ME0321-2A

Transcription

ME0321-2A

6. How to read the model No.
Series
Encoder
type
Type
X-axis
Contents
Y-axis
Contents
Z-axis
Contents
External Dimensions
Extension Extension Extension I/O Cable Power Supply
I/O Slot I/O Slot 1 I/O Slot 2
length
Cable Type Option
[TTA-A2-2020]
55
2-φ5 H7 Depth 5
IA-101-TT-USB
USB→USB*1
4
Teaching pendant
SEL-T
–
5
Teaching pendant (with deadman switch)
SEL-TD
–
6
Teaching pendant
IA-T-X
–
7
Teaching pendant (with deadman switch)
IA-T-XD
–
The communication port on the left is for the personal computer and on the right is for the TTA.
4. Instruction Manuals related to this product, which are contained in the DVD.
No.
1
2
3
4
5
6
7
8
Name
Table Top Type Robot TT Instruction Manual
PC software IA-101-X-MW Instruction Manual
Teaching pendant SEL-T/TD Instruction Manual
Teaching pendant IA-T-X/XD Instruction Manual
DeviceNet Instruction Manual
CC-Link Instruction Manual
PROFIBUS-DP Instruction Manual
EtherNet/IP Instruction Manual
5. How to read the model plate
Actuator model
Manufacturing number
Manual No.
ME0320
ME0154
ME0183
ME0160
ME0124
ME0123
ME0153
ME0308
4.5
ME
110
90
(Reamer Pitch
Tolerance ±0.02)
76
5
2-φ5 H7 Depth 5
305
S
6-M5 Depth 7
Yst: 300
(501)
70
HOME
50
100
110
6-M4 Depth 7
4.5
Detail Diagram S (Detail of X-Axis Slider)
35
55
5
1.5
2-φ5 H7 Depth 5
SE
4.3
7.3
ME
583.7
Profile of T-Groove on Frame
35
[Individual Mechanism Specifications]
X Axis
2-Axis
3-Axis
*2
200
300
400
500
200
300
400
500
155
417
T-Groove ×2
(Same Profile on Opposite Side of Frame)
TTA-A2-I-2020
TTA-A2-I-3030
TTA-A2-I-4040
TTA-A2-I-5050
TTA-A3-I-2020
TTA-A3-I-3030
TTA-A3-I-4040
TTA-A3-I-5050
X View
27.5
20.5
27.5
25
T-Groove ×2
110
57
5
ME HOME
120
80
25
Xst: 300
63
25
5
SE ME
27.5
T-Groove ×2
440
501
T-Goove (Same Profile on Opposite Side)
X View
(T-Groove on Side of Main Unit)
[TTA-A2-4040]
55
112
[Controller Specifications]
Specifications
2-axis
3-axis
AC100 to 230V ±10%
50Hz/60Hz ±5%
1.2A
15A (AC100V), 30A (AC200V)
0.75mA or less
1500V AC for 1min.
20ms or more
1 to 300mm/sec
0.01G to 0.3G
Super SEL language
255 programs (16 programs)
9999 steps
30000 positions (10000 points for system memory backup)
Special Digital Switch + Special Start Switch
Flash ROM + SRAM
16 Input Points / 16 Output Points
DeviceNet/CC-Link/PROFIBUS/EtherNet/IP
178.5
Dial for Y-Slider Position Tuning
U
X Axis : 0.2G, Stroke 300mm or less Y Axis : 0.4G, Stroke 700mm or less X Axis : 0.2G, Stroke 100mm
or less
Item
Number of axes
Supply voltage
Power frequency
Current Consumption
Rush Current Note 2
Leakage Current
Insulation Strength
Momentary Power Interruption
Speed Setting
Acceleration Setting
Program language
Number of programs (Number
Number of program steps
Number of positions
Program Startup
Data storage device
Standard I/O Board
Applicable Field Bus
6-M5 Depth 7
30
60
4-M4 Depth 7
70
Detail Diagram U (Detail of Y-Axis Slider)
595.5
60
Model
125
Max. Speed for
Max. Load
Max.
