Professional Documents
Culture Documents
RCS-6000 Series
USER'S MANUAL
NewRO
AC 1-AXIS CONTROLLER
SAFETY INSTRUCTIONS
Before installing, running, repairing and examining our product, read all of the contents of this
manual and attached documents carefully. Please use controller after reading carefully
about the safety information of machinery and tools.
SAFETY SYMBOLS
This manual uses safety symbols as follow. As the safety symbols contain very important
matters, you must keep these in mind as you read through this manual.
After reading, keep this manual somewhere easy to find for reference in the near future.
This manual contains other reasonable notices marked as follows, which need to be read carefully.
NOTE
or
Reference
z The wiring work and the check should be done after more than 3 minutes since the power was off
and after POWER LED was off.
z The controller and motor should be set up more than the third class grounding.
z A well-trained engineer should inspect the wiring work and the check only.
z Prevent cable from damaging, loading heavy things, and folding.
z In case of trouble, disconnect the controller power. It causes a fire if the charged current
flows continually.
z Install controller, resurrection resistor and servomotor at noninflammability things. If install
at or near inflammability things, it may causes fire.
z Do not input any voltage to each terminal except the voltage referred to the operating
manual. It causes an explosion, breakage, etc.
z Connect the terminal correctly. It causes an explosion, breakage, etc.
z Polarize correctly (R.S.T, U.V.W). It causes an explosion, breakage, etc.
z For a moment do not touch the resurrection resistor, heat radiation plate, servomotor, etc.,
while current flow or even power was off. It causes a burn.
Several Cautions
Caution about Installation
z
z
z
z
z
z
Keep the right using method of controller and servomotor combination. Else it causes fire
or trouble.
Do not use product in water sputtering or near inflammable gas area. It causes electric
shock or fire.
Keep standard distance between controller and additional machinery and tools.
Prevent insertion to controllers inside of any conductive material or oil.
Do not inflict considerable impact on controller or neither drop.
Fix the controller on weight supportable place and servomotor on machine firmly.
z A ground terminal ( ) must be set up at third class grounding or higher. It causes electric shock
or fire.
z Do not touch any switch with wet hand. It causes electric shock.
z Implement wiring after fixing controller and servomotor.
z
z
z
z
z
z
z
z
z
z
Contents
Safety Instruction
For Safe Use
Chapter 1
Product Overview
1.1 Summary
1-1
1-2
1-3
1-10
1-14
1-14
1-14
1-14
1-15
1-15
1.11 Cable
1-15
1-20
Chapter 2
2-2
2-3
Chapter 3
2-5
Parameter Setup
3-1
3-2
3-2
3-10
3-13
3-26
C-1
Contents
Chapter 4
I/O Instructions
Chapter 5
4-1
5-1
5-2
5-3
5-4. Check the limit sensor of axis after moving the Robot to JOG
5-6
5-5. Operate Origin when there is no problem in Robot to move with JOG.
5-7
Chapter 6
6-1
Chapter 7
6-3
Point Teaching
7-1
7-2
7-4
Chapter 8
Robot Commands
8-1
8-6
8-12
8-13
8-14
Chapter 9
PLC Commands
C-2
Contents
Chapter 10
Programming Example
10-1
10-3
10-4
10-5
10-6
10-7
10-8
Chapter 11
11-1
11-1
11-2
11-4
11-5
11-5
11-6
Chapter 12
12-1
12-2
12-3
12-3
12-3
12-4
12-4
12-4
C-3
Contents
13. Warranty
C-4
1-1. Summary
The single controller can construct the control system independently without other peripheral equipment
because it is united with the single axis controller, AC servo drive and PLC function.
Besides the single operation function, the single controller can also operate the synchronous operation,
the unlimited rotation operation, the determined position operation by external contact point , and the
MPG operation functions as well.
Embedded PLC has contact point arithmetic, counter, and timer functions, enabling it to process
several switch signals and sensors installed within the system.
This product is easily programmable due to the various program methods, and can respond to many
kinds
of AC servomotors according to digital control.
This product is able to keep accurate control because the extent of position control is a 1 pulse of the
encoder pulse.
This product is able to operate remotely through serial communication and up/down-loads of inputted
programs and parameters. Also each serial bus can connect to up to 32 controllers.
Our product is able to search the starting point without any origin sensors (CW, CCW, ORG sensor).
(When attached to rectangular machinery)
Basic user I/O functions are user selectable through the contact point terminal.
Available for single and three-phase power source.
This product can be used for linear movements, rotations, conveyor systems, turret machines, and roll
feeders.
1-1
Product
Controller
RCS-6001~6045 (9 Models)
Teach Pendant
RCS-7000T
Main
Option
I/O Connector
PC Interface Program
Unihost
Serial Connector
RS 232C
Noise Filter
Cable
Regenerative resistor
6001,6002(X),6030,6045(2),Others(1)
Manual
1-2
Remark
1-3
1-4
R O BO STAR
RCS-6000
1-5
RCS - 6001P
Description
RC : Robot Controller
S : Single (1 axis)
60 : 6000 Series
01 : Capacity (9 models)
01 (100W), 02 (200W), 04 (400W), 05 (500W)
10 (1KW), 15 (1.5KW), 20 (2KW), 30 (3KW), 45 (4.5KW)
NewRo
AC ROBOT
Model
TYPE : RCS-6002
Model
Input Power
Korean Design
1-6
Size
Small
Middle
Large
Model
CN Series
LF Sries
TF Series
KF Series
RCS-6001
50W/100W
RCS-6002
200W
RCS-6004
300/400/500W
RCS-6005
400(N80)/600W
300W
450W
RCS-6010
800/1KW
600/900W
850W
750/1KW
RCS-6015
1.2KW
1.3KW
1.5KW
RCS-6020
2KW
1.8KW
2.2KW
RCS-6030
3KW
2.9KW
3.5KW
RCS-6045
4.4KW
5KW
6001, 6002
6004
6005
6010
6015
6020
6030
6045
Net (kg)
1.2
1.5
2.2
2.2
4.15
4.25
4.25
4.3
Gross (kg)
1.4
1.7
2.52
2.52
4.55
4.75
4.75
4.8
1-7
RCS-6000 Series
RCS-
Model
Item
6001/02
Input Voltage
6004
6005
6015
6020
6030
6045
1 AC220V
+10%~15%
Utility
Power
6010
50 / 60Hz
Watt (KVA)
Regenerative Resistor
0.8
0.9
50
/500W
Cooling Method
1.1
2.1
3.1
50 /140W
4.1
6.0
Control Type
Programming
Encoder type
8.0
300 (kpps)
1000 [step/program] (ROBOT, PLC program)
Circumstances of use
The conditions of use are as follows. If you consider using the product in an environment
that differs from the conditions below, contact the Customer Support Department
Environment
Condition
Temperature
Humidity
Preservative Temp.
Preservative Humidity
Room Condition
Vibration
0.6G
Applying Voltage
DC24V
DC24V
Driving Current
5~10 mA
Max. 80 mA
1-8
Pos. Order
UVW Order
Voltage
AB
UVW
5V
AB
UVW
5V
Absolute
AB
UVW
5V
Note) As it above, the motor rotation direction is CCW in view of motor shaft
10 signal (position, UVW phase: B A/WVU) has reverse order of 9 signal's position
& UVW.
5V
AB
Configuring in Program
Setting
Value
CW
CCW
A Phase
Remark
A Phase : Lead
B Phase : Lag
B Phase
A Phase
A Phase : CW
B Phase : CCW
B Phase
A Phase
A Phase : Pulse
B Phase :
B Phase
1-9
Direction
15 Pin Connector
+12V
TxD
RxD
-12V
GND
EMG
RCS-7000T
Cable Length
Order Number
5m
RCS-7000T
10 m
RCS-7000T-10
15 m
RCS-7000T-15
1-10
1-11
1-12
10
106
8.20
142.40
5
151.60
10
10
10.20
171.60
HIF3BA-64D-2.54R(HIROSE)
CONNECTOR : 10150-3000VE(3M)
HOOD : 10350-52F0-006(3M)
1-13
HIF3BA-50D-2.54R(HIROSE)
CONNECTOR : 10150-3000VE(3M)
HOOD : 10350-3210-006(3M)
1-14
1-11. Cable
Model Designation
RCK - 1N05DA-S
Description
RCK : Robot Cable
: RCS-6000 (SIngle Axis)
1
N : F (Flexible), N (Inflexible)
05 : Cable Length
03 (3 m) , 05 (5 m), 10 (10 m), 15 (15 m)
D : Encoder Type (15 signal)
A : Motor Type
A (PANASONIC,MSMZ)
B (PANASONIC,MSMA)
C (LG,CN)
D (LG,KF)
E (LG,TF)
S : Connector Type
S (Straight Type)
E (Elbow Type)
H (Housing Type)
1-15
Soder Part:C-C'
SECTION:B-B'
Pin No.
Signal
Pin No.
Signal
Pin No.
Signal
Pin No.
Signal
11
11
/Z
/A
12
/W
/W
12
SHIELD
13
+5V
13
/B
/B
14
0V(GND)
/V
14
15
SHIELD
15
/A
/Z
/U
16
17
/U
18
0V(GND)
19
+5V
10
/V
10
20
Signal
Pin No.
Signal
U (Red)
W (Black)
V (White)
FG (Green)
1-16
Encoder
Cable
Encoder
Cable
Power Cable(Brake
)
Power
Cable (No
Brake)
Power
Cable (with
Power Cable(Brake
) Brake)
Signal
Pin No.
Signal
/A
/V
/B
/W
+5V
/Z
0V (GND)
SHIELD
/U
No. Connector (Controller CN1 side) is same to the cable for N60 Motor.
No., Connector (Motor Power Cable)
Pin No.
Signal
Pin No.
Signal
Pin No.
Signal
U (Red)
W (Black)
BRAKE +
V (White)
FG (Green)
BRAKE -
1-17
Inflexible
Cable
Cable
CW
CCW
ORG
BRK+
BRK+ 24V
G24
V
W
FG
Cable
Cable
Flexible
Signal
Pin No.
