RCS Controller.pdf

8/18/2019 RCS Controller.pdf

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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

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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

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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

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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

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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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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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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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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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á Large Capacity Size (RCS-6015 ~ 6045)

ROBOSTAR

RCS-6000

1-5


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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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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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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

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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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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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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)

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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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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

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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

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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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¡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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¡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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¡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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¡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'

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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

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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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¡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

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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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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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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.

2-5


34/177


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)

2-6


35/177


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)

2-7


36/177


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

2-8


37/177


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

2-9


38/177


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

2-10


39/177


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

2-11


40/177


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

2-12


41/177


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

2-13


42/177


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

2-14


43/177


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

2-15


44/177


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

2-16


45/177


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

2-17


46/177


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·ÎÁÖÀÇÇÏ½Ê½Ã¿À.

+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

2-18


47/177


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)




diagram)



diagram)

2-19


48/177

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· Â Ãâ· Â

+24VoutG24

+24VoutG24

+24VoutG24

CW

CCW

ORG

CW

CCW

ORG

CW

CCW

ORG

ÁÖ) Ç ¥½ Ã¾ÈÂÊ ÀºÄ ÁÆ®·Ñ· ³̄»º Î ÀÓ

Ãâ· Â±̧µ¿Àü·ù́ ÂÃÖ́ë80mA ÀỐḮÙ

10k (ÀÌÇÏ»ý·«)

ÀÏ¹Ý½º À§ Ä¡¶Ḉ Â¼¾¼-Á¢¼Óµµ

±̧µ¿Àü¿ø ÀÌÇÊ¿äÇÑ¼¾¼-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)




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

2-20


49/177

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 ¿ ©ÁÖ½Ê½Ã¿À

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

2-21


50/177

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

3-1


51/177


¡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


52/177


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

3-3


53/177


¢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.

3-4


54/177


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

3-5


55/177


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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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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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 overshoot 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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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 Ìµ¿µ¿ÀÛ°¡́É

¼º̧OFF

BRK_RPM

°ü¼ºÀÌÅ«º ÎÇ Ï

°ü¼ºÀÌÀÛÀºº ÎÇ Ï

BRK_DLY

*1 *2

½Ã°£

ÀÌµ¿̧í·É

¼ÓµµSpeedLow inertia load

High inertia loadMove

Command

BrakeOFF

Servo ON Servo OFF

Time

Brake OFFBRK-TIME

BRK-DLY

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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


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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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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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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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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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


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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á Reference 3.3 ORIGIN RULE Explanation

¢ The method of detection origin about ORG_RULE 1 ~ 4


¢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


ORIGINERROR

ORIGINERROR

ORG_RULE= 6

ORG_RULE= 8

Moving asORG_SPD0

Moving asORG_SPD1

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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


ORG_RULE

= 10

ORG_RULE

= 12

Moving as

ORG_SPD0

Moving asORG_SPD1

CCW Damper area

Z phase

CW Damperarea


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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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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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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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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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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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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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

Documents

RCS Controller.pdf