Touch panel teaching tool specially for SEP-PT Instruction Manual Fifth Edition IAI America Inc.
Please Read Before Use Thank you for purchasing our product. This Instruction Manual explains the handling methods, structure and maintenance of this product, among others, providing the information you need to know to use the product safely. Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of the product. The CD/DVD that comes with the product contains instruction manuals for IAI products.
Table of Contents Safety Guide ·····················································································································1 Precautions for Operation·································································································6 Product Check ··················································································································7 Support Models······························································································
. Error Indication·········································································································162 6.1 Alarm························································································································· 162 6.1.1 Alarm detected using the Controller ································································ 162 6.1.2 Errors detected using the Touch Panel Teaching Unit····································· 162 6.
Safety Guide “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product. Safety Precautions for Our Products The common safety precautions for the use of any of our robots in each operation. 1 Operation Description Model Selection 2 Transportation 3 Storage and Preservation No.
No. 4 2 Operation Description Installation and Start Precautions (1) Installation of Robot Main Body and Controller, etc. Make sure to securely hold and fix the product (including the work part). A fall, drop or abnormal motion of the product may cause a damage or injury. Do not get on or put anything on the product. Failure to do so may cause an accidental fall, injury or damage to the product due to a drop of anything, malfunction of the product, performance degradation, or shortening of its life.
No. 4 5 Operation Description Installation and Start Teaching Precautions (4) Safety Measures When the product is under operation or in the ready mode, take the safety measures (such as the installation of safety and protection fence) so that nobody can enter the area within the robot’s movable range. When the robot under operation is touched, it may result in death or serious injury.
No. 6 Operation Description Trial Operation 7 Automatic Operation 8 Maintenance and Inspection 9 Modification 10 Disposal 4 Precautions After the teaching or programming operation, perform the check operation one step by one step and then shift to the automatic operation. When the check operation is to be performed inside the safety protection fence, perform the check operation using the previously specified work procedure like the teaching operation.
Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the Instruction Manual for each model. Level Degree of Danger and Damage This indicates an imminently hazardous situation which, if the Danger product is not handled correctly, will result in death or serious injury.
Precautions for Operation x Do not give any mechanical impact onto this touch panel teaching unit. Failure to do so may cause a breakdown of the unit. x Operate the machine securely holding this touch panel teaching unit body so that any unnecessary tensile load is given to the cable. Caution x This touch panel teaching unit has been designed specially for our controller ASEP/PSEP/DSEP, PMEC/AMEC or ERC3*1. Therefore, do not connect it to any other machine.
Product Check This product is comprised of the following parts if it is of standard configuration 1. Parts (The option is excluded.) No. Part Name Touch panel teaching tool specially 1 for PSEP/ASEP/DSEP Accessories 2 Touch Pen 3 First Step Guide 4 Instruction Manual (CD/DVD) 5 Safety Guide Model Refer to “How to read the model plate”, “How to read the model No.” Remarks Built in the Main Body 2. Instruction manuals related to this product, which are contained in the CD/DVD. No. Name Manual No.
Support Models The support models are described in the following table. Support Model List Controller Model No. ASEP PSEP DSEP AMEC PMEC ERC3*1 *1 8 ERC3 is available to be connected only to MEC mode. It cannot be connected in CON Mode.
1. Basic Specifications In this touch panel teaching unit, the operations are performed on the display panel. This unit is used for indicating or editing the data (parameter data, position data, etc.) to be saved in the controller by means of the communication with the controller. This unit is used to perform the offline teaching (teaching operation) or alarm confirmation, without host PLC. Item Specification Power Demand Surrounding air temperature, humidity 1.
External dimensions 92.
2. Description of Each Section (3)Touch Pen (2)EMERGENCY STOP (Emergency Stop Pushbutton Switch) (4)Wall Hook (1)Touch Panel Operation Display Screen (Note) Do not open this cover. (5)Strap Set Section (1) Touch Panel Operation Display Screen This section consists of the STN monochrome LCD and touch panel. Editing of various set values and teaching descriptions are displayed. (Note 1) the touch panel using your finger or The operation is available by means of touching touch pen.
3. Controller Connection and Disconnection The PSEP/ASEP/DSEP dedicated touch panel teaching unit SEP-PT can be connected or disconnected without turning OFF the power to the controller. In the case that an alarm is issued, the alarm description can be checked, by means of connecting the SEP-PT with the power to the controller turned ON.
4. Operation of ASEP/PSEP/DSEP Controller 4.1 Operation Status Chart State Transition of the operation when ASEP/PSEP/DSEP controller is connected is shown below: Power supply ON When the automatic monitor window is turned ON, the Monitor Window is displayed automatically. Monitor V3.00 or later display Monitor 1 Current Position Current Speed /Current Title Display *Displayed for one second. Red backlight is turned ON.
2 I/O Setting 3 Disable Double Input Signal Mode Selection Solenoid Mode Selection Operation Pattern Enable Servo Control Operation Pattern Stop Signal Selection 3,4 0,1,2,5 Output Selection Midway Point Movement Method Output Selection Retry 4 Completed Home Position Operation Output Signal Parameter 5 [WRT] Button Parameter Editing Password Entry No Shipping Setting Axis No. Yes Goes to Parameter Edit No Selecting ESC goes to the Selecting No goes to the Parameter Menu window.
6 1 Environment Setup Brightness Contrast Sound Setting Language Set Auto Monitor Information Setting “GT System Window” Display Adjustment Liquid Crystal Contrast/Backlight Brightness Light Brightness Pressing ESC goes to Menu Window. Setting Data No. 1 Setting Data No. 2 Version Data No. 1 Version Data No.
4.2 Each Operation 4.2.1 Initial Window When the controller is connected, the power is supplied to the PSEP/ASEP/DSEP dedicated touch panel teaching unit and the processing is started. In the operation window in the PSEP/ASEP/DSEP dedicated touch panel teaching unit, “IAI” logo mark is displayed for one second when the power is input. Then, the version data is displayed for three seconds. V3.00 or later display After that, the window to be displayed varies depending on the condition. 3.
4.2.2 Initial Setting When power is input for the first time after the controller is delivered, the “Initialization” window appears. x Selecting Yes goes to the I/O setting window in the operation pattern (PIO Pattern) setting. Select the operation pattern and set the operation mode to single solenoid or double solenoid depending on the selected operation pattern.
4.2.3 Menu Selection There are four menu items in the SET-PT MENU window. Select one of them and touch it. The window is transferred to one for the selected menu. Menu List x Monitor Controller Status Display [Refer to Item 4.2.4] x Pos Edit Setting of Position, Pressing Force and Pressing Width, Jog Movement [Refer to Item 4.2.5] x Information Data Display for the Operation Pattern or Version [Refer to Item 4.2.
4.2.4 Monitor The controller’s current position, velocity, electric current and system status I/O condition are displayed. Touch Monitor in the SET-PT MENU window. The monitor window consists of two display windows. Touching the MENU returns to the SET-PT MENU window. 㧝㧜㧜㧚㧜㧜 㧝㧜㧜㧚㧜㧜 ψ The axis position is shown. The axis velocity is shown. The axis current value is shown. φ The system status (servo-motor, driving source, home return and emergency stop) are shown. The axis I/O status is shown.