Signal
Pin No.
Signal
+5V
12
/V
23
BRAKE-
+5V
13
24
ENC SHILED
0V(GND)
14
/Z
0V(GND)
15
16
/W
/A
17
CW
FG
18
CCW
/U
19
+24V
20
G24
10
/B
21
ORG
11
22
BRAKE+
1-18
G24
v
Inflexible Cable
Cable
CW
CCW
ORG
BRK+
BRKG24
+24 v
U
V
W
FG
Cable
Flexible Cable
Signal
Pin No.
Signal
Pin No.
Signal
+5V
12
/V
23
BRAKE-
+5V
13
24
ENC SHILED
0V(GND)
14
/Z
0V(GND)
15
16
/W
/A
17
CW
FG
18
CCW
/U
19
G24V
20
+24
10
/B
21
ORG
11
22
BRAKE+
1-19
Signal
RxD - TxD
2 (RxD)
3 (TxD)
TxD - RxD
3 (TxD)
2 (RxD)
GND
DTR, DSR
RTS, CTS
SHILED
1-20
2-1
Caution on Installation
1. Do not inflict considerable impact on controller or neither drop .
It can cause breakage of internal devices in controller.
2. Keep the proper distance when placing Controller to Panel.
3. Do not use product in water sputtering or near inflammable gas area. It causes electric
shock or fire.
4. The regenerative resistor connected to P-B port of controller should be placed to
the well-heat-radiated place because it radiates heat according to rated output of motor
propotionally. It is recommanded that the resistor is far more than 20mm from controller.
5. To get more information on the condition for installation circumstances, refer to Chap.1,
Product Overview.
Bottom Direction
2-2
MCCB1
Choke
Coil 2
MC1 2
P
R
AC200~230V
AC200~230V
50/60Hz 3
50/60Hz 3
NF
(
R-S )
Small Capacity
uses 1 R-S
Choke
Coil 1
1
RCS-6000
NC
NC
ENC
I/O
Extension
I/O
I/O
EI/O
SERIAL
I/O
Teach Pendant,
PC,RS-422
Connector
2-3
Regenerative
Discharge Resistor
RCS-6000
AC INPUT
AC200~230V
50/60Hz
3-phase
(R,S single-phase
available at RCS
6001~6004)
EMC UNIT
(Option)
MCCB1
R
NF
(option
)
FG
FG
NC
NC
NC
NC
S
T
AMP Board
EN
Main Board
I/O
SERIAL
I/O
Teach Pendent,
PC, RS-422 port
2-4
T/P Connector
R,S,T Port
- AC 3 Input Port
- 1 AC220V :RCS-6001~6010
(Using R-S Port)
- 3 AC220V :RCS-6005 and above
P, B Port
- Output port for Regenerative
Discharging Energe from Motor.
- Port for connecting Regenerative
Resistor.
Encoder
Connector
R
R
S
T
NC
S
T
P
B
NC (Not
Connect)
:if needed,
connect it to
Choke Coil to
reduce noise.
NC
I/O Cable
Connector
U
V
W
P
B
U
V
W
U, V, W Port
- Connect power wires
of motor.
- U Port : Red Wire
V Port : White Wire
W Port : Black Wire
NC (Not
Connect)
:For CE
Controller, be sure
to connect it to
Choke Coil to
reduce noise.
Earth Port
- Controller FG port.
- Connect FG(green) wire of Motor
and connect the other wire to
ground.
2-5
Pin
Pin
No.
Encoder
Signal
No.
Encoder
Signal
W(Rx)
11
W(Rx)
12
SHIELD
13
14
15
16
BAT+
17
BAT-
18
GND(5V)
19
+V5
10
EP+5V
20
ERST
Encoder Signal
U, V, W
A,B
Used to detect the position of the motor and its rotation number
+5V
EP +5V
GND (5V)
BAT+,BAT-
ERST
Rx, /Rx
2-6
Pin
Pin
No.
Encoder
Signal
No.
Encoder
Signal
11
12
SHIELD
13
14
15
16
17
18
19
+V5
GND(5V)
10
20
Pin
Pin
No.
Encoder
Signal
11
12
SHIELD
13
14
15
16
17
18
No.
Encoder
Signal
GND(5V)
10
19
20
2-7
Pin
Pin
No.
Encoder
Signal
No.
Encoder
Signal
Rx
11
Rx
12
SHIELD
13
14
15
16
BAT+
17
BAT-
18
GND(5V)
19
+V5
20
ERST
10
2-8
RS232C communication
+V12
11
FG
RxD
12
RDA
TxD
13
RDB
-12V
14
SDA
GND
15
SDB
EMG
Communication
standard setting
- Type : Asynchronous
- Baud rate: 9600 bps (fixed)
- Stop bit : 1
- Frame bit : 8 Bit
- Parity check : No parity
7
8
9
10
Pin No Signal
RS422 communication
2-9
GND
11
FG
12
RDA
13
RDB
14
SDA
15
SDB
Pin No Signal
1
+12V
RxD
TxD
-12V
GND
EMG
2-10
Byte
Type
Contents
B000 ~ B022
Input Contact
B030 ~ B047
Output Contact
B050 ~ B317
27
Internal Contact
B320 ~ B337
B340 ~ B347
B350 ~ B387
B390 ~ B417
(Ex) System Output IN_POS contact set to Not Use Set User Output to B030
(settable in range of B030~B047)
2-11
Signal
Group
Contents
ROB_RUN
PLC_RUN
B000
STOP
B001
RESET
Alarm Release
B002
SVON
Servo ON
Not Use
SVOFF
Servo OFF
B003
ORIGIN
Origin Execution
Not Use
STEP_RUN
Not Use
PGM_SEL
Not Use
PGM_SEL1
JOGJOG_SET0
JOG_SET1
JOG_MODE
Not Use
Not Use
PGM_SEL2
JOG+
Not Use
Not Use
PGM_SEL0
Input
Default
Not Use
JOG Movement
Not Use
Not Use
Not Use
Not Use
IOPOS0
Not Use
IOPOS1
Not Use
IOPOS2
Not Use
IOPOS3
IOPOS4
Not Use
Not Use
IOPOS5
Not Use
IOPOS6
Not Use
IOPOS7
Not Use
IOSPD0
IOSPD1
Not Use
Not Use
CW S/W
CW Limit Switch
Not Use
CCW S/W
Not Use
ORG S/W
Origin Switch
Not Use
MPG_RATE
Not Use
MOVT_ST
Not Use
2-12
Signal
Group
ALARM
Not Use
READY
Not Use
ORIGIN
Not Use
IN_POS
Not Use
Not Use
Output ALARM0
ALARM1
ALARM2
Not Use
Not Use
Not Use
ALARM3
BRAKE
Example
- Input
ROB RUN : B000
STOP : B001
RESET : B002
ORIGIN : B003
PGM SEL : B004
CW S/W : B005
CCW S/W : B006
Not Use
- Output
ALARM : B030
READY : B031
ORIGIN : B032
IN POS : B033
2-13
B. Connecting
Two types of I/O connection as below.
Using I/O Terminal Block
Not using I/O Terminal Block
Cable
Cable
1 Axis
Cartesian
CW
CC W
OR G
BR K+
BRK +24V
G24
U
V
W
FG
Encoder
CW
S/W
CCW
S/W
Cable
I/O
Motor
Power
Input
PLC
Input
PLC
CW,CCW,ORG S/W
BRK+,BRKInput
Output
Encoder
CW
S/W
CCW
S/W
I/O
Motor
Power
Output
CW,CCW,ORG S/W
BRK+,BRK-
2-14
Output
I/O
Pin Assignment
2-15
I/O
Pin Assignment
Soldering
side
Pin No.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
Signal
GND(+5V)
/MPGA
/MPGB
B035
B032
B031
B041
B040
B045
B044
B047
NCOM2
B004
B005
B006
B007
PCOM1
B014
B012
B016
B010
B020
B021
EMGEMG+
Pin No.
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
Signal
MPGA
MPGB
B037
B036
B034
B030
NCOM1
B033
B042
B043
B046
FG
B003
B002
B001
B000
B013
B015
B011
B017
PCOM2
B022
PCOM3
BRAKE+
BRAKE-
NOTE
2-16
I/O Terminal
User Input
25(EMG+)
25(EMG-)
Controller Inside
I/O connector
41(B000)
User Output
32(PCOM1)
31(B030) LOAD
40(B001)
6(B031)
39(B002)
5(B032)
38(B003)
33(B033)
13(B004)
14(B005)
30(B034)
15(B006)
4(B035)
16(B007)
29(B036)
17(NCOM1)
28(B037)
21(B010)
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
12(PCOM2)
8(B040)
44(B011)
7(B041)
19(B012)
34(B042)
42(B013)
35(B043)
18(B014)
43(B015)
10(B044)
20(B016)
9(B045)
45(B017)
36(B046)
46(NCOM2)
11(B047)
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
22(B020)
23(B021)
47(B022)
48(NCOM3)
External
Power
Supply
(DC24V)
+24V
G24V
NOTE
External Power
2-17
25(EMG+)
24(EMG-)
CN2 connector
17(PCOM1)
41(B000)
13(B040)
49(B041)
40(B001)
15(B042)
39(B002)
51(B043)
38(B003)
17(B044)
13(B004)
16(B045)
14(B005)
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
50(B046)
LOAD
14(B047)
LOAD
48(NCOM2)
15(B006)
16(B007)
46(PCOM2)
21(B010)
44(B030) LOAD
10(B031)
LOAD
46(B032)
LOAD
12(B033)
LOAD
44(B011)
19(B012)
42(B013)
47(B034)
18(B014)
11(B035)
43(B015)
LOAD
LOAD
45(B036)
20(B016)
LOAD
9(B037)
LOAD
43(NCOM1)
45(B017)
48(PCOM3)
22(B020)
23(B021)
47(B022)
External
Power
Supply
(DC24V)
42(+24V)
40(G24)
+24V
G24
42(+24V
)
40(G24)
1) .
