_MECH Movement quantity of machinery 10
MOV_POL
Name Setting range
1~10000
ORG_OFS
Contents
Coordinate value of orgin position in the user's coordinate system
1
Set the sign of User's coordinate system
(0: In clockwise rotation
of motor + movement)
0
(1: In counterclockwise rota -tion of motor - movement)
-99999.999~99999.999
1~10000
0~1
¢Ñ Description
1) The coordinate value of origin position is inputted in the ORG_OFS on the basis of coordinate system that the user wants.
2) The position of power input is used as ORG_OFS until the origin is searched.
3) At the time of machinery application without origin, it is convenient to fix 0 as a value of ORG_OFS.
4) MOV_MOT and MOV_MECH set up the movement quantity of the user's coordinate system and the ratio converting the number of encoder pulse.
Ex1) If the coordinate system of [mm] is used on machinery moving 10[mm] per 1 motor rotations, MOV_MOT is set to “1” and MOV_MECH is set to “10”.
Ex2) If the coordinate system of [°] is used on machinery moving 360,000[°] per 50 motor
rotations, MOV_MOT is set to “50” and MOV_MECH is set to “360”.
5) The available scope as a coordinate value of user's coordinate system is –99999.999 ~99999.999.
6) The operation of Servo uses encoder pulse number, and the available scope of encoder pulse number is -99999999¡ 99999999.
7)Though the allowable position value (No.4) in the user's coordinate system, if the pulse number about its position exceeds the limited area(No.5) it is treated as an alarm.
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Chap. 3 Parameter Setup
Group Setting range
MECH MPG_PLS0 1~10000
MPG_PLS1
MPG_MOV0 0.001~500.000
MPG_MOV1
0~10000.000
Contents
Input quantity of MPG pulse
¡á
Setting up the special movement condition(MPG_MOV0, MPG_PLS0, MPG_MOV1, MPG_PLS1, T_CYCLE)
Movement quantity of equipment partabout the inputted MPG pulse
The position value of user's coordinatesystem equivalent to a circle of machnery (Use in the MOVT command)
T_CYCLE
Default
1
0.001
0
Name
¢Ñ Description
1) By using MOVM of the Robot command, it can move into the fixed position using MPG pulse. At this time, the input frequency of MPG pulse should be lower than the movement speed fixed after (decel) accelerating lower than the acceleration & deceleration condition. If the acceleration & deceleration of MPG or the movement speed is larger than the fixed value, It is operated in the controller according to the fixed value. Also if the order value of MPG pulse exceeds the target position, it goes beyond to next program after moving until the target position.
ex) MOV_MOT=1, MOV_MECH=1, MPG_PLS0=1, MPG_MOV=1 are fixed, the motor
rotates one time by the MPG 1 pulse.
2) (MPG_PLS0, MPG_MOV0), (MPG_PLS1, MPG_MOV1) the selection of combination is determined according to the contact point input of MPG_RATE. If the contact point input of MPG_RATE is 0, select the MPG_PLS0, MPG_MOV0.
3) With MOVM among the Robot command the fixed position value is selected according to the contact point value IO_POS3¡ 0 among the P0¡ P15. It starts movement if the contact point of MOVT_ST becomes to 1.
4) From a machinery structure viewpoint moving into coordinate 360.000 returns to the same position.
If it is needed to move from the present position of 359.000 to 0.000, it needs to move -359.000 without regard to the rotation direction. But, since 0.000 and 360.000 are the same the desired position can be achieved by moving 1.000 only from 359.000. In this case if the value of T_CYCLE is fixed as 360.000, the controller make it move near position automatically at the time of MOVT command. However, this function is used at the time of using the incremental encoder only.
5) If a pipe or wire exists in the load, do not use it since the wiring may intertwined if T_CYCLE function is used.
6) If the value of T_CYCLE is set to 0.000, this function is not used.
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Chap. 3 Parameter Setup
Group Default
0
0
AUTO_ORG
MODE
0~1(1:PLC AUTO RUN)
0~1(1:ORG AUTO RUN)
In putting power-Origin auto-run
ContentsName
AUTO_PLC In putting power-PLC auto-run
¡á Setting up the auto-operation in putting power (AUTO_PLC, AUTO_ORG)
Setting range
¡á It sets up the controller movement related parameter such as the operation program selection and the origin operating method.