Monitor Window I/O Display Display Description PIO Pattern Operation Mode Standard Point-to-Point Movement:0 Single Solenoid Standard Point-to-Point Movement:0 Double Solenoid Input IN1(Input)OUT1(Output) IN0(Input)OUT0(Output) / SON(Servo ON signal)*1 (RES(Reset signal)) *STP(Pause Signal) ST0(Movement Signal) LS0(Backward Position Detection Signal)/ PE0(Backward Point Positioning Completion Signal)*2 Output *ALM (Alarm Output Signal)/ SV (Servo-Motor ON Output Signal) *3 HEND(Homing Comp
4.2.5 Position Setting (Position Related Data Setting, Jog and Inching Operations) The data items related to the position such as position, pressing force and pressing width, are set here. With these settings, the jog movement and inching movement operations can be performed. Touch Pos Edit in the SET-PT MENU window. Before the window is transferred to the Position Setting window, in the case that the password is set to the value except for “0000”, the password entry window is displayed.
When the section of the position to be set is touched, the target position/velocity setting window for the selected position is displayed. Set the position and velocity. The set position is shown. The set velocity is shown. Touching Tb1 returns to the Tb1 window. In this set window, the other three setting item and job movement can be selected.
4) Deceleration [G]…It is able to set the deceleration speed (G) at the stop. (Reference) Explained here is about the acceleration speed. The way to think is the same for deceleration. 1G = 9800mm/s2: Acceleration that enables to accelerate up to 9800mm/s in 1sec. 0.3G: Acceleration that enables to accelerate up to 9800mm/s u 0.3 = 2940mm/s in 1sec. Velocity 9800mm/s 1G 2940mm/s 0.3G Time 1s Caution Settings of Acceleration and Deceleration.
Position where the actuator is pressed against the work and it is decided that the pressing operation has been completed. Velocity Work Part Pressing Width Target Position Pressing Operation Starting Point 7) Energy-Saving Function…If the energy saving function is turned active, the servo will turn off automatically to save electricity in a certain while after a positioning is complete. Set the time in the parameter in advance. Parameter No.
[Position Detection Output Signal Condition When Pressing Function Not used] As long as the actuator position is in the range of the positioning width (Parameter No. 1) even if the servo is off, either of the forward position detection signal (LS0), backward position detection signal (LS1) or intermediate detection signal (LS2) turns on in accordance with the current position as the sensor does. Thus, if the actuator does not move after the positioning is complete, the position detection signal is kept on.
Position Setting Window Acceleration /Deceleration Position/Velocity Acceleration /Deceleration EnergySaving Position Acceleration Acceleration Deceleration Pressing Force Pressing Width Energy-Saving Function 0.00 50.00 0.1 0.1 0 0 Effective 1 Forward Position 200.00 50.00 0.1 0.1 70 1.00 Effective 2 Backward Position 10.00 50.00 0.1 0.1 0 0 Effective 3 Forward Position 100.00 50.00 0.1 0.1 60 1.
[Energy-Saving setting] The Energy-Saving “Enable” or “Disable” is set here. Touching ECO in the “Position/Velocity setting” window displays the “Energy-Saving setting” window. [Jog Operation] The Jog operation and inching operation are enabled here. Touching JOG in the “Position/Velocity setting” window displays the “Jog Operation” window.
[3] Basic Operation [position / velocity] Touch the value for the position(Note 1) or velocity. Touching Tb1 returns to the Tb1 window. In the example of the Operation Pattern No. 3, When any of 0, 1 or 2 is touched in this window, the corresponding setting window for “0” (Backward Position), “1” (Forward Position) and “2” (Intermediate Point Position) are displayed.
When the writing is completed, the following window appears. Touch the ESC. The “Position/Velocity setting” window is returned.
[Pressing Setting, Acceleration/deceleration setting, Energy-Saving Setting] Taking the “Pressing Operation” as an example, the setting procedure is described. Touch the PUSH (Note 1). Touching Tb1 returns to the Tb1 window. 㧢㧜 Touch the value for the Push Power or PushBand setting item. 㧜㧚㧜㧝 The ten-key will be displayed. Enter the value and touch . The set value will be displayed. Touch the Back.
[Velocity Change Position and Change Velocity setting in the Operation Pattern No. 1 (Movement Speed Changeable)] The procedure is described taking “Change Position” as an example. Touch the Velocity Change Position. Touching MENU returns to the SEP-PT MENU window. In the example, the velocity change position setting window for the Backward Position 0, will be displayed. Touch the value for the velocity change position setting item. Touching Tb1 returns to the Tb1 window. Enter the value and touch .
When the writing is completed, the following window appears. Touch the ESC. The “Change Position/Change Velocity” setting window will be returned.
The “Position/Velocity setting” window is returned. The set value will be displayed. Touch the WRT after the other settings such as “Push Power”, etc., are completed. When there is no error in the input range, etc., the following window appears. Touch the YES. The controller data is reloaded. When the writing is completed, the following window appears. Touch the ESC. The “Position/Velocity setting” window is returned.
[Jog Operation] (Jog Operation after the Home Return Operation Completion) Touch the JOG. Touching Tb1 returns to the Tb1 window. The “Jog” operation window will be displayed. The current position of the axis is shown. Operations in the “Jog” window x 㧦 While one of these buttons is pressed, the axis is jogged. Jog operation to negative direction or positive direction . x SON 㧦 Touching SON turns ON the servo-motor. When SON is touched, the servo-motor is turned OFF.
(Inching Operation after the Home Return Completion) Touching Increment displays the Inching Operation window. The current position of the axis is shown. The inching distance is shown. Operations in the “Inching” window x 㧦 With a single touch, the axis is moved as much as the set distance in the “Inching Distance”. Inching operation to negative direction or positive direction . x Get㧦 The current position is captured.
(Jog Operation Execution before Home Return Operation) When the jog operation is to be performed before the home return operation, the window for the home return operation is displayed before the jog operation window. Touch the YES. The home return operation is performed. Touch the OK. The home return operation is started and the following window appears. Touching STOP can stop the home return operation. When the home return operation is completed, the jog operation window appears.
[4] Position Setting Operation Example The operation procedure is described taking a specific example. 1) Position, Velocity or Acceleration/Deceleration Setting It is described taking Operation Mode 0 (Standard) as an example. The position setting is performed for the reciprocating movement between 10.0 mm and 100.0 mm. Forward Position:100.0mm, Backward Position:10.0mm, Reciprocating Movement Speed: 50mm/sec, Reciprocating Movement Acceleration: 0.3G, Reciprocating Movement Deceleration: 0.3G No.
No. 7 8 Operation Touch the velocity value. Window When the value input is stopped, touch ESC. The value will not be set and the previous “Position/Velocity setting window” in the Position Setting window will be returned. Touching Tb1 return to the Forward Position/Backward Position setting window in the Position Setting window. Touch 5 and 0 and then Remarks Touching Tb1 return to the Forward Position/Backward Position setting window in the Position Setting window. . 9 “50.
No. 14 Operation Touch the deceleration value. 15 Touch 0, . and 3 and then . Window 㧜 㧝㧜 16 “0.30” is displayed in the deceleration data section. 17 Touch the Back. 18 Touch the WRT. 19 Touch the YES. Remarks Touching Back returns to the previous “Position/Velocity setting window” in the Position Setting window. Touching MENU return to the Forward Position /Backward Position setting window in the Position Setting window. When the value input is stopped, touch ESC.
No. 20 Operation The controller’s position data is reloaded. Window Remarks Touch the ESC. 21 Set the Forward Position related Position, Acceleration and Deceleration. When MENU is touched, the MENU window is returned. Touch the ForwardPos. 22 The window is change to the Forward Position window. Set the Forward Position related Position, Acceleration and Deceleration. Touching Tb1 return to the Forward Position/Backward Position setting window in the Position Setting window.
Window No. 28 Operation “50.00” is displayed in the velocity data section. Remarks Touching Tb1 return to the Forward Position/Backward Position setting window in the Position Setting window. 29 Touch the ACC. Touching Tb1 return to the Forward Position/Backward Position setting window in the Position Setting window. 30 Touch the acceleration value. 31 Touch 0, . and 3 and then . 32 “0.30” is displayed in the acceleration data section. 33 Touch the decelerate value.