2) . 8 (Common) .
Inside parenthesis represents the I/O Address.
NOTE
The connection figure above has a common terminal per every 8th I/O port.
2-18
Fig. 2.9 User Input (B000~B022) and Sensor Connection (for PNP Type)
Photo coupler
Input
Photo Coupler
Connection inside
Controller
Output
Inside Controller
10k
Maximum output
curerent is 80mA.
CCW
General Switches or
Sensor
DC24V
ORG
NCOM
CW
+24V CCW
out
G24
DC24V
Inside Controller
(Refer to User I/O Connection
diagram)
+24V ORG
out
G24
NCOM
Robostar actuator sensor connection
( Dashed line is Cable wire label)
Cartesian sensor
connection (Dashed line is
Cable wire label)
DC24V
P24V
CW
CW
CCW
CCW
ORG
ORG
NCOM
2-19
Inside Controller
(Refer to User I/O Connection
diagram)
Fig. 2.9.1 User Input (B000~B022) and Sensor Connection (for NPN Type)
Sensor type
CW Sensor (Normal close)
ORG Sensor (Normal open)
Input
Photo Coupler
Connection inside
Controller
Photo Coupler
10k ( )
Output
Inside Controller
is 80mA.
80mA
PCOM
General Switches or
Sensor
Inside Controller
(Refer to User I/O Connection
diagram)
CW
DC24V
CCW
ORG
PCOM
+24V
out
G24
CW
Inside Controller
(Refer to User I/O Connection
diagram)
DC24V
+24V
CCW
out
G24
+24V
out
G24
Cartesian sensor
connection (Dashed line is
Cable wire label)
ORG
Cable
( Cable wire label)
PCOM
CW
CW
CCW
DC24V
CCW
ORG
G24V
ORG
line
means
inner side
of Controller
NOTE Inside
) Dashed
2-20
Inside Controller
(Refer to User I/O Connection
diagram)
1) Standard
MPG(
Connection
( Use
External
for DC
1) MPG
DC 5V
Power
)
5V)
MPGA
A
A
B
/MPGA
/MPGB
MPGB
+5V
GND(+5V)
0V
Controller
Controller Inside
DC 5V
MPG(Manual
Pluse Generator)
MPG()
In caseMPG
of Syncronizing
driving,
connect
)NOTE
Encoder
signal like the above, instead of MPG.
2) Brake
Connection
for DC
24V
2) DC
24V Brake
External
Power Supply
DC 24V
BRAKE+
BRK+
SERVO
MOTOR
Varistor
BRAKE-
BRK-
Controller
Controller Inside
Motor
Motor
Brake
Brake
Wire
3) Brake
Unit and
DC 90V
3) Brake
unit Brake
DC Connection
90V Brakefor
Brake unit
+24V
BRK+
SERVO
MOTOR
Controller
Controller Inside
Varistor
BRAKE+
BRAKE-
Relay
External
Relay
G24
BRK-
AC 220V
Varistor
attached
in Motor
Brake
port
is for
absorbing
Surge
)
Brake
Varistor
Brake
SurgeVoltage
.
NOTE
which
is
induced
by
Brake
Coil.
Surge Diode Varistor .
Connect the Diode or Varistor for absorbing Surge Voltage close to Motor side.
2-21
No.
T/P Key
T/P Display
RCS-7000T Ver1.0A
F1: Teach Pendant
F2: RS-422 Multipoint
F3: Data up/down Load
Servo Controller
F1
ROBOT PLC PARA VIEW
F3
Select Parameter
(PARA)
F1
Parameter Setting
SERVO MECH OPER I/O
Servo Parameter
AMP/MOT GAIN BRAKE
(SERVO)
F2
MECH. Parameter
MIN_LMT
MAX_LMT
(MECH)
4
When setting Parameter for Operation
F3
OPER. Parameter
MODE JOG DFT ETC.
(OPER)
F4
(I/O)
3-1
I/O Setting
INPUT BRAKE OUTPUT
Parameter Classification
- SERVO Parameter for Servo
- MECH Parameter for Mechanic (Manipulator)
- OPER Parameter for Operation
- I/O Parameter for I/O
To avoid unexpected movement, check each parameter before
running.
Do not change parameter too much. It can cause unstable motio
- Servo Driver Capacity, Servo Motor Capacity, Encoder Type, Gain, Condition for
Brake motor can be set.
- Three Groups are in this mode (AMP/MOT, GAIN, BRAKE)
Name
Content
Setting Range
AMP
0~8
0 : 100W (RCS-6001)
1 : 200W (RCS-6002)
2 : 500W (RCS-6004)
3 : 600W (RCS-6005)
4 : 1000W (RCS-6010)
5 : 1300W (RCS-6015)
6 : 1800W (RCS-6020)
7 : 2900W (RCS-6030)
8 : 5000W (RCS-6045)
AMP/
MOT
3-2
Default
Description
1) Setup embedded AMP capacity
2) The value is decided by the capacity of controller purchased.
If wrong value is entered, controller and motor can be damaged.
Group
Content
Setting Range
Default
MOT_TYPE
0~99
94
Phase Inductance
0~999.99 (mH)
7.8
AMP/
Phase Resistance
0~999.99 ()
2.3
MOT
Kt
Torque Constant
0~999.99 (kgfcm/A)
Jm
Inerita Moment
0~999.999 (gfcms2)
0.17
R_I
Rated Current
0~999.999 (A)
1.6
R_RPM
1~10000 (RPM)
3000
MAX_RPM
1~10000 (RPM)
5000
POLE
Number of Pole
1~99 (POLE)
MAX_TRQ
0~999.999 (Nm)
8
1.91
Description
MOT_TYPE : (Refer to Fig. 3.1)
3-3
No.
Default
N60
N80
LF-
TF-
KF-
TBL-I
LN,TN KN,CN
450
750
50
LN 0.3 KN 0.6
0.03
Minas
9
100
100
400
0.3K
200
200
600
0.6K
850
1.0K
100
LN 0.6 KN 1.0
0.05
300
300
800
0.9K
1.3K
1.5K
200
LN 0.9 KN 1.5
0.1
400
400
1.0K
1.2K
1.8K
2.2K
400
LN 1.2 KN 2.0
0.2
500
500
2.0K
2.9K
3.5K
600
TN0.45 CN 0.8
0.4
450
3.0K
4.4K
5.0K
800
TN0.85 CN 1.5
0.75
850
TN 1.3 CN 2.0
1.3K
TN 1.6 CN 3.0
1.8K
3-4
Group
Content
Setting Range
0~2
ENC_TYPE
ENC_PLS
Default
1~10000 (Pulse)
2500
Description
1) Setting up Encoder to use.
2) Normal 15 signals Incremental Encoder is that consists of A,B,Z,U,V,W signal.
3) 9 signals Incremental Encoder is that consists of A,B,Z signal.
The Encoder outputs the signal of U, V, W during power input 5[msec] and after that
it outputs signal of A,B,Z. The signal of Z corresponds to the electric angle 0.
4) 10 line Incremental Encoder is that consists of A,B,Z,Rx signal.
5) The applicable Absolute Encoder is SUMTAK's AEF-010-2048.
It is possible to use other Encoder having same signal specification.
6) When changing Encoder Type, Main Power of controller should be recycled.
(Turn Off and turn on)
7) Setting up the Encoder pulse number.
- In case of Minas Motor : 2500 Pulse
3-5
2> GAIN
Procedure to set
SERVO GAIN POS_P, SPD_P, SPD_I, FEED_FWD
Name
GAIN
Contents
Setting Range
Default
15~300 (1/s)
100
POS_P
SPD_P
2~500
10
SPD_I
10~150
50
FEED_FWD
0~100 (%)
Description
1) The position control uses a Proportional(P) Control, while the speed control applies
Proportional Integral(PI) control.
2) In a normal application, it is recommended to adjust it from SPD_P.
If it is not successfully adjust with SPD_P, try to adjust it with POS_P.
3) When setting up SPD_P first, calculate the inertia moment of load converted to
servo motor axis, and then if it is n times from inertia moment, use default value
with n*10 +10.
4) The ACC/DEC (Acceleration & Deceleration) Calculator is satisfied with condition
of ACC/DEC time and Motion Speed, it calculates the speed and position to reach
desired position.
The Feed-Forward Ratio means the ratio reflecting to the speed command of
speed controller directly without pass by the position controller.
5) Feed-Forward Ratio depends on application, but Generally it is set to about 70%.
3-6
3-7
Standard Gain
Gain
RCS-6001~4
6005
6010
6015~20
6020~30
POS_P
120
120
150
120
150
SPD_P
30
30
35
30
35
SPD_I
50
50
50
50
50
Gain
RCS-6001~4
6005
6010
6015~20
6020~30
POS_P
120
120
150
120
150
SPD_P
50
50
50
30
35
SPD_I
60
60
60
55
55
3-8
3> BRAKE
Procedure to set
SERVO BRAKE BRK_TIME, BRK_DLY, BRK_RPM
Group
Contents
Setting range
Default
BRK_TIME
0~1000 (ms)
BRK_DLY
0~1000 (ms)
BRK_RPM
2000~3000 (RPM)
2000
BRAKE
Description
Low
inertia
load
High inertia
load
Speed
Move
Command
BRK_RPM
Time
Brake
BRK_
BRKTIME
TIME
Servo
ON
ON
Brake
OFF
OFF
BRK_DLY
BRK-
DLY
OFF
Servo
OFF *1
*2
3-9
Name
Contents
Setting range
Default
MIN_LMT
-99999.999~99999.999
-99999.999
MAX_LMT
-99999.999~99999.999
99999.999
MECH
Description
1) During the Robot operation, if the position command is beyond limits of this parameter,
it is treated as an alarm.
2) This parameter value is ignored in the JOG and Origin operations, and the common
area that can be calculated is used as a limit value among user's coordinate value
and the number of encoder pulse. (-99999.999 <= user coordinates <= 99999.999,
-99999999 <= The number of encoder pulse <= 99999999)
3) The value of MIN_LMT and MAX_LMT should be within the scope of -99999999 99999999
when it is converted into the number of encoder pulse.