Each Axes
Capacity [kg] *2
Weight
acceleration/
[mm/sec]
[kg]
deceleration
X
Y
Z
speed [G] X Axis Y Axis Z Axis
Y Axis Z Axis
Axis Axis Axis
200
–
–
24.0
300
–
–
31.0
400
–
–
37.0
X, Y axis：0.4
500
–
–
44.0
800 800
20
10
5
Z axis：0.2
200
100/150
27.0
300
100/150
34.0
400
400
100/150
40.0
500
100/150
47.0
Stroke [mm]
Type
ME
HOME
S
6-M5 Depth 7
50
6-M4 Depth 7
100
110
35
4.3
7.3
2-φ5 H7 Depth 5
405
2-φ5 H7 Depth 5
35
70
(Reamer Pitch
Tolerance ±0.02)
80
PC Software (with USB Cable + Dummy Plug)
55
112
45
3
[TTA-A2-3030]
110
90
(Reamer Pitch
Tolerance ±0.02)
USB→RS232C*1
Specifications
0 to 40°C, Room Humidity 20 to 85% or less
76
IA-101-X-USBMW
X View
T-Groove (Same Profile on Opposite Side)
5
PC Software
(USB conversion adapter + RS232C cable +
Cable and Emergency Stop Box)
27.5
25
70
2
63
5
SE ME
340
401
Yst: 400
RS232C→RS232C*1
Xst: 200
T-Groove ×2
5
IA-101-X-MW
57
110
5
ME HOME
55
1
PC Software
(with RS232C Cable + Emergency Stop Box)
T-Groove
×2
25
30
Pulse Motor (Servo Control)
Incremental Encoder
Ball Screw (X, Y-axis : φ12mm Z-axis : φ10mm Rolled C10)
Driving System
Ball Screw Lead X, Y-axis : 24 or equivalent, Z-axis : 12mm
± 0.02mm
Positioning Repeatability
Backlash
0.1mm or less
Direct Driven Infinite Circulation Type
Guide
X-axis：Ma:15.9N･m
Mb:15.9N･m
Mc:32.0N･m
Y-axis：Ma:12.6N･m
Mb:12.6N･m
Mc:37.4N･m
Allowable Load Moment * 1
Z-axis：Ma: 9.7N･m
Mb:9.7N･m
Mc:20.5N･m
* 1 Value found on the assumption of the life of 5000km run
TT-FT
Reference
27.5
20.5
(601)
*1
X View
SE
ME
683.7
6-M5 Depth 7
30
60
70
695.5
60
517
205
178.5
4-M4 Depth 7
T-Groove ×2
U
X View
27.5
20.5
25
175
Main Body Mounting Bracket (with set bolts and nuts)
3. Teaching Tool (Option)
The personal computer application software or teaching pendant is required for the
operations including program creation and setup such as position setting and parameter
setting with teaching. Use either of them.
Model
Main-unit bracketequipped type
(with 6 pieces of brackets)
AP Support added for 2020 type
OS Detachable operation unit type
FT6
4-M4 Depth 7
U
4.5
1
1
1
1
Model
Part Name
[Common Specifications]
Item
Surrounding air
temperature/humidity
Motor Type
Position detection method
30
60
70
178.5
Main-unit bracketequipped type
1.5
1
Part Name
No.
Home position
confirmation sensor
Reversed-home
specification
Y-axis mounting position 180mm forward
165
1
HS
F2
FT4 (with 4 pieces of brackets)
362
1
2. Optional Components
No.
Brake (Nomal)
317
105
32
I/O Flat Cable
First Step Guide
Instruction Manual (DVD)
Safety Guide
Z-axis option
6-M5 Depth 7
495.5
60
125
3
4
5
6
AP-400-C
(Supplier : Yamate Electric Co., Ltd.)
CB-DS-PIO020
Z-axis stroke
Home position
confirmation sensor
Reversed-home
specification
Y-axis mounting position 90mm forward
45
HS
F1
2-φ5 H7 Depth 5
70
(Reamer Pitch
Tolerance ±0.02)
80
Y-axis option
H2 Y-axis mounting position height 100mm up
125
Y-axis stroke
H1 Y-axis mounting position height 50mm up
165
(*) Released Soon
362
EP EtherNetI/P connection board
215
Power Supply Plug
Reference
35
483.7
412
2
Quantity
SE
ME
T-Groove ×2
130
27.5
170
57
110
5
ME HOME
25
Xst: 400
32
1. Parts
4.3
7.3
Basic Specifications
This product is comprised of the following parts if it is of standard configuration.
If you find any fault in the contained model or any missing parts, contact us or our distributor.
Model
Refer to “How to read the model plate”,
“How to read the model No.”
Power supply cable
for 200V AC (2m)
DV DeviceNet connection board
PR PROFIBUS-DP connection board
Product Check
Part Name
Controller Main Body
1
(with a built-in controller)
Accessories
Extension I/O Board
(PNP type) (*)
50
100
110
6-M4 Depth 7
CC CC-Link connection board
• Using or copying all or part of this Operation Manual without permission is prohibited.
• The company names, names of products and trademarks of each company shown in the sentences
are registered trademarks.
No.