No. 34 Operation Touch 0, . and 3 and then . 35 “0.30” is displayed in the Decelerate data section. 36 Touch the Back. 37 Touch the WRT. 38 Touch the YES. 39 The controller’s position data is reloaded. Touch the ESC. 40 42 Window Remarks When the value input is stopped, touch ESC. The value will not be set and the previous “Position/Velocity setting window” in the Position Setting window will be returned.
2) Direct Teaching (Method where the slider is moved manually to the target position and the position (current position) is captured as the Forward Position or Backward Position) It is described taking Operation Mode “0” (Standard Point-to-Point Movement) as an example. The procedure for capturing the current position of “50.0mm” in the Backward Position). No. 1 Operation Window Remarks Touch Pos Edit in the SEP-PT MENU window.
No. 7 Operation Perform the home return operation. 8 When the servo-motor is turned ON, touch SON to turned OFF the servo-motor. 9 Move the slider and rod manually and align the actuator with the target position of 50.0mm. Window Remarks Touching STOP stops the home return operation. Touch the Get. 10 Touch the ESC. 11 “50.00” is displayed in the position data section. It is confirmed that the position data has been captured.
No. 14 15 Operation Window Remarks The controller’s position data is reloaded. Touch the ESC. When MENU is touched, the SEP-PT MENU window is returned.
3) Jog Operation (The actuator is moved (inching movement) using the direction arrow button or to align with the target position and the position (current position) is captured as forward position or backward position). It is described taking Operation Mode “0” (Standard Point-to-Point Movement) as an example. The procedure for capturing the current position of “80.0mm” in the Backward Position). No. 1 Operation Touch Pos Edit in the SEP-PT MENU window.
No. 7 Operation Perform the home return operation. 8 When the servo-motor is turned OFF, touch SON to turn ON the servo-motor. 9 Touch Slow S or Fast F to set the jog speed 10 Move the slider or rod using the arrow button or to align the actuator with the target position "80.0mm". 11 Touch the Get. 12 Touch the ESC. 13 “80.00” is displayed in the position data section. It is confirmed that the position data has been captured. Window Remarks Touching STOP stops the home return operation.
No. 14 Operation Touch the WRT. 15 Touch the YES. 16 The controller’s position data is reloaded. Window Remarks Touching Tb1 return to the Forward Position/Backward Position setting window in the Position Setting window. When the writing is not performed and the “Forward Position/Backward Position” selecting window in the Position Setting window is returned, the setting is not performed. Touching NO returns to the Position Setting window without performing the setting. Touch the ESC.
4) Inching Movement Operation (The actuator is moved (inching movement) using the direction arrow button or to align with the target position and the position (current position) is captured as forward position or backward position) It is described taking Operation Mode “0” (Standard Point-to-Point Movement) as an example. The procedure for capturing the current position of “30.0mm” in the Backward Position). No. 1 Operation Touch Pos Edit in the SEP-PT MENU window.
No. 7 Operation Perform the home return operation. 8 When the servo-motor is turned OFF, touch SON to turn ON the servo-motor. 9 Touch the Increment. The window is transferred to the “Increment” window. 10 Touch the Increment Distance value. 11 Set the Increment distance. 12 Move the slider or rod using the arrow button or to align the actuator with the target position "30.0mm". 13 Touch the Get. 14 Touch the ESC. 50 Window Remarks Touching STOP stops the home return operation.
No. 15 Operation “30.00” is displayed in the position data section. It is confirmed that the position data has been captured. 16 Touch the WRT. 17 Touch the YES. 18 The controller’s position data is reloaded. Touch the ESC. 19 Window Remarks Touching Tb1 return to the Forward Position/Backward Position setting window in the Position Setting window. Touching Tb1 return to the Forward Position/Backward Position setting window in the Position Setting window.
5) Pressing Operation (Pressing Force and Pressing Width) Setting It is described taking Operation Mode “0” (Standard Point-to-Point Movement) as an example. The procedure is described taking the pressing operation performed at the backward position as an example. Pressing Force:50%, Pressing Width:5.0mm No. 1 Operation Touch Pos Edit in the SEP-PT MENU window. Window Remarks 2 In the case of the password value except for “0000”, the password input window is displayed. Input the password.
No. 8 Operation Touch the PushBand value. Window Remarks Touching MENU return to the Forward Position /Backward Position setting window in the Position Setting window. When the value input is stopped, touch ESC. The value will not be set and the previous “Position/Velocity setting window” in the Position Setting window will be returned. Touching MENU return to the Forward Position /Backward Position setting window in the Position Setting window. 9 Touch 5 and 10 “5.
No. 15 54 Operation Window Remarks When MENU is touched, the SEP-PT MENU window is returned.
6) Energy-Saving Function (Automatic Servo-Motor Turning OFF) Setting The procedure is described taking Operation Mode set to “0” (Standard) as an example. The procedure to turn off the servo-motor automatically 5.0 seconds after the machine stop, is described. No. 1 Operation Touch Initial set in the SEP-PT MENU window. 2 Set the automatic servo-motor OFF delay time. Touch the Parameter. 3 Input a password. 4 Touch the Parameter.
No. 8 Operation 5 will be displayed. Window Remarks Touch the WRT. 9 Touch the YES. Touching NO returns to the previous automatic servo-motor turning OFF delay time setting window. The parameters are not reloaded. 10 Touch the YES. Touching NO displays the message window showing “Re-input the power”. Until the power is re-input, the set value is not reflected on the controller. 11 When the controller is re-started, the window is transferred to the SEP-PT MENU window. Touch the Pos Edit.
No. 16 Operation Touch the Back. 17 Touch the WRT. 18 Touch the YES. 19 The controller’s position data is reloaded. Touch the ESC. 20 Set the Energy-Saving function for the forward position related items. Window Remarks Touching Tb1 return to the Forward Position/Backward Position setting window in the Position Setting window. Touching Tb1 return to the Forward Position/Backward Position setting window in the Position Setting window.
Window No. 23 Operation Touch the ON. 24 Touch the Back. Touching MENU return to the Forward Position /Backward Position setting window in the Position Setting window. 25 Touch the WRT. Touching Tb1 return to the Forward Position/Backward Position setting window in the Position Setting window. 26 Touch the YES. 27 The controller’s position data is reloaded. Touch the ESC.
4.2.6 Information Using this function, the data items such as operation pattern and version, are displayed. Touch Infomation in the SEP-PT MENU window. The data selection window is displayed. Touch the window to be displayed. When MENU is touched, the SEP-PT MENU window is returned. [Setting Check] The set data such as operation pattern or operation mode can be confirmed. There are two windows.
[Version Manufacturing Data] The version data, etc., can be confirmed. There are two windows. o m o m The manufacturing data items including serial No., can be confirmed. [Alarm History] The alarm history can be confirmed. [Inquiry] The contacts in our company can be confirmed.
4.2.7 I/O Setup (Settings of Operation Parameters, etc.) In this operation, the Operation Pattern (PIO Pattern) (0 to 5) is selected and Operation Mode (Single Solenoid or Double Solenoid) is set. Touch Initial set in the SEP-PT MENU window. Touch the I/O set. When MENU is touched, the SEP-PT MENU window is returned. Before the window is transferred to the “Initialization” window, the password entry window appears. Enter the value as the password using the ten-key and touch .
The window corresponding to the selected Operation Pattern will be displayed. Operation Pattern 0 (Standard Point-to-Point Movement) Operation Pattern 1 (Movement Speed Setting) Operation Pattern 2 (Position Data Change) Operation Pattern 3 (2-Input, 3-Point Movement) Operation Pattern 4 (3-Input, 3-Point Movement) Operation Pattern 5 (Continuous Reciprocating Operation) When OK is touched, the setting window for the Operation Mode, etc., is displayed.