If it is beyond this scope, it is treated as an alarm.
4) In order to operate the endless track, the value should be changed into 0 by using
PLCR command each proper position among the programs. (In the incremental encoder only)
Name
Contents
Setting range
Default
LMT_RPM
1~10000 (RPM)
3000
LMT_TRQ
0~300 (%)
300
MECH
Description
1. The value fixed in the LMT_RPM is a standard of speed fixing in the Robot program.
ex) If the LMT_RPM is fixed as 3000 and then operates at SPD 1000, the
operating velocity is 300 RPM( 10% velocity of LMT_RPM).
3-10
Name
MECH
Contents
Setting range
Default
-99999.999~99999.999
ORG_OFS
MOV_MOT
1~10000
MOV_MECH
1~10000
10
MOV_POL
0~1
(0: In clockwise rotation
of motor + movement)
Description
1) The coordinate value of origin position is inputted in the ORG_OFS on the basis of coordinate
system that the user wants.
2) The position of power input is used as ORG_OFS until the origin is searched.
3) At the time of machinery application without origin, it is convenient to fix 0 as a value of
ORG_OFS.
4) MOV_MOT and MOV_MECH set up the movement quantity of the user's coordinate system
and the ratio converting the number of encoder pulse.
Ex1) If the coordinate system of [mm] is used on machinery moving 10[mm] per 1 motor
rotations, MOV_MOT is set to 1 and MOV_MECH is set to 10.
Ex2) If the coordinate system of [] is used on machinery moving 360,000[] per 50 motor
rotations, MOV_MOT is set to 50 and MOV_MECH is set to 360.
5) The available scope as a coordinate value of user's coordinate system is 99999.999
~99999.999.
6) The operation of Servo uses encoder pulse number, and the available scope of encoder
pulse number is -9999999999999999.
7)Though the allowable position value (No.4) in the user's coordinate system, if the pulse number
about its position exceeds the limited area(No.5) it is treated as an alarm.
3-11
Name
MECH
MPG_PLS0
Contents
Setting range
Default
1~10000
Input quantity of MPG pulse
MPG_PLS1
MPG_MOV0
MPG_MOV1
T_CYCLE
0.001~500.000
0.001
Description
1) By using MOVM of the Robot command, it can move into the fixed position using MPG
pulse. At this time, the input frequency of MPG pulse should be lower than the
movement speed fixed after (decel) accelerating lower than the acceleration &
deceleration condition.
If the acceleration & deceleration of MPG or the movement speed is larger than the
fixed value, It is operated in the controller according to the fixed value.
Also if the order value of MPG pulse exceeds the target position, it goes beyond to
next program after moving until the target position.
ex) MOV_MOT=1, MOV_MECH=1, MPG_PLS0=1, MPG_MOV=1 are fixed, the motor
rotates one time by the MPG 1 pulse.
2) (MPG_PLS0, MPG_MOV0), (MPG_PLS1, MPG_MOV1) the selection of combination is
determined according to the contact point input of MPG_RATE.
If the contact point input of MPG_RATE is 0, select the MPG_PLS0, MPG_MOV0.
3) With MOVM among the Robot command the fixed position value is selected according
to the contact point value IO_POS30 among the P0P15.
It starts movement if the contact point of MOVT_ST becomes to 1.
4) From a machinery structure viewpoint moving into coordinate 360.000 returns to the
same position.
If it is needed to move from the present position of 359.000 to 0.000, it needs to move
-359.000 without regard to the rotation direction.
But, since 0.000 and 360.000 are the same the desired position can be achieved by
moving 1.000 only from 359.000. In this case if the value of T_CYCLE is fixed as 360.000,
the controller make it move near position automatically at the time of MOVT command.
However, this function is used at the time of using the incremental encoder only.
5) If a pipe or wire exists in the load, do not use it since the wiring may intertwined
if T_CYCLE function is used.
6) If the value of T_CYCLE is set to 0.000, this function is not used.
3-12
1> MODE
Procedure to set
OPER MODE AUTO_PLC, AUTO_ORG, S_MODE,
ORG_RULE, MPG_MODE
Name
Contents
Setting range
Default
AUTO_PLC
0~1
(1:PLC AUTO RUN)
AUTO_ORG
0~1
(1:ORG AUTO RUN)
MODE
Description
1) If the value of AUTO_PLC is fixed as "1", the PLC program selected by PLC_PGM
parameter is operated automatically at the time of power input. If the PLC program
concerned is not programmed or there is error in the grammar, it is treated as an
alarm.
2) If the value of AUTO_ORIGIN is fixed as "1", the movement of return to origin is
operated automatically according to the method selected by ORIGIN_RULE parameter
at the time of power input.
When using the absolute encoder, this function does not operate.
3-13
Name
contents
Setting range
Default
0~7
0 : No filter
1 : 2 (msec)
2 : 5 (msec)
MODE
S_MODE
3 : 11 (msec)
4 : 23 (msec)
5 : 47 (msec)
6 : 95 (msec)
7 : 191 (msec)
Description
1) The acceleration & deceleration calculator can calculate the wave of the
acceleration & deceleration by the set-up parameter to the target position.
The calculated velocity wave has a trapezoid shape. The stairs type
torque(acceleration & deceleration) is occurred by each corner of the trapezoid
speed wave and owing to this the stairs-type torque, the vibration may be
occurred in some equipment.
In order to soften this feature, the acceleration & deceleration time is fixed long
or the value of S_MODE is arranged.
2) The filter operated by the S_MODE, is a first delay type filter.
3) Though there is a difference according to the set-up of the acceleration &
deceleration time, if S_MODE is used, the time needs 4 times as the normal filter
time constant to the motion additionally in comparison with the trapezoid
acceleration & deceleration. (Maximum 8 times)
4) If the delay by the S_MODE filter is exceeded excessively, the movement time
may be reduced by extending the acceleration & deceleration time and by using
the filter having a short time constant.
5) The S_MODE movement can be applied to the all movement commands.
3-14
Name
MODE RG_RULE
Contents
Setting up the method of
Setting range
Default
0~16
searching
for origin
Description
1) The final sign to be decided the originsi c(z) phase of encoder.
2) The regular direction, from the point view of Servo motor, is the rotation direction
at the time of moving in the order of UVW, and for the LG servo motor, it is
CCW direction
3) In using the CCW limit switch, install it at the end of the rotation of the regular
direction. (CW is reverse direction.)
4) The last origin position may be different in accordance with the operating method
of odd(1,3,..15) and even(2,4..16) numbers.
Odd: Last arriving position=Last Z phase pulse position + Value fixed in the
ORG_OFS parameter. Last coordinate value is "0" .
Even: Last arriving position=Last Z phase pulse position
Last coordinate value is "ORG_OFS" set-up value.
3-15
CCW direction
CW direction
CW limit
switch area
CCW limit
switch area
Z phase
ORG_RULE
=4
ORG_RULE
=2
Moving to
ORG_SPD0
Moving to
ORG_SPD1
ORG_RULE
=3
ORG_RULE
=1
ORG_OFS
ORG_OFS
Moving as
DFT_SPD to
ORG_OFS
Origin position
CW direction
CW limit
switch area
ORIGIN
switch area
CCW limit
switch area
Z phase
Moving as
ORG_SPD0
ORG_RULE
=6
ORIGIN
ERROR
Moving as
ORG_SPD1
ORG_RULE
=8
ORIGIN
ERROR
3-16
CW direction
CW limit
switch area
ORIGIN
switch area
CCW limit
switch area
Z phase
Moving as
ORG_SPD0
ORG_RULE
= 10
Moving as
ORG_SPD1
ORG_RULE
= 12
1) When ORG_RULE is 9 ~ 12, if the origin switch is not in the shuttle part of CW Limit switch
and the CCW Limit switch it is treated as an alarm.
2) For ORG_RULE 9, 11, refer to the description 4).
CW direction
CW Damper
area
CCW Damper
area
Z phase
ORG_RULE
= 16
ORG_RULE
= 14
Moving as
ORG_SPD0
ORG_RULE
= 15
ORG_RULE
= 13
ORG_OFS
ORG_OFS
Moving as
ORG_SPD1
Moving as
DFT_SPD
to ORG_OFS
Origin position
3-17
Setting range
0~3
Name
Group
MODE
MPG_MODE
Default
Description
Set-up value
Clockwise
Remarks
Counterclockwise
A phase
A phase: Lead
B phase: Lag
B phase
A phase:
clockwise
A phase
B phas:
counterclock
wise
B phase
A phase
A phase:
pulse
B phase
B phase:
direction
3
0
3-18
2> JOG
Procedure to set
OPER JOG JOG_SPD0, JOG_SPD1, JOG_SPD2, JOG_SPD3, JOG_RES0,
JOG_RES1, JOG_RES2, JOG_RES3
Name
Contents
Setting range
JOG_SPD0
100
JOG_SPD1
500
The movement speed of JOG
JOG
Default
1~10000
JOG_SPD2
1000
JOG_SPD3
3000
JOG_RES0
0.250
JOG_RES1
JOG_RES2
0~99999.999
JOG_RES3
0.500
0.750
1.000
Description
1) A 4 step JOG speed can be used at the time of JOG operation.
This value of movement speed is fixed by JOG_SPD03 parameter.
2) If the value fixed by JOG_SPD03 is 10,000, it is operated by the speed
determined by the LMT_RPM (MECH LMT_RPM) parameter.
The speed is determined in the value less than that in accordance with the ratio.
(50% in case of 5,000)
3) The movement quantity about 1 time movement command is fixed by 4 steps at the
time of IJOG operation. This movement quantity is inputted by the value of user's
coordinate system.
4) The JOG movement may be stopped if it meets CW Limit switch during the operation
of JOG/IJOG.
5) DFT_ACC and DFT_DEC is used as the acceleration & deceleration time at the time
of JOG/IJOG operation.