¡á It is devided into 4 group. (MODE, DFT, JOG, ETC)
¡á Procedure to set
OPER ¡æ MODE ¡æ AUTO_PLC, AUTO_ORG, S_MODE, ORG_RULE, MPG_MODE
3-2-3. Parameter for OPER
1> MODE
¢Ñ Description
1) If the value of AUTO_PLC is fixed as "1", the PLC program selected by PLC_PGM parameter is operated automatically at the time of power input. If the PLC program concerned is not programmed or there is error in the grammar, it is treated as an alarm. 2) If the value of AUTO_ORIGIN is fixed as "1", the movement of return to origin is operated automatically according to the method selected by ORIGIN_RULE parameter at the time of power input. When using the absolute encoder, this function does not operate.
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Chap . 3 Parameter Setup
¡ á Setting up the SOFT acceleration& deceleration (S_MODE)Group Default
3
0 : No filter
1 : 2 (msec)
7 : 191 (msec)
3 : 11 (msec)
4 : 23 (msec)
5 : 47 (msec)
6 : 95 (msec)
S_MODEMODE Selection of filter in the acceleration & deceleration
2 : 5 (msec)
0~7
contents Setting rangeName
¢Ñ Description
1) The acceleration & deceleration calculator can calculate the wave of the acceleration & deceleration by the set-up parameter to the target position.
The calculated velocity wave has a trapezoid shape. The stairs type
torque(acceleration & deceleration) is occurred by each corner of the trapezoid speed wave and owing to this the stairs-type torque, the vibration may be occurred in some equipment.
In order to soften this feature, the acceleration & deceleration time is fixed long or the value of S_MODE is arranged.
2) The filter operated by the S_MODE, is a first delay type filter.
3) Though there is a difference according to the set-up of the acceleration & deceleration time, if S_MODE is used, the time needs 4 times as the normal filter time constant to the motion additionally in comparison with the trapezoid
acceleration & deceleration. (Maximum 8 times)
4) If the delay by the S_MODE filter is exceeded excessively, the movement time may be reduced by extending the acceleration & deceleration time and by using the filter having a short time constant.
5) The S_MODE movement can be applied to the all movement commands.
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Chap. 3 Parameter Setup
á Setting up the method of return to origin(ORG_RULE)
Group Default
MODE RG_RULE 0
searching
for origin
Setting up the method of
Name Contents Setting range
0~16
0 : No searching for Origin 1,2 : CW switch 3,4 : CCW switch 5,6 : CWdirection, ORG switch 7,8 : CCWdirection, ORG switch 9,10 : CW¡æCCWdirection, ORGswitch 11,12 : CCW¡æCWdirection,ORGswitch
13,14 : CW Damper 15,16 : CCW Damper
¢º Odd: Last arriving position=Last Z phase pulse position + Value fixed in the ORG_OFS parameter. Last coordinate value is "0" .
¢º Even: Last arriving position=Last Z phase pulse position Last coordinate value is "ORG_OFS" set-up value.
¢Ñ Description
1) The final sign to be decided the originsi c(z) phase of encoder.2) The regular direction, from the point view of Servo motor, is the rotation direction at the time of moving in the order of U¡æV¡æW, and for the LG servo motor, it is CCW direction3) In using the CCW limit switch, install it at the end of the rotation of the regular direction. (CW is reverse direction.)4) The last origin position may be different in accordance with the operating method of odd(1,3,..15) and even(2,4..16) numbers.
5) In operating the origin, use the DFT_ACCand DFT_DEC as acceleration and deceleration time.
6) If the origin command is receive, it is converted into Servo ON automatically even at servo OFF.The servo ON/OFF can be determined using ORG_SV (OPER¡æETC¡æORG_SV) parameter after completing the origin operation.7) If the absolute encoder is fixed as a encoder(ENC_TYPE = 2), set up the origin by using the JOG function after moving until the Origin position. At this time, reset hardwarely the absolute encoder.8) If the absolute encoder is fixed as a encoder(ENC_TYPE = 2), the origin command by the contact point or the AUTO_ORG function is ignored, and the origin can be operated in the T/P only.
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Chap. 3 Parameter Setup
á Reference 3.3 ORIGIN RULE Explanation
¢ The method of detection origin about ORG_RULE 1 ~ 4
¢ The method of detection origin about ORG_RULE 5 ~ 8
¢Ñ For ORG_RULE 5, 7 , refer to the Description 4).