Operation Pattern Shown below is a circuit diagram for a corresponding air cylinder for reference. Operation Pattern Contents PIO Pattern 0 Single Solenoid Type (Standard Point-to-Point Movement) The actuator point-to-point movement is available using the same control function as for the air cylinder. The target position setting (forward position and backward position) is available. Speed and acceleration settings in the actuator movement are available. The pressing operation is available.
Operation Pattern Shown below is a circuit diagram for a corresponding air cylinder for reference. Operation Pattern Contents PIO Pattern 3 Single Solenoid Type (2-Input, 3-Point Movement) The actuator 3-Point movement is available using the same control function as for the air cylinder. The target position setting (forward position and backward position) is available. Speed and acceleration settings in the actuator movement are available. The pressing operation is available.
[1] Types of I/O Setup (Setting of the Operation Parameters, etc.) Window The windows are displayed one by one for the items to be set with a circle in the “Setting Items” table (on page 61), in order from the one on the left side. [Operation Mode] Select either of the Single Solenoid Operation Mode or Double Solenoid Operation Mode. Selecting Back returns to the preceding window.
[Pause Signal *STP] When the Single Solenoid Type is set for the Operation Mode and the Operation Pattern 4 is set, select whether or not the STOP signal STP (Input in IN2) is used. Selecting Back returns to the preceding window. [Servo Control SON] Select whether or not the servo-motor control signal (Input signal SON (Servo-Motor ON/OFF Control) to IN3) is used. Selecting Back returns to the preceding window.
[Output Signal Selection Operation Pattern 3, 4] When the Operation Pattern is set to “3” or “4”, set the OUT3 output signal after the Control is selected. Select either of ALM (Alarm Status Signal) or SV (Servo-Motor ON Status Signal). Selecting Back returns to the preceding window. [Home Return Operation] Select the home return operation system. x AUTO : The home return operation is started when the power is input.
[2] Basic Operation The setting procedure is described taking Operation Pattern 0 as an example. Touch the 0. When MENU is touched, the SEP-PT MENU window is returned. Touch the OK. Touching Cancel and Back return to the preceding Operation Pattern selection window. When MENU is touched, the SEP-PT MENU window is returned. Select either Single or Double and touch it. Selecting Back returns to the preceding window.
Touch the Complete. Selecting Back returns to the preceding window. Touching Retry returns to the Operation Pattern Selection window. Then, the previous set Operation Pattern is deleted. Touch the YES. Touching Disp displays the Set Data window. The set data items can be confirmed. Touching ESC returns to the previous window. Touching NO returns to the Initialization window. Then, the previous set Operation Pattern is deleted.
Touch the YES. The controller will be restarted. The controller is operated based on the set Operation Pattern. The SEP-PT MENU window is returned. Touching NO displays the following window. The controller is not operated according to the set Operation Pattern until the controller is re-started up. Touching ESC returns to the previous Parameter Setting window.
[3] I/O Setup Operation Example The operation procedure is described taking a specific example. Example of Operation Mode (PIO Pattern) “0” (Standard Point-to-Point Movement): Perform the following setting. Operation Mode Single Solenoid Use of STOP Command (*STP) Disable Servo Control Enable Output Signals OUT2 and OUT3 OUT2 HEND, OUT3 㧖ALM Home return AUTO(Home return operation started with the power input) Output Signal LS0(Backward Position Detection), LS1(Forward Position Detection) No.
No. 6 7 8 Operation Touch the Single. The Single Solenoid Operation Mode will be selected. Window Remarks Selecting Back returns to the preceding window. When MENU is touched, the SEP-PT MENU window is returned. Touch the Non-use. “Non-use” for the STOP Command (*STP) will be selected. Selecting Back returns to the preceding window. Touch the Control. “Control” for the Servo-Motor Control will be selected. Selecting Back returns to the preceding window.
No. 13 14 15 Operation Touch the YES. Touch the YES. Window Remarks Touching Disp confirms the set data. Touching ESC in the set data window, returns to the previous confirmation window. Touching NO displays the following window. The controller is not operated according to the set Operation Pattern until the controller is re-started up. When the controller is re-started up, the SET-PT MENU window appears.
4.2.8 Parameters (Parameter Editing, Axis No. Setting, Parameter Initialization at the Shipping from the Factory and System Password) Set the parameters and axis No. The operation for changing the system password and returning to the default parameters set at the shipping from the factory, are available. Touch Initial set in the SEP-PT MENU window. Touch the Parameter. Enter the value as the password using the ten-key and touch .
The window corresponding to the set menu item is displayed. x Parameter : Twenty types of parameter are set. At first, the following window is displayed and then, 19 windows are displayed one by one in turn. x Axis No. Set : Set the Axis No. x Factory Default : The default parameters set at the factory at the shipping can be recovered. x Change Sys-Pass : The password for the parameter editing can be changed.
[1] Types of Parameter Editing Window The windows are displayed in the following order. Refer to the ASEP/PSEP/DSEP Controller Instruction Manual for the details of each parameter. (Positioning Width) Set the positioning width. (Jog Speed) Set the speed for “Fast” for the Jog Operation. F in the Jog Speed Window Jog Speed Window (Servo Gain Selection) Set the Servo Gain No. that determines the Responsibility of the Position Control Loop in the Servo-Motor Control.
(Speed Loop Proportional Gain) Set the Speed Loop Proportional Gain that determines the Responsibility of the Velocity Control Loop in the Servo-Motor Control. (Servo Gain Selection) Set the Servo Gain Selection that determines the Responsibility of the Velocity Control Loop in the Servo-Motor Control. (Push Speed) Set the velocity in the pressing operation.
(Pushing fails Current) Set whether if the current limitation value at the time when the pressing operation is performed, but there is no work to be pressed, is regarded as the current in pressing operation or the current in the stop operation. When selecting the current in stop operation for ASEP/DSEP, and the pressing operation is performed, but there is no work to be pressed, the setting will be the torque limitation of the current limitation value in moving operation.
(Default Home Current Limit) Set the Current Limit Value in the home return operation. (Automatic Headway) Set the stop time period from the actuator movement completion to the next movement when the Operation Pattern 5 (Continuous Operation) is set. (Soft Limit) Set the soft limit on the positive ( ) side. (Home Offset) Set the offset level for the home return operation.
(Home Direction) Set the home direction either of the motor side or opposite side of the motor. For some actuators including rod type, the change of the home return direction is unavailable. (Absolute Board) In the case of the Absolute Unit, it is displayed. Set whether if the absolute board is enabled or disabled. (Battery Maintenance) In the case of the Absolute Unit, it is displayed. Set the battery maintenance. (Position Edit Password) Set the password when the position data is edited.
[2] Basic Operation Set the parameter. [Parameters] Touching m returns to the preceding window. Touching o returns to the next window. There are 20 windows to be displayed one by one in order from the positioning width initial value to the position data edit password edit window. The soft limit is set as an example. The window where the soft limit is set, is displayed using the m or o in the displayed window. Touch the value. Enter the value and touch . Touch the WRT.
Touch the YES. Touching NO returns to the window where the setting was performed. In this example, the soft limit window is returned. Touch the YES. The controller will be re-started up. The controller is operated according to the set Operation Pattern. The Initialization window is returned. Touching NO displays the following window. The controller is not operated according to the set Operation Pattern until the controller is re-started up.