6) If the JOG/IJOG command is received, it is converted into Servo ON automatically
even at servo OFF. The servo can be ON/OFF by using JOG_SV parameter after
completing JOG/IJOG operation.
3-19
3> DFT
Procedure to set
OPER DFT DFT_SPD, DFT_ACC, DFT_DEC,ORG_SPD0,
ORG_SPD1, IO_SPD0, IO_SPD1, IO_SPD2, IO_SPD3
DFT
Name
Contents
Setting range
DFT_SPD
1~10000
DFT_ACC
1~500 (10ms)
20
DFT_DEC
1~500 (10ms)
20
Default
1000
Description
1) If the Robot program is operated, the speed fixed in the DFT_SPD is used as movement
speed until speed set-up is changed using SPD command.
To resume the Robot operation after stopping it temporarily, the speed value before the
suspension is used, DFT_SPD is used in case when the program is started from the
beginning.
2) If the value fixed by DFT_SPD is 10000, it is operated by the speed determined by
LMT_RPM (MECH->LMT_RPM) parameter.
The speed in the value less than that is determined in accordance with the ratio.
(50% in case of 5,000)
3) The value of acceleration time fixed by DFT_ACC is used in case when the Robot
program is started from the beginning, when it is moved with Jog and when the origin
is operated.
4) The value of DFT_ACC is the time value necessary for accelerating until MAX_RPM
(SERVO -> AMP/MOT-> MAX_RPM)If this value is 10, it is accelerated as much 0.10
[sec].
5) The value of deceleration time fixed by DFT_DEC is used if the Robot program is
started from the beginning, when it is moved with Jog/IJog, and when the origin is
operated.
6) The value of DFT_DEC is the time value necessary for decelerating until MAX_RPM.
If this value is 10, it is decelerated as much 0.10 [sec].
3-20
Name
Contents
Setting range
Default
ORG_SPD0
1000
port at the time of operating the origin
DFT
1~10000
The moving speed from the last port to the Z
ORG_SPD1
500
phase at the time of operationg the origin
Description
1) In origin operation, it is moved by ORG_SPD0 speed until the last contact
point and moved by ORG_SPD1 speed until Z phase position.
2) If user selects ORG_RULE(OPER->MODE->ORG_RULE) moving into the
fixed ORG_OFS(MECH ->ORG_OFS), it is moved by DFT_SPD(OPER->
DET->DET_SPD) from Z phase position to the onset.
3) If the value fixed by ORG_SPD0 1 is 10000, it is operated by the speed
determined by LMT_RPM(MECH ->LMT_RPM) parameter.
The speed in the value less than that is determined in accordance with the
ratio. (50% in case of 5,000)
4) DFT_ACC and DFT_DEC is used as the acceleration & deceleration time at
the time of operating the origin.
5) If the origin command is received, it is converted into Servo ON
automatically even at servo OFF.
The servo can be ON/OFF by using ORG_SV(OPER ->ETC->ORG_SV)
parameter after completing the origin operation.
3-21
Name
Contents
Setting range
IO_SPD0
IO_SPD1
DFT
IO_SPD2
Default
500
1000
1~10000
1500
IO_SPD3
2000
Description
1) This function is used with the contact points IOSPD1, IOSPD0.
2) If the commands IOSPD1, IOSPD0 exist in Robot program operation according to
the contact point of IOSPD1, IOSPD0 when the command is operated, it is used
as movement speed later by selecting one of the speed values from IO_SPD0
IO_SPD3.
IO_SPD1
IO_SPD0
OFF (0)
OFF (0)
IO_SPD0
OFF (0)
ON (1)
IO_SPD1
ON (1)
OFF (0)
IO_SPD2
ON (1)
ON (1)
IO_SPD3
3-22
4> ETC
Procedure
OPER ETC. FLO_ERR, INPOS, ROB_PGM, PLC_PGM, INI_TRQ, JOG_SV,
ORG_SV,ORG_TRQ, MY_ID BIT RATE, BCD_READ, BACKLASH,
Data Mode, User Mode,Sensor
Name
Contents
Standard for the occurrence of excesive
Setting range
Default
0.001~10000.000
10.00
FLO_ERR
error about the movement deflection
ETC.
INPOS
0.001~99999.999
0.05
ROB_PGM
0~8
PLC_PGM
0~4
INI_TRQ
-300~300 (%)
JOG_SV
0~1
ORG_SV
0~1
ORG_TRQ
50~200 (%)
50
MY_ID
0~255
BIT RATE
0~3
BCD_READ
0,1
BACKLASH
BACKLASH compensation
-99999.999~99999.999
DATA MODE
0,1
USER MODE
0~999
SENSOR
0~99
11
Description
1) The trapezoid type acceleration & deceleration movement is used in every movement.
The Servo control part calculates internally the trapezoid type acceleration & deceleration
wave, and it controls the servomotor in accordance with the calculated position and speed.
If the gain of controller is fixed wrong or there is a wiring error, the large error occurs
between the calculated position and the servo position. In this case, FLO_ERR value is used
as a deflection standard value.
3-23
PGM_SEL2
PGM_SEL1
PGM_SEL0
OFF (0)
OFF (0)
OFF (0)
NO. 0
OFF (0)
OFF (0)
ON (1)
NO. 1
OFF (0)
ON (1)
OFF (0)
NO. 2
OFF (0)
ON (1)
ON (1)
NO. 3
ON (1)
OFF (0)
OFF (0)
NO. 4
ON (1)
OFF (0)
ON (1)
NO. 5
ON (1)
ON (1)
OFF (0)
NO. 6
ON (1)
ON (1)
ON (1)
NO. 7
3-24
8) ORG_TRQ is used for discerning that the equipment part has collided with
the Damper Origin at the time of Damper Origin operation. If this value is
100[%] and the torque is rated at the time of Damper Origin operation, it is
discerned that the equipment part has collided with the Damper Origin.
After this it starts rotating in reverse (In case of setting up Damper origin
of ORG_RULE 1316).
9) In case of using the 422 Multi communication, set the ID in a Controller.
10) In case of using the 422 Multi communication, set the speed.
(0: 9,600 bps, 1: 19,200bps)
11) BCD_READ
; Decide whether using BCD DATA or not (0 : No use , 1: use)
12) BACKLASH
; When occuring mechanical BACKLASH, compensate softwarely
(compensating by inputting as value as BACKLASH)
13) DATA MODE
; Set- up the option of Data storage(0 : Auto Save , 1 : No change a data)
14) USER MODE
; When setting with 911, cancel SYSTEN EMERGENCY
15) SENSOR
Setting
LIMIT
ORIGIN
NC
NC
NC
NO
10
NO
NC
11
NO
NO
3-25
Procedure
I/O INPUT ROB_RUN,PLC_RUN,STOP,RESET,
SVON,SVOFF,ORIGIN,STEP_RUN,PGM_SEL,
PGM_SEL0,PGM_SEL1,PGM_SEL2,JOG+,
JOG-,JOG_SET1,JOG_MODE,IOPOS0,
IOPOS1,IOPOS2,IOPOS2,IOPOS2,IOPOS3,
IOPOS4,IOPOS5,IOPOS6,IOPOS7,IOSPD0,
IOSPD1,CW S/W,CCW S/W,ORG S/W,
MPG_RATE,MOVT_ST
Set up contact point of system input
Group
Name
Content
Robot Program Run Input Signal
INPUT
ROB_RUN
Bit No.
Default
B350
Not Use
Explanation
-.Robot Program Order ( '1' )
-.When running Robot Program from start: DFT_SPD,DFT_
ACC,DEC (OPERETCDFT_SPD..)
After making Parameter value as moving condition, run Robot
program.
-.For stopping Robot program in progress, it continues
Robot program from the status before stop.
3-26
Group
Name
Content
Bit No.
Default
PLC_RUN
B351
B000
STOP
B352
B001
RESET
Reset Alarm
B353
B002
Servo ON Command
B354
Not Use
SVOFF
B355
B003
B356
Not Use
Description
-. Executing Origin command (1)
-. Not available in case the parameter value of ORG_RULE(OPER ->ETC
->ORG_RULE) is fixed as 0 (not operating the origin) or the parameter value
of ENC_TYPE(SERVO->AMP/MOT->ENC_TYPE) is fixed as 2 (absolute
encoder)ORG_RULE (OPER ETCORG_RULE)
STEP_RUN
B357
Not Use
PGM_SEL
B360
Not Use
INPUT
PGM_SEL0
PGM_SEL1
PGM_SEL2
B361
Not Use
B362
Not Use
B363
Not Use
JOG+
B364
Not Use
JOG-
B365
Not Use
Description
-. The contact point of JOG_MODE is 0, the JOG is perated, and
if the value is "1", lJOG is operated.
-. For JOG operation, it continues to move during '1' Bit, and for lJOG
operation it moves by one time if this Bit changes from "0" to "1".
3-27
Group
Name
Content
JOG_SET0
JOG_SET1
Bit No
Default
B366
Not Use
B367
Not Use
JOG_SET1
JOG_SET0
JOG Mode
IJOG Mode
OFF(0)
OFF(0)
JOG_SPD0
JOG_RES0
OFF(0)
ON(1)
JOG_SPD1
JOG_RES1
ON(1)
OFF(0)
JOG_SPD2
JOG_RES2
ON(1)
ON(1)
JOG_SPD3
JOG_RES3
JOG_MODE
B370
Not Use
Description
-. Selection of JOG movement method
-. The contact point value of JOG_MODE is 0, JOG is
operated, and the value is "1" lJOG is operated.
-. This contact point value is used at the time of operation
by JOG+, JOG- contact point.
INPUT
IOPOS0
IOPOS1
IOPOS2
IOPOS3
IOPOS4
B371
Not Use
B372
Not Use
B373
Not Use
B374
Not Use
B375
Not Use
IOPOS5
IOPOS7..0
Moving position
B376
Not Use
IOPOS6
00000000
P0
B377
Not Use
IOPOS7
00000001
P1
B380
Not Use
00000010
P2
11111011
P251
11111100
P252
11111101
P253
3-28
Group
Name
IOSPD0
IOSPD1
Content
The selection code of movement speed in the
SPD_IOSPD command of Program.