CCW limitswitch area
Z phase
CW limitswitch area
CW direction CCW direction
ORG_RULE= 2
ORG_RULE = 4
Moving to
ORG_SPD0
Moving toORG_SPD1
ORG_RULE= 1
ORG_RULE = 3
ORG_OFS
Moving asDFT_SPD to
ORG_OFS Origin positionORG_OFS
CCW limitswitch area
Z phase
ORIGINswitch area
CW limitswitch area
CW direction CCW direction
ORIGINERROR
ORIGINERROR
ORG_RULE= 6
ORG_RULE= 8
Moving asORG_SPD0
Moving asORG_SPD1
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Chap. 3 Parameter Setup
¢ The method of detection origin about ORG_RULE 9 ~ 12
¢ The method of detection origin about ORG_RULE 13 ~ 16
1) When ORG_RULE is 9 ~ 12, if the origin switch is not in the shuttle part of CW Limit switch and the CCW Limit switch it is treated as an alarm. 2) For ORG_RULE 9, 11, refer to the description 4).
1) For ORG_RULE 13, 15, refer to the Description 4). 2) If the torque occurs more than the value fixed in the parameter ORG_TRQ after colliding with the damper, it starts to rotate toward the reverse direction.
CCW limit
switch area
Z phase
ORIGIN
switch area
CW limit
switch area
CW direction CCW direction
ORG_RULE
= 10
ORG_RULE
= 12
Moving as
ORG_SPD0
Moving asORG_SPD1
CCW Damper area
Z phase
CW Damperarea
CW direction CCW direction
ORG_RULE= 14
ORG_RULE = 16
Moving asORG_SPD0
Moving asORG_SPD1
ORG_RULE= 13
ORG_RULE = 15
ORG_OFS
Moving asDFT_SPD
to ORG_OFS
Origin positionORG_OFS
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Chap. 3 Parameter Setup
á Setting up the method of operating MPG (MPG_MODE)
Group Default
Counterclockwise
A phase: Lead
B phase: Lag
¢¹ The max. allowable frequency of the input width is 400KHZ.
3
1
2
B phase
A phase
A phase
B phase
B phase
ContentsName
MODE
How to input MPG pulse
Set-up value
Setting range
0
Input pulse width
Clockwise
0~3
A phase
MPG_MODE
Remarks
A phase: clockwise
B phas: counterclock wise
A phase: pulse
B phase: direction
0 : Not operating MPG 1 : A (Lead) , B (Lag) pulse 2 : A pulse ¡æ clockwise, B pulse ¡æ counterclockwise 3 : A ¡æ input pulse, B ¡æ operation direction
1
¢Ñ
Description
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Chap. 3 Parameter Setu p
á Set-up JOG the jog operation(JOG)
Group Default
100
500
1000
JOG 3000
0.250
0.500
0.750
1.000
0~99999.999
Setting range
1~10000
: JOG_SPD0, JOG_SPD1, JOG_SPD2, JOG_SPD3, JOG_RES0, JOG_RES1, JOG_RES2, JOG_RES3
1 time transfer quantityat the time of Incremental
JOG movement
JOG_SPD0
JOG_SPD1
Name Contents
The movement speed of JOG
JOG_RES2
JOG_RES3
JOG_SPD2
JOG_SPD3
JOG_RES0
JOG_RES1
¡á Procedure to set OPER ¡æ JOG ¡æ JOG_SPD0, JOG_SPD1, JOG_SPD2, JOG_SPD3, JOG_RES0, JOG_RES1, JOG_RES2, JOG_RES3
2> JOG
¢Ñ
Description
1) A 4 step JOG speed can be used at the time of JOG operation. This value of movement speed is fixed by JOG_SPD0¡ 3 parameter.
2) If the value fixed by JOG_SPD0¡ 3 is 10,000, it is operated by the speed determined by the LMT_RPM (MECH¡æ LMT_RPM) parameter. The speed is determined in the value less than that in accordance with the ratio. (50% in case of 5,000)
3) The movement quantity about 1 time movement command is fixed by 4 steps at the time of IJOG operation. This movement quantity is inputted by the value of user's coordinate system.
4) The JOG movement may be stopped if it meets CW Limit switch during the operation of JOG/IJOG.
5) DFT_ACC and DFT_DEC is used as the acceleration & deceleration time at the time of JOG/IJOG operation.