PN
Home position
confirmation sensor
Reversed-home
specification
6-M5 Depth 7
80
70
(Reamer Pitch
Tolerance ±0.02)
35
HS
S
45
70
(401)
X-axis option
Only with plug on main unit side
Power supply cable
for 100V AC (2m)
1.5
X-axis stroke
Not use
Extension I/O Board
NP
(NPN type) (*)
55
5
E
Yst:200
Incremental
32
Warning : Operation of this equipment requires detailed installation and operation instructions
which are provided on the DVD Manual included in the box this device was
packaged in. It should be retained with this device at all times.
A copy of the DVD Manual can be requested by contacting your nearest IAI Sales
Office listed at the back cover of the Instruction Manual or on the First Step Guide.
ME
HOME
125
Thank you for purchasing our product.
Make sure to read the Safety Guide and detailed Operation Manual (DVD) included with the product in
addition to this First Step Guide to ensure correct use.
This Operation Manual is original.
None
110
90
(Reamer Pitch
Tolerance ±0.02)
Second Edition
NPN type
PNP type
205
63
5
SE ME
25
27.5
T-Groove
×2
125
First Step Guide
Gate Type
with 2-axis
Gate Type
with 3-axis
76
5
Table Top Type Robot TTA
112
540
601
X View
[TTA-A3-4040]
[TTA-A2-5050]
55
Installation and Noise Elimination
2-φ5 H7 Depth 5
55
100
110
2-φ5 H7 Depth 5
61
5
1.5
SE
ME
746.8
695.5
60
462
205
137.2
78.5
5
178.5
63
5
SE ME
T-Groove
×2
X View
47
5
Xst: 500
27.5
27.5
130
25
Detail Diagram U
(Detail of Z-Axis Slider)
SE
ME
75.5
27.5
170
25
T-Groove ×2
(Same Profile on
Opposite Side of Frame)
Xst:400
57
110
5
ME HOME
25
63
5
SE ME
27.5
T-Groove
×2
32
125
Dial for Y-Slider
Position Tuning
ME
HOME
T-Groove ×2
143
57
110
5
ME HOME
220
25
32
412
T-Groove ×2
180
U
25
Zst=100:585.5
Zst=150:635.5
Zst=100:320
Zst=150:370
20.5
27.5
25
175
215
27.5
Zst+185.5
Zst:100
Zst:150 60
T-Groove ×2
U
X View
2-φ5
H7 Depth 5
60
50
25
6-M5
Depth 7
4-M4
Depth 7
30
60
70
617
255
120mm or more
35
(Reamer Pitch
Tolerance ±0.02)
4-M5
Depth 7
4-M4
Depth 7
783.7
795.5
60
30
35
SE
ME
70
(Reamer Pitch
Tolerance ±0.02)
80
55
5
1.5
4.3
7.3
6-M4 Depth 7
43
4.3
7.3
1. There is a cooling vent hole on the main body’s rear panel section. Do not close the vent
hole when the main body is installed.
2. When it required to fix the main body, fix it as follows using the optional mounting brackets
(Model TT-FT: 4 sets with secure bolts and nuts).
User supplied bolts to secure the brackets
to the mounting surface or table.
50
100
110
6-M5 Depth 7
S
4.5
35
350
110
90
(Reamer Pitch
Tolerance ±0.02)
45
82
5
50
6-M4 Depth 7
S
Yst: 500
58
6-M5 Depth 7
2-φ5 H7 Depth 5
Dial for Z-Slider
Position Tuning
ME
HOME
(601)
Yst: 400
HOME
70
112
45
ME
4.5
(701)
505
110
90
(Reamer Pitch
Tolerance ±0.02)
76
5
112
640
701
125
3. Protective Ground
X View
540
601
(12)
X View
Rear Panel Section
[TTA-A3-2020]
[TTA-A3-5050]
55
2-φ5 H7 Depth 5
43
4.5
61
5
2-φ5 H7 Depth 5
Zst=100:585.5
Zst=150:635.5
Zst=100:320
Zst=150:370
27.5
T-Groove
×2
25
Xst:200
60
50
25
30
U
X View
ME
63
5
SE ME
137.2
Zst+185.5
Zst: 100
47 Zst: 150 60 78.5
5
5
60
SE
57
110
5
ME HOME
93
30
562
255
Detail Diagram U
75.5
T-Groove
×2
25
SE
ME
795.5
60
32
27.5
4-M4
Depth 7
846.8
Dial for Y-Slider
Position Tuning
ME
HOME
Zst: 100
Zst: 150
Zst+185.5
78.5
5
137.2
47
5
Zst=100:270
Zst=150:320
X View
Zst=100:535.5
Zst=150:585.5
U
25
57
110
5
ME HOME
220
Xst:500
4. Noise Elimination Grounding (Frame Ground)
Connect it using a soft copper wire with the diameter of 1.6 mm or more to the frame ground
on the main body (Refer to the above figure).