Bit No
Default
B381
Not Use
B382
Not Use
IOSPD1
IOSPD0
Moving Speed
OFF(0)
OFF(0)
IO_SPD0
OFF(0)
ON(1)
IO_SPD1
ON(1)
OFF(0)
IO_SPD2
ON(1)
ON(1)
IO_SPD3
CW S/W
B383
Not Use
CCW S/W
B384
Not Use
ORG S/W
B385
Not Use
Description
-. Limit switch value (Normal Close)
-. No more rotation if it meets the switch during JOG operation
-. The hardware Alarm is occurred in case when it meets the
switch during the operation of the Robot program.
-. Origin switch value (Normal Open)
INPUT
MPG_RATE
MOVT_ST
B386
MPG_RATE
OFF(0)
MPG_PLS0, MPG_MOV0
ON(1)
MPG_PLS1, MPG_MOV1
B387
Description
-. Command to start movement about MOVT command ( '1' ).
-. MOVT command is started by receiving this contact point
input, and the target position is determined by the contact
point value IOSPD 3~0 when this contact point input is
received.
3-29
Not Use
Not Use
Name
ALARM
Content
it is alarm status
Bit No
Default
B390
Not Use
B391
Not Use
B392
Not Use
B393
Not Use
Description
-. It is set in the various alarm state. ( '1' ).
-. The alarm code is output together at
the output contact point.ALARM 3-0
according to the kinds of alarm.
READY
OUTPUT
ORIGIN
IN_POS
3-30
Group
Name
BRAKE
Content
Output when driving Servo Motor Brake
Bit No
Default
B400
Not Use
Description
-.It is set when driving Servo Motor Brake.
-.This contact point value is similar with the state
of terminal for brake only.
ALARM 0
B394
Not Use
ALARM 1
B395
Not Use
ALARM 2
B396
Not Use
ALARM 3
B397
Not Use
ALARM 3~0
OUTPUT
0000
Normal Condition
0001
0010
Over Load
0011
Over Voltage
0100
Over Heat
0101
Power Fail
0110
0111
Encoder Error
1000
Hardware Limit
1001
Software Limit
1010
Following Error
1011
Program Error
1100
Emergency Stop
1101
Over Speed
1110
Parameter Error
1111
Software Alarm
3-31
Order
Key Operation
RCS-7000T Ver1.0B
F1: Teach Pendant
F2: RS-422 Multipoint
F3: Data Up/Down Load
Select F1
Press ENTER
Display
Robostar
Servo Controller
RCS-6000 vER 5.0C
PRESS ENT kEY
F1
Servo Controller
ENTE
R
PLC Control
4
F2
Select F2
PROG TEST
F2
Select F2
Description
Port State
: B000~B041
4-1
RUN
PORT Movement
2
F4
(Up)
(Down)
(JUMP)
BIT Movement
4
(Left
(Right)
Address
Port
Usage
B00
B000
B001
B002
B003
B004
B005
B006
B007
User Input
B01
B010
B011
B012
B013
B014
B015
B016
B017
User Input
B02
B020
B021
B022
User Input
B03
B030
B031
B032
B033
B034
B035
B036
B037
User Output
B04
B040
B041
B042
B043
B044
B045
B046
B047
User Output
B05
B050
B051
B052
B053
B054
B055
B056
B057
Internal contact
B31
B310
B311
B312
B313
B314
B315
B316
B317
Internal contact
B32
B320
B321
B322
B323
B324
B325
B326
B327
Extended Input
B33
B330
B331
B332
B333
B334
B335
B336
B337
Extended Input
B34
B340
B341
B342
B343
B344
B345
B346
B347
Extended Output
B35
B350
B351
B352
B353
B354
B355
B356
B357
System Input
B36
B360
B361
B362
B363
B364
B365
B366
B367
System Input
B37
B370
B371
B372
B373
B374
B375
B376
B377
System Input
B38
B380
B381
B382
B383
B384
B385
B386
B387
System Input
B39
B390
B391
B392
B393
B394
B395
B396
B397
System Output
B40
B400
B401
B402
B403
B404
B405
B406
B407
System Output
B41
B410
B411
B412
B413
B414
B415
B416
B417
System Output
NOTE
1.B030~B217 bits will be cleared 0 when the controller is a alarm state,
except for while PLC program is running.
2.B220~B310 bits retain the previous state when the controller is in alarm state.
3.All I/O bits will be cleared when the power off.
4-2
Content
Add.
B350
ROB_RUN
B365
B351
PLC_RUN
B366
B352
STOP
B353
Content
JOG-
Add.
Content
B365
IOSPD1
JOG_SET0
B366
CW S/W
B367
JOG_SET1
B367
CCW S/W
RESET
B370
JOG_MODE
B370
ORIGIN S/W
B354
SVON
B371
IOPOS0
B371
B355
SVOFF
B372
IOPOS1
B372
B356
ORIGIN
B373
IOPOS2
B373
B357
STEP
B374
IOPOS3
B374
B360
PRM_SEL
B375
IOPOS4
B375
B361
PRM_SEL0
B376
IOPOS5
B376
B362
PRM_SEL1
B377
IOPOS6
B377
B363
PRM_SEL2
B380
IOPOS7
B380
B364
JOG+
B381
IOSPD0
B381
4-3
Add.
B386
MPG_RATE
B393
IN_POS
B400
B387
MOVT_ST
B394
ALARM0
B401~B417
B390
ALARM
B395
ALARM1
B391
READY
B396
ALARM2
B392
ORIGIN_OK
B397
ALARM3
Bit No.
Content
Add.
Content
BRAKE
Not Use
NOTE
1. Be careful that internal contact point and output contact point are not cleared
after Alarm and EMG reset.
2. In case of power-OFF, internal contact point and output contact point is cleared
as "0".
3. Embedded PLC program keeps operation state after alarm or EMG reset, once
it executed
4. This may not be operated the desirable movement if the process time of embedded
PLC program and Robot program contact point and processing time of outer signal
not accord. This is no trouble but the case that outer signal is not accorded.
Please check processing time of signal.
5. If PLC program in on operation, it retains output and internal contact point
even in ALAM state, while output and interanl contact point is cleared as "0"
if it not on operation.
4-4
Try to move Robot using JOG with T/P after finishing assembly and wiring of
manipulator and set up of the related parameter.
At this time, you must examine if it has abnormal state, and if seeing any problem
you should take the proper steps.
Refer to the contact of troubleshooting on Errors possible for happening in
operating with JOG.
Order
Power-ON Controller
Key Operation
Display
RCS-7000T Ver1.0A
F1: Teach Pendant
F2: RS-422 Multipoint
F3: Data up/down Load
Servo Controller
F1
ROBOT PLC PARA VIEW
ROBOT Control
F1
Select ROBOT
(ROBOT)
ROBOT Control
P000 *0.123
P001 0.000
JOG+ JOG- spd0 IJOG
F2
Select POS
(POS)
Description
Change of JOG moving direction
F1
(+ Direction ~ - Direction)
F3
5-1
or
F2
Procedure
Order
Content
Key Operation
Display
ROBOT Control
P000 *0.123
P001 0.000
JOG+ JOG- spd0 IJOG
ROBOT Control
P000 *0.123
P001 0.000
JOG+ JOG- res0 IJOG
F4
(IJOG)
F1
F2
or
(JOG+)
IJOG-)
ROBOT
ROBOT Control
Control
P000 *0.123
*0.123
P001 0.000
0.000
JOG+ JOGJOG- res0
res0 IJOG
IJOG
3
Change the speed of IJOG
(res0 ~ res3)
F3
(res0)
5-2
ROBOT Control
P000 *0.123
P001 0.000
JOG+ JOG- res1 IJOG
Mechanical Noise
NO
Cause
Measures
Install it after correcting precision(plane level)
by using Thickness Tape or something.
Re-Inject grease after removing grease and
Unfastened Coupling
Lack of grease
other substances
NOTE
1
Damage of Ballscrew or
runing over 15,000 hours
Change Ballscrew
10
11
Interference by breakage of
manipulator body
NOTE1
5-3
In case of vibration
Cause
NO
1
Measures
deceleration
4
Consider a counterplan to prevent of unfasten
-ing a bolt (Spread Loctite , adopt Nylok balt)
Lower the speed or make the time of
Overload
acceleration,deceleration long
6
Regulate P, V Gain
NOTE1
NO
1
Measures
Z-phase or proximity
2
after origining on a T/P.
NOTE 1
* How to regulate the Gain value
See" Reference 3.2 of Chapter 3" for details
5-4
NO
Measures
If need the position decision accuracy for
NO
Measures
2
installing floor"
Position Gain is low
NOTE1
5
a installation stand"
Untighten coupling or breakdown
NOTE 1
* How to regulate the Gain value
See" Reference 3.2 of Chapter 3" for details
5-5
5-4. Check the limit sensor of axis after moving the Robot to JOG
Cause
Measures
5-6
Procedure
Contents
Order
Power-ON Controller
Display
Key Operation
RCS-7000T Ver1.0A
F1: Teach Pendant
F2: RS-422 Multipoint
F3: Data up/down Load
Servo Controller
F1
ROBOT PLC PARA VIEW
F1
Select ROBOT
(ROBOT)
Select ORG
4
F3
(ORG)
be regular over
(ORIGIN success)
F1
(YES)
ROBOT Control
PROG POS ORG RUN
No.1 CW SW Zero
15Line INC.Encoder
RUN?
YES NO
No.1 CW SW Zero
is running
STOP
ROBOT Control
be irregular over
(ORIGIN failure)
5-7
In case of setting ORG_RULE with "0" , you can see the warning
as below screen
Contents
Order
Key Operation
Display
Select ORG
4
Warning !