[Axis No. Setting] Set the Axis No. Enter the value and touch . Touch the OK. The window shows the example where “15” has been entered. The Axis No. Change Completion window will be displayed. Touching ESC returns to the Parameter Menu window. In the case that the ESC is touched without entering any value. Touch the ESC. The Axis No. Change Completion window will be displayed. The current Axis No. is displayed in the Axis No. section.
[Factory Parameter Initialization] Using this function, the operation is performed to return the parameters to default ones set in the factory before the shipping. Touch the YES. Touching No returns to the Parameter Menu window without returning the parameters to default ones set in the factory before the shipping. Touch the YES. The controller will be re-started up. The controller is operated according to the default parameters set in the factory before the shipping.
[Change Sys-Pass] Using this function, the operation is performed to change the password for the parameter editing. Touch the OK. Touching ESC returns to the Parameter Menu window. Enter the value and touch . The system password will be changed. Touching ESC returns to the Parameter Menu window.
4.2.9 Test (I/O Test and Axis Movement Operation Test) Using this function, the I/O test and axis movement operation test are available. Touch Initial set in the SEP-PT MENU window. Touch the Test. When MENU is touched, the SEP-PT MENU window is returned. Select one of I/O Test, or TestPlay and touch it. x I/O Test : The PIO input signals can be monitored. Also, for the output signals, touching OUT0, OUT1, OUT2 or OUT3 turns ON and OFF the corresponding signal forcibly.
x Operation Test : Using this function, the axis movement operation test can be performed. The window corresponding to the Operation Mode is displayed. The window corresponding to the selected Operation Pattern is displayed.
[1] Basic Operation [IO Test] The ON and OFF of the input signals can be monitored. For the output signals OUT0 to OUT3, touching the button outputs the corresponding signal forcibly. When MENU is touched, the SEP-PT MENU window is returned.
[Pos Test] The operation procedure is described taking Operation Pattern as an example. The current position of the axis is shown. When MENU is touched, the SEP-PT MENU window is returned. x Backward : When BW is pressed, the actuator is moved backward. x Forward : When FW is pressed, the actuator is moved forward. x Override 10% : When 10% is touched, the actuator is moved at 10% of the speed set in the “Target Position/Velocity” window in the “Position Setting” window.
Operation Pattern 5 (Continuous Reciprocating Operation) is partly different from the other Operation Patterns. The current position of the axis is shown. The Axis’s reciprocating operation times are shown. x Start, Stop : When the Operation Test window is displayed, the Continuous Operation is stopped. Touching Start performs the continuous reciprocating operation at the speed set in the Override window. The switch indication is changed to STOP. Touching STOP stops the actuator operation.
4.2.10 Environment Setup (Touch Sound Setting, Language Setting, Automatic Monitoring Setting, Display Setting (Display Adjustment)) Using this function, the touch sound setting, language setting, automatic monitoring setting or display adjustment is performed. Touch Initial set in the SEP-PT MENU window. Touch the Envi.Set. When MENU is touched, the SEP-PT MENU window is returned. Select one of Sound, Display, Language, or Auto Monit and touch it.
x AutoMoniter : In this window, it can be set so that the monitor window is displayed first after the PSEP/ASEP dedicated touch panel teaching unit is connected. x Display Setting : In this window, the contrast or brightness is adjusted.
[1] Basic Operation [Sound Setting] Touching ON outputs the touch sound. Touching OFF turns OFF the touch sound. Touching OK, the setting is stored and the Environment Setup window for the main machine is returned. [Language Set] Touching Japanese sets the language to Japanese. Touching English sets the language to English. Touching OK, the setting is stored and the Environment Setup window for the main machine is returned.
[Display Setting] When the contrast in the window is to be adjusted, touch Contrast. When the brightness in the window is to be adjusted, touch Brightness. The adjustment window corresponding to the touched button item is displayed. Touching ESC returns to the Machine Setup window for the main machine is returned. x Contrast Adjustment Adjust the contrast in the window by means of touching or . x Brightness Adjustment Adjust the contrast in the window by means of touching or .
5. Operation of PMEC/AMEC Controller and ERC3 PMEC/AMEC controller and ERC3 is set to the full stroke movement as the position data when it is delivered. If a movement position change is required, connect SEP-PT Touch Panel Teaching to change the setting. 5.1 Operation Status Chart State Transition of the operation when PMEC/AMEC controller and ERC3 (MEC mode) is connected is shown below: Power supply ON V3.00 or later display Title Display *Displayed for one second. Red backlight is turned ON.
2 IOtest MainteInfo Window I/O Test [WRT] Button Yes Goes to Parameter Edit Initialize No Yes Controller Re-startup Goes to MEC Menu Window ESC Goes to MEC Menu Window Parameter Parameter setting Password input (This window is skipped when the system password is set to “0000”.
1 3 Environment Setup Brightness Contrast Sound Setting Setting “GT System Window” Display Adjustment Liquid Crystal Contrast/Backlight Brightness Light Brightness Language Set Pressing ESC goes to Menu Window. Setting Data Displayed for AEMC and PMEC Controller only Version Data No. 1 Version Data No. 2 Manufacturing Data Displayed for ERC3 only Version Data No.
5.2 Each Operation 5.2.1 Initial Window When the controller is connected, the power is supplied to the touch panel teaching unit and the processing is started. In the operation window in the touch panel teaching unit, “IAI” logo mark is displayed for one second when the power is input. Then, the version data is displayed for three seconds. V3.00 or later display After that, the window to be displayed varies depending on the condition. 3.
5.2.2 Initial Setting When power is input for the first time after the controller is delivered, the “Initialization” window appears. x Selecting Yes goes to the setting window in the operation pattern setting. Select either “2-point Stop” or “3-point Stop”. x If selecting No, the operation pattern will remain to “2-point Stop” that is initially set before delivery. The window is transferred to the Position Setting window. Yes [Refer to “5.2.5 Initial Setting”.] No [Refer to “5.2.6 Position Setting”.
5.2.3 Menu Selection There are 6 types of menus in the MEC Menu window. Select one of them and touch it. The window is transferred to one for the selected menu. Menu List x Monitor Controller Status Display [Refer to Item 5.2.4] x Initial set 2-point Stop, 3-point Stop [Refer to Item 5.2.5] x Pos. Edit Setting of Position, Pressing Force and Pressing Width, Jog Movement [Refer to Item 5.2.6] x Test Play Trial run for axis movement check [Refer to Item 5.2.
5.2.4 Monitor The controller’s current position, velocity, electric current and system status I/O condition are displayed. Touch Monitor in the SET-PT MENU window. The monitor window consists of two display windows. Touching the MENU returns to the SET-PT MENU window. 㧝㧜㧜㧚㧜㧜 㧝㧜㧜㧚㧜㧜 ψ The axis position is shown. The axis velocity is shown. The axis current value is shown. φ The system status (servo-motor, driving source, home return and emergency stop) are shown. The axis I/O status is shown.
5.2.5 Initial Set Select either 2-point or 3-point stop. Touch Initial set in the MEC MENU window. Unless the password is set to “0000”, the password input window opens before moving to Operation Pattern Setting window. Enter the password number with the numeric keys then touch . The password is set to ‘5119’ (at delivery). The password can be changed in ‘System Password Change’ under Environment Setting.
Touch YES. Touch NO to return to MEC MENU window. All the settings so far for the initial settings will be cancelled. Touch YES. The controller will reboot. The controller will operate following the operation patterns based on the settings. The window returns to MEC MENU window. If NO is touched, the window as shown is displayed. The setting of operation patterns would not become active until the controller is rebooted. Touch ESC, and the menu returns to the previous parameter setting window.