Do not share the ground wire with or connect to other equipment. Ground each controller.
The same procedure is applied for the protective ground.
Table Top TT
75.5
27.5
25
T-Groove ×2
(Same Profile
on Opposite
Side of Frame)
63
5
SE ME
25
Other equipment
Table Top TT
Other equipment
Other equipment
27.5
T-Groove
×2
125
125
32
180
Grounding resistance at 100Ω or less
Detail Diagram U
SE
ME
T-Groove ×2
27.5
Dial for Y-Slider
Position Tuning
ME
HOME
Frame Ground
(Reamer Pitch
Tolerance ±0.02)
43
60
50
25
262
105
S
4-M5
Depth 7
4.3
7.3
1.5
30
546.8
60
50
100
110
6-M4 Depth 7
35
2-φ5 H7 Depth 5
4-M4 Depth 7
495.5
Connect it using a soft
copper wire with the
diameter of 1.6mm or more
6-M5 Depth 7
143
61
5
35
(Reamer Pitch Tolerance ±0.02)
4-M5 Depth 7
110
90
(Reamer Pitch
Tolerance ±0.02)
45
82
5
58
(701)
110
SE
ME
HOME
100
6-M4 Depth 7
ME
2-φ5H7 Depth 5
50
6-M5 Depth 7
S
55
450
Yst:500
58
(401)
ME
Yst:200
4.5
Dial for Z-Slider
Position Tuning
112
HOME
4.3
7.3
1.5
150
110
90
(Reamer Pitch
Tolerance ±0.02)
45
82
5
112
Dial for Z-Slider
Position Tuning
340
401
X View
(12)
640
701
[TTA-A3-3030]
Dial for Z-Slider
Position Tuning
55
ME
HOME
(501)
110
50
Yst: 300
4.5
2-φ5 H7 Depth 5
90
(Reamer Pitch
Tolerance ±0.02)
45
250
58
82
5
112
6-M5 Depth 7
S
100
110
6-M4 Depth 7
1.5
4.3
7.3
43
61
5
4-M5
Depth 7
4-M4
Depth 7
SE
ME
35
(Reamer Pitch
Tolerance ±0.02)
2-φ5 H7 Depth 5
595.5
155
137.2
Zst+185.5
Zst: 100
Zst: 150
60
78.5
5
362
47
5
Zst=100:270
Zst=150:320
Dial for Y-Slider
Position Tuning
ME
HOME
Detail Diagram U (Detail of Z-Axis Slider)
SE
ME
25
80
57
110
5
ME HOME
120
Xst:300
75.5
27.5
25
T-Groove ×2
(Same Profile
on Opposite
Side of Frame)
T-Groove ×2
25
27.5
63
5
SE ME
32
27.5
93
T-Groove ×2
125
X View
Zst=100:535.5
Zst=150:585.5
U
60
50
25
60
30
646.8
X View
440
501
(12)
(12)
X View
Installation Environment
Do not use this product in the following environment.
• Location where the surrounding air temperature exceeds the range of 0 to 40°C
• Location where condensation occurs due to abrupt temperature changes
• Location where relative humidity exceeds 85%RH
• Location exposed to corrosive gases or combustible gases
• Location exposed to significant amount of dust, salt or iron powder
• Location subject to direct vibration or impact
• Location exposed to direct sunlight
• Location where the product may come in contact with water, oil or chemical droplets
• Environment that blocks the air vent [Refer to Installation and Noise Elimination Section]
When using the product in any of the locations specified below, provide a sufficient shield.
• Location subject to electrostatic noise
• Location where high electrical or magnetic field is present
• Location with the mains or power lines passing nearby
5. Precautions Regarding wiring Method
Separate the I/O cable, communication line and power / driving cable each other
6. Noise Sources and Elimination
Carry out noise elimination measures for power
devices on the same power path and in the same
equipment. The following are examples of
measures to eliminate noise sources:
1) AC solenoid valves, magnet switches and relays
[Measure] Install a Surge Absorber parallel with
the coil.
2) DC solenoid valves, magnet switches and
relays
[Measure] Install a diode parallel with the coil.
Use a DC relay with a built-in diode.
Surge Absorber
R
Relay
Coil
C
Relay Coil
0V
+24V
+
+24V
−
0V
I/O Circuit diagrams
Wiring Diagram
Pin
No.
Electric
wire color
Port
No.