6) If the JOG/IJOG command is received, it is converted into Servo ON automatically even at servo OFF. The servo can be ON/OFF by using JOG_SV parameter after completing JOG/IJOG operation.
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Chapter 3. Parameter Setup
á Set- up the basic movement condition(DFT_SPD, DFT_ACC,DFT_DEC)Group Default
1~10000 1000
DFT 1~500 (10ms) 20
1~500 (10ms) 20
Setting range
DFT_ACC
DFT_DEC Value of basic deceleration time
Value of basic acceleration time
Name Contents
Value of basic movement speedDFT_SPD
¡á Procedure to set OPER ¡æ DFT ¡æ DFT_SPD, DFT_ACC, DFT_DEC,ORG_SPD0, ORG_SPD1, IO_SPD0, IO_SPD1, IO_SPD2, IO_SPD3
¢Ñ Description
3> DFT
1) If the Robot program is operated, the speed fixed in the DFT_SPD is used as movement speed until speed set-up is changed using SPD command. To resume the Robot operation after stopping it temporarily, the speed value before the suspension is used, DFT_SPD is used in case when the program is started from the
beginning.
2) If the value fixed by DFT_SPD is 10000, it is operated by the speed determined by LMT_RPM (MECH->LMT_RPM) parameter. The speed in the value less than that is determined in accordance with the ratio. (50% in case of 5,000)
3) The value of acceleration time fixed by DFT_ACC is used in case when the Robot program is started from the beginning, when it is moved with Jog and when the origin is operated.
4) The value of DFT_ACC is the time value necessary for accelerating until MAX_RPM
(SERVO -> AMP/MOT-> MAX_RPM)If this value is 10, it is accelerated as much 0.10 [sec].
5) The value of deceleration time fixed by DFT_DEC is used if the Robot program is started from the beginning, when it is moved with Jog/IJog, and when the origin is operated.
6) The value of DFT_DEC is the time value necessary for decelerating until MAX_RPM. If this value is 10, it is decelerated as much 0.10 [sec].
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Chapter 3. Parameter Setup
á Set-up the origin moving speed(ORG_SPD0, ORG_SPD1)
Group Default
The moving speed until confirming the last
port at the time of operating the origin
The moving speed from the last port to the Z
phase at the time of operationg the origin
DFT
ORG_SPD1
Setting range
500
1000
1~10000
Name Contents
ORG_SPD0
¢Ñ
Description
1) In origin operation, it is moved by ORG_SPD0 speed until the last contact point and moved by ORG_SPD1 speed until Z phase position.
2) If user selects ORG_RULE(OPER->MODE->ORG_RULE) moving into the fixed ORG_OFS(MECH ->ORG_OFS), it is moved by DFT_SPD(OPER-> ¡@ DET->DET_SPD) from Z phase position to the onset.
3) If the value fixed by ORG_SPD0¡ 1 is 10000, it is operated by the speed determined by LMT_RPM(MECH ->LMT_RPM) parameter.
The speed in the value less than that is determined in accordance with the ratio. (50% in case of 5,000)
4) DFT_ACC and DFT_DEC is used as the acceleration & deceleration time at the time of operating the origin.
5) If the origin command is received, it is converted into Servo ON automatically even at servo OFF. The servo can be ON/OFF by using ORG_SV(OPER ->ETC->ORG_SV) parameter after completing the origin operation.
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Chapter 3. Parameter Setup
á Set-up the operation speed with the contact point(IO_SPD0, IO_SPD1,IO_SPD2,IO_SPD3)
Group Default
500
1000
1500
2000
IO_SPD1
IO_SPD1 IO_SPD0 Selected speed value
Moving speed in case the speed is fixed by SPD IOSPD during the operation of Robot program
Setting range
DFT
OFF (0)
IO_SPD2
IO_SPD3
IO_SPD0
1~10000
IO_SPD3
IO_SPD0
IO_SPD1
IO_SPD2
Name Contents
ON (1)
ON (1)
OFF (0)
ON (1)
OFF (0)
ON (1)
OFF (0)
¢Ñ Description
1) This function is used with the contact points IOSPD1, IOSPD0.
2) If the commands IOSPD1, IOSPD0 exist in Robot program operation according to the contact point of IOSPD1, IOSPD0 when the command is operated, it is used as movement speed later by selecting one of the speed values from IO_SPD0¡ IO_SPD3.