Operation Pattern The PMEC, AMEC or ERC3 (MEC mode) controller has the 2 operation patterns. Each of these 6 patterns is described as in the table. Also, the corresponding air cylinder circuit is described for reference. [Refer to Initial Setting and Stop Position Setting for the setting.] [Single Solenoid Type] 1-Input, 2-Point Movement [Double Solenoid Type] 2-Input, 2-Point Movement Contents The actuator 2-Point movement is available using the same control function as for the air cylinder.
[1] Setting of Initial Settings (2-point/3-point Settings) Follow the instruction below for the initial settings: No. 1 Operation Touch Initial set in the MEC MENU window. 2 In the case of the password value except for “0000”, the password input window is displayed. 3 Input the password. Touch . Touch the 2 position or 3 position . Window Remarks The password has been set to “5119” when the unit was shipped from the factory. The password can be set in ‘Password’ under Environment Setting.
No. 8 106 Operation Window Remarks The menu returns to MEC MENU window at the beginning after the controller is rebooted.
5.2.6 Position Setting (Position Related Data Setting, Jog and Inching Operations) The data items related to the position such as position, pressing force and pressing width, are set here. With these settings, the jog movement and inching movement operations can be performed. Touch Pos. Edit in the MEC MENU window. Before the window is transferred to the Position Setting window, in the case that the password is set to the value except for “0000”, the password entry window is displayed.
When the section of the position to be set is touched, the target position/velocity setting window for the selected position is displayed. Set the position and velocity. The set position is shown. The set velocity is shown. Touching Tb1 returns to the Tb1 window. In this set window, the other three setting item and job movement can be selected.
4) Deceleration [G]…It is able to set the deceleration speed (G) at the stop. (Reference) Explained here is about the acceleration speed. The way to think is the same for deceleration. 1G = 9800mm/s2: Acceleration that enables to accelerate up to 9800mm/s in 1sec. 0.3G: Acceleration that enables to accelerate up to 9800mm/s u 0.3 = 2940mm/s in 1sec. Velocity 9800mm/s 1G 2940mm/s 0.3G Time 1s Caution Settings of Acceleration and Deceleration.
[Pressing to Forward Position or Intermediate Point] Pressing Complete Velocity (Positioning complete signal output) Forward Time Pressing Width Forward Position Pressing Forward Position Backward Position (Intermediate Position) [Pressing to Backward Position or Intermediate Point = Pulling] Pressing Complete (Positioning complete signal output) Backward Velocity Time Pressing Width Backward Position (Intermediate Position) 110 Pressing Forward Position Backward Position
7) Energy-Saving Function…If the energy saving function is turned active, the motor power supply (servo) will turn off automatically to save electricity in a certain while after a positioning is complete. Set the time in the parameter in advance. Parameter No. Parameter Name Initial Value Setting range 10 Auto Servo OFF Delay Time [sec] 1 0 to 9999 [Automatic Servo off] The servo automatically turns off after a specified time once the position is complete.
[2] Position Setting Window Types [Position/Velocity setting] The Position and Velocity are set here. [Pressing setting] The Push Power and PushBand are set here. Touching PUSH in the “Positing/Velocity setting” window displays the “Pressing setting” window. [Acceleration/deceleration setting] The Acceleration and Deceleration are set here. Touching ACC in the “Position/Velocity setting” window displays the “Acceleration/deceleration setting” window.
[Jog Operation] The Jog operation and inching operation are enabled here. Touching JOG in the “Position/Velocity setting” window displays the “Jog Operation” window.
[3] Basic Operation [Position / Velocity] Touch the value for the position(Note 1) or velocity. Touching Tb1 returns to the Tb1 window. In the example of the Operation Pattern No. 3, When any of 0, 1 or 2 is touched in this window, the corresponding setting window for “0” (Backward Position), “1” (Forward Position) and “2” (Intermediate Position) are displayed.
When the writing is completed, the following window appears. Touch the ESC. The “Position/Velocity setting” window is returned.
[Pressing Setting, Acceleration/deceleration setting, Energy-Saving Setting] Taking the “Pressing Operation” as an example, the setting procedure is described. Touch the PUSH (Note 1). Touching Tb1 returns to the Tb1 window. 㧢㧜 Touch the value for the Push Power or PushBand setting item. 㧜㧚㧜㧝 The ten-key will be displayed. Enter the value and touch . The set value will be displayed. Touch the Back.
[Jog Operation] (Jog Operation after the Home Return Operation Completion) Touch the JOG. Touching Tb1 returns to the Tb1 window. The “Jog” operation window will be displayed. The current position of the axis is shown. Operations in the “Jog” window x 㧦 While one of these buttons is pressed, the axis is jogged. Jog operation to negative direction or positive direction . x SON : x S Touch SON to turn the motor power supply (servo) on.
(Inching Operation after the Home Return Completion) Touching Increment displays the Inching Operation window. The current position of the axis is shown. The inching distance is shown. Operations in the “Increment” window x : With a single touch, the axis is moved as much as the set distance in the “Increment Distance”. Increment operation to negative direction or positive direction . x Get : The current position is captured.
(Jog Operation Execution before Home Return Operation) When the jog operation is to be performed before the home return operation, the window for the home return operation is displayed before the jog operation window. Touch the YES. The home return operation is performed. Touch the OK. The home return operation is started and the following window appears. Touching STOP can stop the home return operation. When the home return operation is completed, the jog operation window appears.
[4] Position Setting Operation Example The operation procedure is described taking a specific example. 1) Position, Velocity or Acceleration/Deceleration Setting Explained below is the case for 2-point stop as an example. The position setting is performed for the reciprocating movement between 10.0 mm and 100.0 mm. Forward Position (Backward Point) :100.0mm, Backward Position (Forward Point) :10.0mm, Reciprocating Movement Speed: 50mm/sec, Reciprocating Movement Acceleration: 0.
No. 7 Operation Touch the velocity value. Window Remarks Touching Tb1 return to the Forward Position/Backward Position setting window in the Position Setting window. When the value input is stopped, touch ESC. The value will not be set and the previous “Position/Velocity setting window” in the Position Setting window will be returned. Touching Tb1 return to the Forward Position/Backward Position setting window in the Position Setting window. 8 Touch 5, 0, then 9 “50.
No. 14 Operation Touch the deceleration value. 15 Touch 0, . and 3 in order, then . 16 “0.30” is displayed in the deceleration data section. 17 Touch the Back. 18 Touch the WRT. Window Remarks Touching Back returns to the previous “Position/Velocity setting window” in the Position Setting window. Touching MENU return to the Forward Position /Backward Position setting window in the Position Setting window. When the value input is stopped, touch ESC.
No. 20 Operation The controller’s position data is reloaded. Window Remarks Touch the ESC. 21 22 Set the forward position (stop position on the backward point), the positions related to it and acceleration/ deceleration speed. Touch the ForwardPos. The window is change to the Forward Position window. Set the Forward Position related Position, Acceleration and Deceleration. When MENU is touched, the MEC MENU window is returned.
Window No. 28 Operation “50.00” is displayed in the velocity data section. 29 Touch the ACC. Touching Tb1 return to the Forward Position/Backward Position setting window in the Position Setting window. 30 Touch the acceleration value. 31 Touch 0, . and 3 in order, then . 32 “0.30” is displayed in the acceleration data section. 33 Touch the decelerate value. 34 Touch 0, . and 3 in order, then .
No. 35 Operation “0.30” is displayed in the Decelerate data section. 36 Touch the Back. 37 Touch the WRT. Window Remarks Touching Back returns to the previous “Position/Velocity setting window” in the Position Setting window. Touching MENU return to the Forward Position /Backward Position setting window in the Position Setting window. Touching MENU return to the Forward Position /Backward Position setting window in the Position Setting window.