Function at Standard
Setting (when delivered)
1B
Brown 3
316
General-purpose output
Front Panel Wiring Layout
Teaching Pendant
(Option)
Model:
SEL-T/TD
IA-T-X/XD
TB-01 (Released Soon)
PC Connection Cable
(Enclosed in PC Software)
Model: CB-ST-E1MW050 (5m)
CB-SEL-USB030 (3m)
PC Software
(Option)
Model:
IA-101-X-MW
IA-101-TT-USB
IA-101-X-USBMW
Back Panel Wiring Layout
IO Flat Cable (Accessories)
Variety of Field Network (Options)
Model: CB-DS-PIO020
Emergency
Stop Switch
(Released
Electromagnet
ic Contactor
AC100 to 230V
Select from those below
for power supply cable
• Only with plug on main
unit side
• Power supply cable
for 100V AC (2m)
• Power supply cable
for 200V AC (2m)
Protective
Grounding
Enable
Switch
Extension Standard I/O
I/O Slot
Service Power
Supply Connector
I/O Signal
319
5B
Green 3
320
6B
Blue 3
321
7B
Purple 3
322
8B
Gray 3
323
9B
White 3
324
10B
Black 3
325
11B
Brown 4
326
12B
Red 4
327
13B
Orange 4
328
14B
Yellow 4
329
15B
Green 4
330
16B
Blue 4
331
17B
Purple 4
–
18B
Gray 4
–
19B
White 4
–
Black 4
I /O power supply 0V
–
I /O power supply 0V
Parameter name
Brown 1
Red 1
Orange 1
Yellow 1
–
I /O power supply+24V
I /O power supply+24V
–
Output function selection 301*5
Output function selection 301 (area 2)
0: General-purpose output
1: READY output (PIO trigger program can be run)
2: READY output (PIO trigger program can be run and error of
operation-cancellation level or higher is not present)
3: READY output (PIO trigger program can be run and error of
cold-start level or higher is not present)
48
333
1: Emergency stop output (ON)
2 :Emergency stop output (OFF)
49
334
0:General-purpose output
1: AUTO mode output
2: Output during automatic operation (The setting to “1“ the other
parameter No.12)
50
335
1: Output if all valid axes are at home (= 0)
2: Output if all valid axes completed home return (coordinates
confirmed)
3: Output if all valid axes are at preset home coordinates
51
336
Output function selection 305
2: Axis 1 in-position output
52
337
53
338
54
339
55
340
RD
56
341
WT
57
342
58
343
59
344
60
345
61
346
Green 1
016
General-purpose input
Blue 1
017
7A
Purple 1
018
8A
Gray 1
019
020
Parameter name
Function
30
Input function selection 000※2
1: Program Start
31
Input function selection 001
0: General-purpose input
1: Software reset signal
32
1: Servo ON signal
33
1: Program Automatic Start runs with power-on
reset / software reset in AUTO Mode
2: Auto-start program signal
34
1: All servo axis soft interlock (OFF level)
35
1:Operation-pause reset (ON edge)
36
1: Operation-pause reset signal (OFF level)
10A
Black 1
021
37
11A
Brown 2
022
38
1: Program number specification (Bit 2)
12A
Red 2
023
39
13A
Orange 2
024
40
14A
Yellow 2
025
41
15A
Green 2
026
16A
Blue 2
027
17A
Purple 2
028
42
43
18A
Gray 2
029
44
19A
White 2
030
45
20A
Black 2
031
L
※3
1: Program number specification (LSB)
1: Program number specification (MSB: Bit 7)
2: Error reset (ON edge)
No treatment
conducted
B
No treatment
conducted
1A
A
20B
1B
Half Pitch MIL Socket
HIF6-40D-1.27R (Hirose Electric)
Flat Cable (20-core) × 2
Signal
Name
1A
2A
3A
4A
5A
6A
7A
8A
9A
10A
11A
12A
13A
14A
15A
16A
17A
18A
19A
20A
24V
24V
IN0
IN1
IN2
IN3
IN4
IN5
IN6
IN7
IN8
IN9
IN10
IN11
IN12
IN13
IN14
IN15
Input Section
Item
Input Voltage
Type
24V DC ±10%
7mA / per output
Type Input Current
ON/OFF
Voltage
Item
Load Voltage
MAX. load
current
Voltage
NPN ON
OFF Voltage
ON
PNP OFFVoltage
Voltage
:MIN. DC16V
:MAX. DC5V
:MIN. DC8V
:MAX. DC19V
DeviceNet
[Refer to the instruction manuals for DeviceNet]
Monitor LED Monitor LED
LED
Cable
Color
Wiring
○ Ｘ, ×OFF, ☆Flashing
Indication
Status
○
☆
Color
green
Orange
NS
☆
☆
(Illuminated
by turns)
×
○
green /
Orange
None
-
BL
BK
Brown-1
Red-1
Orange-1
Yellow-1
Green-1
Blue-1
Purple-1
Gray-1
White-1
Black-1
Flat Cable A
Brown-2 (Press Welding)
Red-2
Orange-2
Yellow-2
Green-2
Blue-2
Purple-2
Gray-2
White-2
Black-2
Load
Load
green
☆
DeviceNet
Communication
Connector
No.