3) If the value fixed by IO_SPD0 ¡ 3 is 10,000, it is operated by the speed determined by LMT_RPM(MECH->LMT_RPM) parameter. The speed in the value less than that is determined in accordance with the
ratio. (50% in case of 5,000)
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Chapter 3. Parameter Setup
á Set-up the condition of Servo operation
Group Default
Standard for the occurrence of excesive 10.00
error about the movement deflection
ROB_PGM Select the Robot program to be operated 0
PLC_PGM Select the PLC program to be operated 0
INI_TRQ The initial torque in case of Servo ON 0
JOG_SV The selection of Serbo On/Off after a JOG/IJOG 0
ORG_SV The selection of Serbo On/Off after a Origin 0
ORG_TRQ The torque when operation the Damper Origin 50
MY_ID 422 Multi point communication ID setting 0
BIT RATE 422 Multi point communication speed setting 0
BCD_READ Decide if BCD DATA is applied 0
BACKLASH BACKLASH compensation 0
DATA MODE Decide a option of DATA storage 0
USER MODE Set- up the user's Mode 0
SENSOR Set- up the type of sensor 11
-300~300 (%)
0~999
0~99
0~3
0,1
-99999.999~99999.999
0,1
Name Contents
FLO_ERR
ETC.
Setting range
0 ~ 8
0.001~10000.000
: FLO_ERR, INPOS, INI_TRQ, JOG_SV, ORG_SV, ORG_TRQ, MY_ID BIT RATE, BCD READ, BACKLASH,DATA MODE,USER MODE,SENSOR
0~255
50~200 (%)
0~1
0~1
INPOSThe error scope estimated the movementis completed
0.001~99999.999 0.05
0~4
¡á Procedure OPER ¡æ ETC. ¡æ FLO_ERR, INPOS, ROB_PGM, PLC_PGM, INI_TRQ, JOG_SV, ORG_SV,ORG_TRQ, MY_ID BIT RATE, BCD_READ, BACKLASH, Data Mode, User Mode,Sensor
4> ETC
¢Ñ
Description
1) The trapezoid type acceleration & deceleration movement is used in every movement. The Servo control part calculates internally the trapezoid type acceleration & deceleration wave, and it controls the servomotor in accordance with the calculated position and speed. If the gain of controller is fixed wrong or there is a wiring error, the large error occurs between the calculated position and the servo position. In this case, FLO_ERR value is used as a deflection standard value.
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Chapter 3. Parameter Setup
OFF (0)
PGM_SEL2
ON (1)
ON (1)
ON (1)
OFF (0)
PGM_SEL1
OFF (0)
PGM_SEL0 Selected Robot Program
OFF (0)
OFF (0)
OFF (0)
OFF (0)
ON (1)
ON (1)
ON (1) ON (1)
OFF (0)
ON (1)
ON (1)
OFF (0)
ON (1)
OFF (0)
ON (1)
OFF (0)
ON (1)
OFF (0)
NO. 7
NO. 0
NO. 1
NO. 2
NO. 3
NO. 4
NO. 5
NO. 6
2) About the various movement operation command, if the difference between the position of servo motor and the position of target is included within the
value fixed with INPOS it is perceived as the state which arrives to the position (IN POSITION). The INPOS value is used as a standard for the completion of movement in operation of Robot program (In case of FOS 100). The INPOS and FLO_ERR value uses the unit of user's coordinate system.
3) If the ROB_PGM value selected is between 0¡ 7, the program starting first by the command of Robot run is fixed by value determined in this parameter. If the ROB_PGM value selected is 8, the Robot operation program number is selected by the contact point value PGM_SEL2 PGM_SEL1 PGM_SEL0 when the contact point value PGM_SEL2 is 0¡æ1.
4) The program number operated by the PLC run command is selected by PLC_PGM value.
5) INI_TRQ is used for the restraint of initial drooping state at the time of converting to servo movement after loosing the brake in case of the gravity load. If it is fixed as the negative number(‘-‘) it becomes a reverse torque. It can be fixed from -300 to 300[%] on the basis of the rated torque.
6) If JOG_SV is fixed as "1", it maintains Servo ON state after moving into JOG and IJOG commands, and if this is fixed as "0", It becomes Servo OFF state after moving.
7) If ORG_SV is fixed as "1", it maintains Servo ON state after operating the Origin and if this is fixed as "0", It