F3
Contents
Procedure
Key Operation
Display
Servo Controller
F1
ROBOT PLC PARA VIEW
ROBOT Control
F1
Select ROBOT
(ROBOT)
F3
Select ORG
(ORG)
F1
Select YES
(YES)
5-8
Origin
ABS. Encoder
SET ?
YES NO
Find Origin
Press 'ENT'
P255 *10.234
JOG+ JOG- spd0 IJOG
Order
Content
Normal complete
(ORIGIN complete)
Key Operation
Display
ENT
Wait 5 Seconds!
For Encoder Reset
ROBOT Control
6
PROG POS ORG RUN
5-9
B030,B031
Up-down Cylinder
B000
Finger Cylinder
P0 (origin point)
6-1
P1
Reference 6.1
Group
Key
PROG
Robot Command
Selection Key
F1
Display
BS
F1
SERVO
F2
STOP
F3
MOVA
F4
MOVI
F1
F2
PEND
F3
F4
6-2
F1
ALARM
F2
F3
BB
F4
F1
CALL
F2
JPGM
F3
LOOP
F4
ENDL
F1
GOTO
F2
LBL
F3
SBRT
F4
RET
F1
DEC
F2
IF
F3
XIF
F4
WAIT
F1
REF
F2
PCLR
F3
SPD
F4
ACC
F1
MOVR
F2
MOVM
F3
MOVT
F4
FOS
SERVO ON
: It turns Servo On
SPD 1000
LBL 1
: Set LABEL 1.
MOVA P0
B040 = 1
WAIT B000 = 1
B040 = 0
B030 = 1
B031 = 1
B030 = 0
MOVA P1
B030 = 1
B031 = 0
B030 = 0
GOTO 1
<end of file>
Order
Turn controller ON
Key Operation
Display
RCS-7000T Ver1.0A
F1: Teach Pendant
F2: RS-422 Multipoint
F3: Data up/down Load
F1
ROBOT Controller
ROBOT PLC PARA VIEW
Select ROBOT
3
F1
(ROBOT)
2 time
6-3
PROGRAM
*0# 1#
4 5#
EDIT
No.0 3912
2
3
6
7
COPY DEL
PROGRAM
0# 1#
4 5#
EDIT
No.0 3912
*2
3
6
7
COPY DEL
Content
Order
Key Operation
PROGRAM No.2
S000* <end of file>
S001
BLOCK
JMP DEL
F1
Select EDIT
(EDIT)
Select ENT
Input SERVO
PROGRAM No.2
S000*_
S001<end of file>
SERVO STOP MOVA MOVI
ENT
PROGRAM No.2
S000* SERVO _
S001<end of file>
ON OFF
F1
(SERVO)
SERVO
ON
Input
Input ON
Select ENT
10
Display
PROGRAM No.2
S000* SERVO ON_
S001<end of file>
ON OFF
F1
S000 SERVO ON
S001* _
S002 <end of file>
SERVO STOP MOVA MOVI
ENT
S000 SERVO ON
S001* _
S002 <end of file>
REF PCLR SPD ACC
BS
5 time
11
S000 SERVO ON
S001* SPD _
S002 <end of file>
REF PCLR SPD ACC
F3
Input SPD
(SPD)
SPD
1000
input
12
Input 1000
13
Select ENT
14
ENT
BS
6 time
6-4
S000 SERVO ON
S001* SPD 1000_
S002 <end of file>
REF PCLR SPD ACC
Content
Order
15
Key Operation
F2
Input LBL
(LBL)
LBL 1
Input
16
Input 1
17
Select ENT
18
Display
ENT
S002 LBL 1
S003* _
S004 <end of file>
GOTO LBL SBRT RET
S002 LBL 1
S003* _
S004 <end of file>
SERVO STOP MOVA MOVI
BS
4 time
19
S002 LBL 1
S003* MOVA _
S004 <end of file>
P PI
F3
Input MOVA
(MOVA)
MOVA
P0
Input
20
21
22
Input P0
Select ENT
F1
(P)
(0)
S003 MOVA P0
S004*
S005 <end of file>
SERVO STOP MOVA MOVI
ENT
S003 MOVA P0
S004*
S005 <end of file>
ALARM B BB I
BS
2 time
B040=1
Input
23
S003 MOVA P0
S004* B_
S005 <end of file>
ALARM B BB I
F2
Input B
(B)
24
Input 040
6-5
S002 LBL 1
S003* MOVA P0_
S004 <end of file>
SERVO STOP MOVA MOVI
S003 MOVA P0
S004* B040_
S005 <end of file>
= NOT
Content
Order
25
Key Operation
F1
Input =1
S003 MOVA P0
S004* B040=1_
S005 <end of file>
= NOT
(=)
26
Select ENT
27
Display
S004 B040=1
S005* _
S006 <end of file>
ALARM B BB I
ENT
S004 B040=1
S005* _
S006 <end of file>
DEC IF XIF WAIT
BS
3 time
28
S004 B040=1
S005* WAIT_
S006 <end of file>
B
BB
I
P
F4
Select WAIT
(WAIT)
WAIT
B000=1
input
29
Input B000
F1
(B)
30
F1
Input =1
S004 B040=1
S005* WAIT B000=1_
S006 <end of file>
=
(=)
31
32
ENT
Select ENT
BS
5 time
B040=0
input
33
Input B040
F2
(B)
34
F1
Input =0
(=)
6-6
S004 B040=1
S005* WAIT B000_
S006 <end of file>
=
Content
Order
35
36
Key Operation
Input B030
S006 B040=0
S007* _
S008 <end of file>
ALARM B BB I
ENT
Select ENT
F2
(B)
B030=1
input
37
F1
Input =1
39
Input B031
S007 B030=1
S008* _
S009 <end of file>
ALARM B BB I
ENT
Select ENT
F2
(B)
B031=1
input
40
F1
Input =1
42
Input B030
S008 B031=1
S009* _
S010 <end of file>
ALARM B BB I
ENT
Select ENT
F2
(B)
B030=0
input
43
F1
Input =0
(=)
44
ENT
Select ENT
6-7
S007 B030=1
S008* B031_
S009 <end of file>
= NOT
S007 B030=1
S008* B031=1_
S009 <end of file>
= NOT
(=)
41
S006 B040=0
S007* B030_
S008 <end of file>
= NOT
S006 B040=0
S007* B030=1_
S008 <end of file>
= NOT
(=)
38
Display
S008 B031=1
S009* B030_
S010 <end of file>
= NOT
S008 B031=1
S009* B030=0_
S010 <end of file>
= NOT
S009 B030=0
S010* _
S011 <end of file>
ALARM B BB I
Content
Order
45
Key Operation
S009 B030=0
S010* _
S011 <end of file>
SERVO STOP MOVA MOVI
BS
6 time
46
S009 B030=0
S010* MOVA _
S011 <end of file>
P PI
F3
Input MOVA
(MOVA)
MOVA P1
Input
47
F1
Input P1
S009 B030=0
S010* MOVA P1_
S011 <end of file>
P PI
(P)
48
49
S010 MOVA P1
S011* _
S012 <end of file>
SERVO STOP MOVA MOVI
ENT
Select ENT
S010 MOVA P1
S011* _
S012 <end of file>
ALARM B BB I
BS
2 time
50
Input B030
F2
(B)
B030=1
Input
51
F1
Input =1
Select ENT
53
Input B031
S011 B030=1
S012* _
S013 <end of file>
ALARM B BB I
ENT
F2
(B)
B031=0
Input
54
F1
Input =0
(=)
6-8
S010 MOVA P1
S011* B030_
S012 <end of file>
= NOT
S010 MOVA P1
S011* B030=1_
S012 <end of file>
= NOT
(=)
52
Display
S011 B030=1
S012* B031_
S013 <end of file>
= NOT
S011 B030=1
S012* B031=0_
S013 <end of file>
= NOT
Content
Order
56
57
Key Operation
F2
Input B
S012 B031=0
S013* _
S014 <end of file>
ALARM B BB I
ENT
Select ENT
Display
S012 B031=0
S013* B030_
S014 <end of file>
= NOT
(B)
B030=0
Input
58
F1
Input =0
S012 B031=0
S013* B030=0_
S014 <end of file>
= NOT
(=)
59
60
Select ENT
S013 B030=0
S014* _
S015 <end of file>
ALARM B BB I
ENT
S013 B030=0
S014* _
S015 <end of file>
GOTO LBL SBRT RET
BS
2 time
GOTO 1
Input
61
F1
Input GOTO
(GOTO)
62
63
Select ENT
Save program
S013 B030=0
S014* GOTO 1_
S015 <end of file>
GOTO LBL SBRT RET
ENT
S014 GOTO 1
S015* _
S016 <end of file>
GOTO LBL SBRT RET
ESC
PROGRAM No.2
Changed. Save?
2 time
YES NO
Save
program
64
F1
Complete save
(YES)
Reference
6-9
PROGRAM
0# 1#
4 5#
EDIT
No.2 3912
*2# 3
6
7
COPY DEL
Order
Turn controller ON
Key Operation
Display
RCS-7000T Ver1.0A
F1: Teach Pendant
F2: RS-422 Multipoint
F3: Data up/down Load
ROBOT Controller
F1
PROG POS ORG RUN
POSITION DATA
P000 *0.000
P001 0.000
MDI TCH
JMP
F2
Select POS
(POS)
POSITION DATA
P000 *_
P001 0.000
MDI TCH
JMP
ENT
Input number
(example: if the value of P0 makes 10)
(1)
(0)
ENT
Select ENT
POSITION DATA
P000 *10_
P001 0.000
MDI TCH
JMP
POSITION DATA
P000 10
P001* _
MDI TCH
JMP
-. Because the position variable P 255 stores the value of the present position,
it is not user changeable.
-. Pressing the F1 key and the ENT key at P255 is ignored.
7-1
Order
Key Operation
Display
ROBOT Controller
F1
POSITION DATA
P000 *0.10
P001 0.000
MDI TCH
JMP
F2
Select POS
(POS)
POSITION DATA
P000* 0.123
P001 0.000
JOG+ JOG- spd0 IJOG
F2
Select TCH
(TCH)
POSITION DATA
P000 0.123
P001* 0.123
JOG+ JOG- spd0 IJOG
Select P1
Move Robot.