Signal
Name
1B
2B
3B
4B
5B
6B
7B
8B
9B
10B
11B
12B
13B
14B
15B
16B
17B
18B
19B
20B
OUT0
OUT1
OUT2
OUT3
OUT4
OUT5
OUT6
OUT7
OUT8
OUT9
OUT10
OUT11
OUT12
OUT13
OUT14
OUT15
OV
OV
Cable
Color
○
☆
☆
(Illuminated
by turns)
×
Orange
MS
green /
Orange
-
External Power
Source
24V DC +10%
Terminal Resistance
121Ω
Master Unit
RD (V+)
WT (CAN H)
RD
V+
WT
CAN_H
Shield
BL (CAN L)
BL
CAN_L
BK
V-
BK
24V
Power Supply
Communication power needs to be
supplied by an external device.
*6
○
Orange
☆
green
○
Output
Terminal Load
+
External Power
Source
24V DC +10%
-
Input Terminal
Ports No.016 to 031
V+
V+
RD
CAN_H
CAN_H
WT
Drain
(Shield)
Drain
(Shield)
CAN_L
CAN_L
BL
V-
V-
BK
Class D grounding
Grounding
resistance at 100Ω or less
(Formerly Class-III grounding: Grounding resistance
at 100Ω or less)
CC-Link
Communication Connector Name
Cable Side
Connector
○Illuminating, ×OFF, ☆Flashing
Indication Description
Error in reception data to self station
Communication setting error (station setting, baud rate
setting, etc.)
The station No. and baud rate set values are changed
from ones set at the time of reset cancellation (flashes in
0.4sec cycle)
In normal communication
Turns on when communication is started, and turns off
when communication is disconnected for the specified
time
CC-Link Connector
MSTB2.5/5-ST-5.08AU
Enclosed in standard package
Manufactured by PHOENIX
CONTACT
Pins No. 19B, 20B(Note 2)
1: Home return of all valid axes (ON edge)
2: Home return of all valid incremental axes (ON edge)
Output Circuit
Input Terminal
P
N
P
Terminal Resistance is required
to be mounted on the terminal.
Terminal Resistance
XSEL
121Ω
CC-Link
STATUS0
Ports No.
316 to 331
RD
BL
BK (V-)
STATUS1
3.3KΩ
Slave Devices
Drain
(Shield)
Surge Absorber
10Ω
Enclosed in standard package
Manufactured by PHOENIX
CONTACT
WT
×
D
No power supply
MSTBA2.5/5-G-5.08 ABGY AU
*6 The maximum load current total becomes 400mA for
every 8 ports from Output Port No. 316.
-
Self-testing
Controller Side
Pins No. 1A, 2A (Note 2)
+
Offline/ No power supply
Normal operation
Configuration setting not established or not
complete → test run required
An error that cannot be recovered
An error that can be recovered
DeviceNet Connector
MSTB2.5/5-ST-5.08 ABGY AU
Output Circuit
560Ω
Self-testing
Connector Name
Cable Side
[Refer to the instruction manuals for CC-Link]
Monitor LED
Indication
Monitor
LED
Color
Status
LED
Output Section
Type
24V DC
100mA/1 point 400mA/8 points
Online, Communication in normal condition
Online, No connection established
Critical link error
Connection timeout
Wiring
Brown-3
Red-3
Orange-3
Yellow-3
Green-3
Blue-3
Purple-3
Gray-3
White-3
Flat Cable B
Black-3
(Press Welding)
Brown-4
AWG28
Red-4
Orange-4
Yellow-4
Green-4
Blue-4
Purple-4
Gray-4
White-4
Black-4
Leakage Current MAX. 0.1mA/1 point
Pins No. 1A, 2A(Note 2)
N
P
N
Pin No.
1: Output error of operation-cancellation level or higher (ON)
2: Output error of operation-cancellation level or higher (OFF)
3: Output error of operation-cancellation level or higher +
emergency stop (ON)
4: Output error of operation-cancellation level or higher +
emergency stop (OFF)
Input and Output Type
1: Driving source cutoff cancellation input (ON edge)
*1 Set the input function in I/O Parameters 30 to 45 (input function select 000 to 015), set the port numbers
that each set function is to be assigned in I/O Parameters 283 to 298.