2) Direct Teaching (Method where the slider is moved manually to the target position and the position (current position) is captured as the Forward Position or Backward Position) Explained below is the case for 2-point stop as an example. The procedure for capturing the current position of “50.0mm” in the Backward Position (Forward Point)). No. 1 Operation Window Remarks Touch Pos. Edit in the MEC MENU window.
No. 7 8 9 Operation Perform the home return operation. If the motor power supply (servo) is on, touch SON to turn the motor power supply (servo) off. Window Remarks Touching STOP stops the home return operation. 㧝㧜㧜㧚㧜㧜 Move the slider and rod manually and align the actuator with the target position of 50.0mm. Touch the Get. 10 Touch the ESC. 11 “50.00” is displayed in the position data section. It is confirmed that the position data has been captured.
No. 14 Operation Window Remarks The controller’s position data is reloaded. Touch the ESC. 15 128 When MENU is touched, the MEC MENU window is returned.
3) Jog Operation (The actuator is moved (inching movement) using the direction arrow button or to align with the target position and the position (current position) is captured as forward position or backward position). Explained below is the case for 2-point stop as an example. The procedure for capturing the current position of “80.0mm” in the Backward Position (Forward Point)). Window No. 1 Operation Touch Pos. Edit in the MEC MENU window.
No. 7 Operation Perform the home return operation. 8 If the motor power supply (servo) is off, touch SON to turn ON the motor power supply (servo) on. 9 Touch Slow S or Fast F to set the jog speed 10 Move the slider or rod using the arrow button or to align the actuator with the target position "80.0mm". 11 Touch the Get. 12 Touch the ESC. 13 “80.00” is displayed in the position data section. It is confirmed that the position data has been captured.
No. 14 Operation Touch the WRT. Window Remarks Touching Tb1 return to the Forward Position/Backward Position setting window in the Position Setting window. When the writing is not performed and the “Forward Position/Backward Position” selecting window in the Position Setting window is returned, the setting is not performed. 15 Touch the YES. 16 The controller’s position data is reloaded. Touching NO returns to the Position Setting window without performing the setting. Touch the ESC.
4) Inching Movement Operation (The actuator is moved (inching movement) using the direction arrow button or to align with the target position and the position (current position) is captured as forward position or backward position) Explained below is the case for 2-point stop as an example. The procedure for capturing the current position of “30.0mm” in the Backward Position (Forward Point)). Window No. 1 Operation Touch Pos. Edit in the MEC MENU window.
No. 7 Operation Perform the home return operation. 8 If the motor power supply (servo) is off, touch SON to turn the motor power supply (servo) on. 9 Touch the Increment. The window is transferred to the “Increment” window. 10 Touch the Increment Distance value. 11 Set the Increment distance. 12 Move the slider or rod using the arrow button or to align the actuator with the target position "30.0mm". 13 Touch the Get. 14 Touch the ESC.
No. 15 Operation “30.00” is displayed in the position data section. It is confirmed that the position data has been captured. 16 Touch the WRT. Window Remarks Touching Tb1 return to the Forward Position/Backward Position setting window in the Position Setting window. Touching Tb1 return to the Forward Position/Backward Position setting window in the Position Setting window.
5) Pressing Operation (Pressing Force and Pressing Width) Setting I Explained below is the case for 2-point stop as an example. The procedure is described taking the pressing operation performed at the backward position (Forward Point) as an example. Pressing Force:50%, Pressing Width:5.0mm Window No. 1 Operation Touch Pos. Edit in the MEC MENU window. Remarks 2 In the case of the password value except for “0000”, the password input window is displayed. Input the password.
Window No. 7 Operation “50” is displayed in the Push Power data section. 8 Touch the PushBand value. Touching MENU return to the Forward Position /Backward Position setting window in the Position Setting window. 9 Touch 5 and 10 “5.00” is displayed in the PushBand data section. When the value input is stopped, touch ESC. The value will not be set and the previous “Position/Velocity setting window” in the Position Setting window will be returned.
No. 14 Operation The controller’s position data is reloaded. Window Remarks Touch the ESC. 15 When MENU is touched, the MEC MENU window is returned.
6) Energy-Saving Function (Automatic Servo-Motor Turning OFF) Setting Explained below is the case for 2-point stop as an example. The procedure to turn off the motor power supply automatically (servo-motor automatically) 5.0 seconds after the machine stop, is described. No. 1 Operation Touch Initial set in the MEC MENU window. 2 Set the automatic servo-motor OFF delay time. Touch the Parameter. 3 Input a password. 4 Touch the Parameter.
No. 8 Operation 5 will be displayed. Window Remarks Touch the WRT. 9 Touch the YES. Touching NO returns to the previous automatic servo-motor turning OFF delay time setting window. The parameters are not reloaded. 10 Touch the YES. Touching NO displays the message window showing “Re-input the power”. Until the power is re-input, the set value is not reflected on the controller. 11 When the controller is re-started, the window is transferred to the MEC MENU window. Touch the Pos. Edit.
No. 16 Operation Touch the Back. 17 Touch the WRT. Window Remarks Touching Tb1 return to the Forward Position/Backward Position setting window in the Position Setting window. Touching Tb1 return to the Forward Position/Backward Position setting window in the Position Setting window. When the writing is not performed and the “Forward Position/Backward Position” selecting window in the Position Setting window is returned, the setting is not performed. 18 Touch the YES.
Window No. 23 Operation Touch the ON. Remarks Touching MENU return to the Forward Position /Backward Position setting window in the Position Setting window. 24 Touch the Back. Touching MENU return to the Forward Position /Backward Position setting window in the Position Setting window. 25 Touch the WRT. Touching Tb1 return to the Forward Position/Backward Position setting window in the Position Setting window.
5.2.7 Test Play Operation check for the axis movement can be performed. Touch Test Play in MEC MENU window. Operation check for the axis movement can be performed. Shown below is how to operate 3-point stop as an example. 㧝㧜㧜㧚㧜㧜 The current position of the axis is shown. When MENU is touched, the MEC MENU window is returned. x Backward x Intermediate : When BW is pressed, the actuator is moved backward. : Touch CP to move to the intermediate point.
5.2.8 Maintenance, I/O Test I/O Test can be performed. Touch Maintenance in MEC MENU window. Touch the I/O Test. When MENU is touched, the MEC MENU window is returned. x I/O Test : The PIO input signals can be monitored. Also, for the output signals, touching OUT0, OUT1, OUT2 or OUT3 turns ON and OFF the corresponding signal forcibly. The ON and OFF of the input signals can be monitored. For the output signals OUT0 to OUT3, touching the button outputs the corresponding signal forcibly.
5.2.9 Maintenance, Initializing Parameters can be set back to those at the delivery. Touch Maintenance in MEC MENU window. Touch the Initialize. When MENU is touched, the MEC MENU window is returned. Touch the Yes. Touch No to go back to Maintenance Menu window without setting the parameter back to those at the delivery. Touch the Yes. Controller reboots. Controller operation starts with the parameters at the delivery. The display goes back to MEC MENU window.
5.2.10 Maintenance, Parameter Parameter settings can be performed. Touch Maintenance in MEC MENU window. Touch the Parameter. When MENU is touched, the MEC MENU window is returned. Unless the password is set to “0000”, the password input window opens before moving to Maintenance Setting window. Enter the value as the password using the ten-key and touch . The password has been set to “5119” when the unit was shipped from the factory.
[1] Types of Parameter Editing Window The windows are displayed in the following order. Refer to the AMEC/PMEC Controller Instruction Manual and ERC3 Instruction Manual for the details of each parameter. (Default Position Band) Set the positioning width. (Jog Speed) Set the speed for “Fast” for the Jog Operation. F in the Jog Speed Window Jog Speed Window (Servo Gain Selection) Set the Servo Gain No. that determines the Responsibility of the Position Control Loop in the Servo-Motor Control.