*2 The start switch on the front panel would not function if Input Function Select 000 (Program Start) is
assigned to any port except for Port No. 000.
*3 The program select switch on the front panel would not function if Input Function Select 007 to 013
(Program Select Switch) is assigned to any port except for Port No. 007 to No. 013.Output
20A
No.
+
Pin No.
47
332
*1
–
6A
White 1
Parameter
No.
Function
*4 Set the input function in I/O Parameters 46 to 61 (output function select 300 to 315), set the port
numbers that each set function is to be assigned in I/O Parameters 299 to 314. Also, it is available to set
the output function in I/O Parameters 331 to 346 (Output Function Select 300 Area 2 to 315 Area 2), and
set the port numbers to assign each set function in I/O Parameters 315 to 330.
In case of outputting the system output to I/O in the table above, use Output Function Select Area 2.
*5 LEDs would not function in case that Parameters 46 to 50 are set as general-purposed output, or
change is made to the port number assignment in Parameters 299 to 303 as Output Function Select 300
to 304 are assigned to the LEDs on the panel window.
Reference
Port
Function at Standard
No. Setting (when delivered) It is set to general-purposed input at delivery, and input function can be changed in I/O parameter settings.
–
+
46
331
Internal Power
Electric
wire color
5A
9A
318
Yellow 3
Parameter*4
No.
Controller Side
Pins No. 1A, 2A(Note 2)
MSTBA2.5/5-G-5.08AU
Ports No.016 to 031
+
560Ω
-
External Power
Source
24V DC +10%
Internal Power
4A
Orange 3
4B
Internal Power
3A
3B
Internal Power
2A
317
PNP Type
It is set to general-purposed output at delivery, and input function can be changed in I/O parameter settings.
I/O Flat Cable (Accessories) CB-PAC-PIO020
Input
1A
Red 3
20B
* Emergency stop switch, enable switch, electromagnetic contactor and other considered devices are to be in
layout if necessary. Operation is available with the settings at delivery (short-circuit treatment).
Pin
No.
2B
NPN Type
Reference
Surge Absorber
10Ω
Master Unit
Output
Terminal
Ports No.
316 to 331
External Power
Source
+
Terminal
Resistance
Slave Devices
Terminal
Resistance
24V DC +10%
3.3KΩ
Load
Pins No. 19B, 20B (Note 2)
Pins No. 19B, 20B (Note 2)
Input and output are the equivalent circuit that shows the logic.
-
XSEL
Terminal Resistance is required
to be mounted on the terminal.
Shield (SLD)
The terminal resistor differs depending on the type
of the dedicated cable for CC-Link.
• Cable FANC-SBH···130Ω1/2W
(High Performance Cable
dedicated for CC-Link)
• Cable FANC-SB······110Ω1/2W
(CC-Link Dedicated Cable)
YW (DG)
WT (DB)
BL (DA)
Class D grounding
Grounding
resistance
100Ω or less
(Formerly
Class-III at
grounding:
Grounding resistance at 100Ω or less)
SLD and FG are internally connected.
PROFIBUS-DP
Starting Procedures
[Refer to the instruction manuals for PROFIBUS-DP]
Monitor LED
Monitor LED
LED
Color
green
Operation
Mode
Orange
-
Status
green
Orange
-
PROFIBUS-DP
Communication
Connector
Connector Name
Cable Side
Controller Side
○Illuminating, ×OFF, ☆Flashing
Indication
Status
○
☆
☆(1HZ)
☆(2HZ)
×
○
☆
○
×
When using this product for the first time, pursue work while making sure to avoid omission
and incorrect wiring by referring to the procedure below.
Online (Communication in normal condition)
Online (Cleared)
Parameterizing data error
Configuration error
Online / No power supply
Completed
Completed (with network check event)
exceptional error
No power supply / Initializing not executed
PROFIBUS-DP Connector
9-pin D-sub Connector (Male)
9-pin D-sub Connector (Female)
Please prepare separately
Check of Packed Items
Has everything been received?
No →
Contact us or our distributor.
↓Yes
Installation and Wiring
Perform the installation and wiring according
to the instruction manual and this guide.
↓
Power Supply and Alarm Check
Connect the personal computer or teaching
pendant, set the AUTO/MANU switch to the
[MANU] side and inject the power.
→
Point Check Item
• Is frame ground (FG) connected?
• Has the noise countermeasure been taken?
←Yes
Check Item
Is the status display
showing [
]?
No →
Deal with each condition
depending on the status
display.
↓Yes
↓
Red B line (Positive side)
6
1
Green A line (Negative side)
Cable
Parameter Settings [Refer to Chapter 6]
Set the parameters including I/O parameter with the personal computer or teaching pendant operation.
[Reference] Set I/O Parameters No. 10 to 11 to 0 (Not to Monitor Errors) if starting up the system without connecting I/O
24V power supply for PIO Type. Set either of I/O Parameter No. 18 or 235 to 0 (Not to Monitor Errors) if starting up the
system without connecting Fieldbus for Fieldbus Type.
5
9
↓
Servo ON
Turn ON the servo motor with the
personal computer or teaching
pendant operation.
Shield
→
Check Item
Check that SV is ON in
Position Edit Window on PC
software or teaching
pendant.
During the alarm output, confirm the alarm
No→ description and deal with the condition with the
personal computer or teaching pendant
operation.
↓Yes
EtherNet/IP
Check of Safety Circuit
Does the emergency stop circuit (drive cutoff circuit) work
properly and turn the servo OFF?
[Refer to the instruction manuals for EtherNet/IP]
No→
Check the emergency stop circuit.
↓Yes
Confirming the operation of the actuator
Confirm that the full stroke operation is performed without any
trouble with the jog operation.
1
Connector Name
EtherNet/IP Connector
Cable Side
8P8C Module Plug
Controller Side
8P8C Module Jack
Pin No.
8
Controller Side
Connector Front View
Signal Name
Description
1
TD+
2
TD-
3
RD+
Data
transmitted +
Data
transmitted Data received +
4
-
Not used
5
-
Not used
6
RD-
Data received -
7
-
Not used
8
-
Not used
Set-up for operation is complete.
Establish the setting that suits to your operation patterns.
Troubleshooting
Applicable Cable Diameter
For EtherNet cable, use a straight STP
cable that possesses the performance of
Category 5e or more.
Switching Hub
Slave Device
Master Unit
EtherNet/IP Specification
EtherNet Straight Cable Category 5e or more
Double shielded cable braided with aluminum foil recommended
• To ensure safety, it is recommended that safety
speed be enabled during initial movements.
The following alarm displays are frequently generated at the start-up operation.
Deal with each of them referring to the following table.
Status display
Status contents
During
Emergency-stop
Cause and Remedy
It is not an alarm.
• It is caused when the emergency stop button is not cleared on the
front panel. Clear it.
• It is generated when the emergency stop switch in the teaching
pendant or the personal computer application software is not
cancelled. In such case, cancel it.
• It is generated when the personal computer cable is not
connected to the emergency stop box.
Deadman switch OFF It is not an alarm.
• It generated when the AUTO/MANU switch has been set to
“MANU” and the personal computer or the teaching pendant is
not connected. Connect the personal computer or the teaching
pendant or set the AUTO/MANU switch to “AUTO”.
• When the actuator is to be started up, hold the deadman switch
on the teaching pendant to turn it on.
AC Power nterruption It is generated when the power voltage is not supplied. Check the
Momentary Power
power supply.
Failure Power Voltage
Drop
24V I/O Error
It is generated when the +24V power for I/O is not supplied. Check
the power supply.
(Procedure for starting up I/O 24V power unit without connection)
Set both the I/O parameter No. 10 and No. 12 to “0”.
In this case, the I/O connection is invalid.
Field Bus Error
It is generated when the field bus link connection is not established.
Check the link cable connection, I/O parameter and PLC parameter
settings.
(How to start up the controller without connecting the field bus)
Set both the I/O parameter No. 10 and No. 12 to “0”.
Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan
TEL +81-54-364-5105 FAX +81-54-364-2589
website: www.iai-robot.co.jp/
Technical Support available in USA, Europe and China
Head Office: 2690 W. 237th Street, Torrance, CA 90505
TEL (310) 891-6015 FAX (310) 891-0815
Chicago Office: 1261 Hamilton Parkway, Itasca, IL 60143
TEL (630) 467-9900 FAX (630) 467-9912
Atlanta Office: 1220 Kennestone Circle, Suite 108, Marietta, GA 30066
TEL (678) 354-9470 FAX (678) 354-9471
website: www.intelligentactuator.com
Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany
TEL 06196-88950 FAX 06196-889524
SHANGHAI JIAHUA BUSINESS CENTER A8-303, 808, Hongqiao Rd. Shanghai 200030, China
TEL 021-6448-4753 FAX 021-6448-3992
website: www.iai-robot.com
825 PhairojKijja Tower 12th Floor, Bangna-Trad RD., Bangna, Bangna, Bangkok 10260, Thailand
TEL +66-2-361-4458 FAX +66-2-361-4456
Manual No.: ME0321-2A

ME0321-2A

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