(Speed Loop Proportional Gain) Set the Speed Loop Proportional Gain that determines the Responsibility of the Speed Control Loop in the Servo-Motor Control. (Servo Gain Selection) Set the Servo Gain Selection that determines the Responsibility of the Velocity Control Loop in the Servo-Motor Control. (Push Speed) Set the velocity in the pushing operation.
(Pushing Fails Current) Set whether if the current limitation value at the time when the pressing operation is performed, but there is no work to be pressed, is regarded as the current in pressing operation or the current in the stop operation. (Auto Servo OFF Delay Time) Set the time duration before the automatic motor power supply (automatic servo) off when the energy saving function is turned active.
(Default Home Current Limit) Set the Default Home in the home return operation. (Automatic Headway) Set the stop time period from the actuator movement completion to the next movement when the Operation Pattern 5 (Continuous Operation) is set. (Soft Limit) Set the soft limit on the positive ( ) side. (Home Offset) Set the offset level for the home return operation. (Home Direction) Set the home direction either of the motor side or opposite side of the motor.
(Position Edit Password) Set the password when the position is edited. (PIO Inching Distance) Displayed for ERC3 only Set the inching distance for when conducting the inching distance in Quick Search. (Total Moved Count Threshold) Displayed for ERC3 only Set the Total Moved Count Threshold. The total moved count of the actuator operation is counted in the maintenance function of ERC3. An alarm is generated when the total moved count exceeds the total moved count threshold. (Total Run Dist. Thres.
(High Power) Displayed for ERC3 only Set whether use the high output function. Set to valid to use the high output function. (BU Speed Loop Proportional Gain) Displayed for ERC3 only When the high output setting is activated, this parameter setting becomes effective for the speed loop proportional gain. (BU Speed Loop Integral Gain) Displayed for ERC3 only When the high output setting is activated, this parameter setting becomes effective for the speed loop integral gain.
[2] Basic Operation Set the parameter. [Parameters] Touching m returns to the preceding window. Touching o returns to the next window. There are 20 windows to be displayed one by one in order from the positioning width initial value to the position data edit password edit window. The soft limit is set as an example. The window where the soft limit is set, is displayed using the m or o in the displayed window. Touch the value. Enter the value and touch . Touch the WRT.
Touch the YES. Touching NO returns to the window where the setting was performed. In this example, the soft limit window is returned. Touch the YES. The controller will be re-started up. The controller is operated according to the set Operation Pattern. The Initialization window is returned. Touching NO displays the following window. The controller is not operated according to the set Operation Pattern until the controller is re-started up.
5.2.11 Maintenance, Environment Setup (Touch Sound Setting, Language Setting, System Password Change, Display Setting (Display Adjustment)) Using this function, the touch sound setting, language setting, system password change or display adjustment is performed. Touch Maintenance in MEC MENU window. Touch the Envi.Set. When MENU is touched, the MEC MENU window is returned. Select one of Sound, Display, Language, or Password and touch it.
x Change Sys-Pass : The password for the initial setting parameter edit can be changed.
[1] Basic Operation [Sound Setting] Touching ON outputs the touch sound. Touching OFF turns OFF the touch sound. Touching OK, the setting is stored and the Environment Setup window for the main machine is returned. [Language Set] Touching Japanese sets the language to Japanese. Touching English sets the language to English. Touching OK, the setting is stored and the Environment Setup window for the main machine is returned.
[Change Sys-Pass] Perform an operation to change the password for the parameter edit. The password entry window appears. Enter the password number with the numeric keys then touch . The password is set to ‘5119’ (at delivery). The password can be changed in ‘System Password Change’ under Environment Setting. Touch OK. Touch ESC to go back to the password input window. Enter the value and touch . The system password will be changed. Touch ESC to go back to the environment setting window.
[Display Setting] When the contrast in the window is to be adjusted, touch Contrast. When the brightness in the window is to be adjusted, touch Brightness. The adjustment window corresponding to the touched button item is displayed. Touching ESC returns to the Machine Setup window for the main machine is returned. x Contrast Adjustment Adjust the contrast in the window by means of touching or . x Brightness Adjustment Adjust the contrast in the window by means of touching or .
5.2.12 Maintenance information display (Note) Only ERC3 can display this information. This mode displays the total number of actuator movement and distance. x x Total Movement Count : Shows the cumulative total of Movement Count of actuator operation Total Run Distance : Shows the cumulative total of Run Distance of actuator operation Touch Maintenance in MEC MENU window. Touch the Info. Touching ESC returns to the Display Setting window.
5.2.13 Information Using this function, the data items such as operation pattern and version, are displayed. Touch Maintenance in MEC MENU window. The data selection window is displayed. Touch the window to be displayed. When MENU is touched, the MEC MENU window is returned. [Setting Check] Operation mode, 2-point or 3-point stop, currently set can be confirmed.
[Version Manufacturing Data] The version data, etc., can be confirmed. There are two windows. o m In the case of AEMC and PMEC Controller o In the case of ERC3 m The manufacturing data items including serial No. can be confirmed. [Alarm List] The alarm history can be confirmed. Except for the ERC3 ERC3 PIO Converter [Inquiry] The contacts in our company can be confirmed.
6. Error Indication 6.1 Alarm When an error occurs, the alarm window is displayed. Except for the ERC3 ERC3 PIO Converter 6.1.1 Alarm detected using the Controller The alarm with codes 080 to 0FC are alarm detected using the controller. Serious alarm in the servo-motor control system or electric system are included in such errors. Refer to ASEP/PSEP/DSEP Controller Instruction Manual or PMEC/AMEC Controller Instruction Manual and ERC3 Instruction Manual.
6.2 Error Message on the Touch Panel When an excessively large value is input for the target position and it is written in the controller, an error message is displayed in the touch panel indicator. Check that the input value is correct and perform the setting again.
7. Absolute Reset Procedure for the Absolute Battery Unit (Option) The absolute reset is available for the absolute battery unit using SEP-PT. (1) Connect SEP-PT to the controller and supply main power (24V DC). (2) “ABS Error 2” is displayed when the window is transferred to “Monitor”, “Jog”, “Inching” or “Operation Test” window immediately after SEP-PT is started up. Touch RES to reset the alarm. (3) Performing the home return operation completes the absolute reset.
Touch the JOG. Touching Tb1 returns to the Tb1 window. When the jog operation is to be performed before the home return operation, the window where the home return operation is performed, is displayed before the Jog Operation window. Touch the YES. The home return operation is to be performed. Touch the OK. The home return operation will be started and the following window will be displayed. Touching STOP can stop the home return operation.
8. Warranty 8.1 Warranty Period One of the following periods, whichever is shorter: x 18 months after shipment from our factory. x 12 months after delivery to a specified location. 8.2 Scope of Warranty Our products are covered by warranty when all of the following conditions are met. Faulty products covered by warranty will be replaced or repaired free of charge: (1) The breakdown or problem in question pertains to our product as delivered by us or our authorized dealer.
8.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications (1) If our product is combined with another product or any system, device, etc., used by the customer, the customer must first check the applicable standards, regulations and/or rules. The customer is also responsible for confirming that such combination with our product conforms to the applicable standards, etc.
9. Change History Revision Date 168 Revision Description 2009.5 First Edition 2010.10 Second Edition Operation of 5. PMEC/AMEC Controller added 2011.9 Third Edition Pg. 8, 95, 96, 97, 148, 159, 161 and 162 The contents of ERC3 are added. 2011.10 Fourth Edition Pg. 96 and 151 ERC3 MEC Mode parameters added Pg. 166 and 167 Contents changed in Warranty 2011.
Manual No.: ME0217-5A (October 2011) 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.