(Number increases or decreases)
F1
or
(JOG+)
(JOG-)
ENT
Select ENT
F2
POSITION DATA
P000 0.123
P001* 5.678
JOG+ JOG- spd0 IJOG
P000 5.678
P001 5.678
P002* 5.678
JOG+ JOG- spd0 IJOG
Description
POSITION DATA
P000 *0.10
P001 0.000
MDI TCH
JMP
POSITION DATA
P000* 0.123
P001 0.000
JOG+ JOG- spd0 IJOG
-. *
: Position variable configuration currently teaching
-. JOG+ : It moves to + direction
-. JOG- : It moves to - direction
-. IJOG : Inching Jog moves as much as it previously
appointed position transfer amount.
-. spd0 : To change the JOG transfer rate, press the
key in the JOG mode screen. The transfer rate
may be changed from spd0 to spd3, gradually.
7-2
Content
Key Operation
Display
F3
P000 5.678
P001 5.678
P002* 5.678
JOG+ JOG- spd1 IJOG
F3
P000 5.678
P001 5.678
P002* 5.678
JOG+ JOG- spd2 IJOG
F3
P000 5.678
P001 5.678
P002* 5.678
JOG+ JOG- spd3 IJOG
F3
P000 5.678
P001 5.678
P002* 5.678
JOG+ JOG- spd0 IJOG
Content
Key Operation
Display
P000 5.678
P001 5.678
P002* 5.678
JOG+ JOG- spd0 IJOG
P000 5.678
P001 5.678
P002* 5.678
JOG+ JOG- res0 IJOG
F4
7-3
Procedure
Content
Order
Key Operation
POSITION DATA
P000 *0.00
P001 0.000
MDI TCH
JMP
F2
(TCH)
F4
(IJOG)
F1
Move +1mm
(JOG+)
F1
Move +1mm
(JOG+)
Display
ENT
7-4
POSITION DATA
P000* 0.123
P001 0.000
JOG+ JOG- spd0 IJOG
POSITION DATA
P000* 0.123
P001 0.000
JOG+ JOG- res0 IJOG
POSITION DATA
P000* 1.123
P001 0.000
JOG+ JOG- res0 IJOG
POSITION DATA
P000* 2.123
P001 0.000
JOG+ JOG- res0 IJOG
P000 2.123
P001* 2.123
P002 0.000
JOG+ JOG- res0 IJOG
Content
Order
Key Operation
Display
P000 2.123
P001* 2.123
P002 0.000
JOG+ JOG- res0 IJOG
F3 : (res0 ->res1)
F3
P000 2.123
P001* 2.123
P002 0.000
JOG+ JOG- res1 IJOG
F3 : (res1 ->res2)
F3
P000 2.123
P001* 2.123
P002 0.000
JOG+ JOG- res2 IJOG
F3
P000 2.123
P001* 2.123
P002 0.000
JOG+ JOG- res3 IJOG
F3 : (res2 ->res3)
Reference
When escaping from Jog mode by pressing the ESC key after completing Jog,
the user may modify the servo On/Off state to parameter ( OPER ETC JOG_SV ).
7-5
Detailed
command
Setting range
ON
SERVO
ALARM
SPD
(Speed)
Content
No
OFF
No
0~255
No
1~10000
IOSPD
No
0~31
ACC
No
1~500
(Acceleration)
0~31
DEC
No
1~500
(Decrement)
0~31
No
0~100
0~31
No
No
FOS
PCLR
(Position Clear)
8-1
SERVO
Turn ON/OFF the servo power source(U,V,W power).
Program example
:
SERVO ON
MOVA 10.000
SERVO OFF
:
Reference
-.When inputting the power source to servo or cutting off from it, it is operated with
mechanical brake operation according to the integer value by the parameter
(Refer to the contents of Parameter setup).
ALARM
Stopping the process of program by generating users Alarm.
Program example
:
IF B050=1
ALARM 1
MOVA 10.000
IF B051=1
ALARM 2
:
Reference
-. The user's ALARM can be generated at any desired position of program.
The occurrence of ALARMs can be identified by the ALARM number.
-. The available alarm numbers are from 0225.
-. If the program command is stopped by the ALARM command, the ALARM bit becomes
"1" from the output contact point, T/P screen is changed into the ALARM state and
ALARM signal is indicated.
To continue processing the program in this state, the Run contact point should be
inputted after making the ALARM bit "0" by pressing the RESET contact point input or
the RESET of T/P.
8-2
SPD
Setting up the movement speed.
Program example
:
SPD 1000
MOVA 10.000
SPD IOSPD
SPD I5
:
Reference
-. The set-up scope of SPD value is 1 10.000 and the unit is 1/100[%]. Being set
up as 10,000, it is moved by the speed integer in the parameter LMT_RPM.
-. If the movement is set by the SPD IOSPD, when the contact point value
IOSPD1, IO SPD0 at the time of operating this command is "00", "01",
"10", "11", they have the speed of parameter IO_SPD0, IO_SPD1
IO_SPD2, IO_PSD3 respectively.
Afterwards, The speed will not be changed by the contact point state or by
parameter value change.
-. The movement speed at the time of program operation from the beginning
becomes the value integer by the parameter DFT_SPD.
-. If the process of program can be operated before the completion of
movement by the FOS command, if the speed is changed by the SPD
command, the newly integer speed is used during the remaining movement.
PCLR
The function to change the present position of the standard coordinates into 0.000.
Program example
:
MOVA 20.000
PCLR
MOVA 10.000
:
Reference
-. If the coordinate system is changed by the PCLR command, it becomes the state
not searching the Origin position.
-. If the coordinate system is changed by the PCLR in a condition that the next
command can process before completing the movement by FOS set-up, the
position of new coordinates system at the time of operation, becomes 0.000, the
stop position about the movement command, continues its position integer by the
previous coordinates system.
-. This command can be used in the incremental encoder only.
8-3
ACC, DEC
Setting up acceleration time(ACC) and deceleration time(DEC).
Program example
:
SPD 5000
ACC 20
DEC 50
MOVA 10.000
ACC I4
:
Movement explanation
RPM
0.20[sec]
0.50[sec]
MAX_RPM
LMT_SPD
50% of the LMT_SPD
Area(quantity of the movement) = 50.000
Reference
-.The ACC, DEC commands set up the acceleration time and deceleration time
based on the parameter MAX_SPD.
-. The set-up scope of ACC, DEC value is 1500, the unit is 10[msec] (1[sec] in
case of 100).
-. The acceleration time at the time of operating the Robot program from the
beginning, becomes the value integer by the parameter DFT_ACC and DFT_DEC
respectively.
-. If the program process can be operated before the completion of movement by
the FOS command, if the acceleration time is changed by the ACC, DEC command,
the newly integer acceleration time is used during the remaining movement.
8-4
Time
FOS
The function to operate the program before the completion of MOVx operation.
Program example
:
MOVA 30.000
B050 = 0
FOS 50
MOVI 10.000
B050 = 1
MOVI 20.000
B050 = 0
FOS I3
Reference
-.The unit of FOS value is [%].
-. The operation of the next program may be delayed until a maximum of 15[msec]
after passing the determined position by FOS due to the operating time of
controller CPU.
-. The integer FOS value is continued until the next FOS command.
-. When processing the next command during the movement to FOS, if the new FOS
command is received, the new FOS value is used in the next movement.
-. The initial FOS value at the time of operating the Robot program, becomes 100.
-. FOS movement is the starting point of movement.
8-5
Command
MOVA
MOVI
MOVR
Detailed
command
Setting range
No
-99999.999~99999.999
0~255
PI
0~31
No
-99999.999~99999.999
0~255
PI
0~31
No
-99999.999~99999.999
0~255
PI
0~31
No
-99999.999~99999.999
Content
Move from origin position to appointed position.
MOVM
MOVT
REF
0~255
PI
0~31
PI
0~31
No
-99999.999~99999.999
No
-99999.999~99999.999
0~255
PI
0~31
8-6
MOVA
Move to appointed position in the absolute coordinates system based on the origin.
Program example
:
MOVA 45.000
MOVA P10
MOVA PI1
:
Explanation of program movement
(-) direction
(+) direction
Origin position
Moving by MOVA
command
Base
coordinate
-20.000
45.000
0.000
Reference
-. Before the confirmation, the Origin position is used as the position at the
time of inputting the power source (In case of using the incremental
encoder).
-. If the movement target point is strayed from the integer value in the
parameter MIN_LMT, MAX_LMT, it is treated as an Error.
8-7
MOVI
Move as much as the determined position value on the basis of the present position.
Program example
:
MOVI -20.000 : Move as much as -20.000 from the present position.
MOVI P10 : Move the present position into as much the integer value by the
P10 (suppose that P10 is -20.000).
MOVI PI1 : If =I1 is 10, as much the integer value by the P10.
:
Explanation of program movement
(-) direction
Origin point
(+) direction
After moving point
Moving by MOVI
command
Base
coordinate
25.000
45.000
Reference
-. If the movement target point is strayed from the integer value in the parameter
MIN_LMT, MAX_LMT, it is treated as an Error.
-. The position before the movement uses the position value commanded before.
8-8
REF, MOVR
Set up the temporary standard position, and move that position into
as much the integer value (MOVR).
Program example
:
REF 20.000 : Set up the standard position with the coordinate 20.000
MOVR 25.000 : Move the standard position into as much 25.000
:
(-) direction
Origin point
(+) direction
Before moving point
Moving by MOVR
command
Base
coordinate
-20.000
0.000
20.000
45.000
8-9
MOVM
Move with determining the movement speed by input pulse.
Program example
:
MOVM 10.000
MOVM CP2
Reference
-. If the movement target point is strayed from the integer value in the parameter
MIN_LMT, MAX_LMT, it is treated as an Error.
-. The position before the movement uses the position value commanded before.
-. The acceleration in the movement by MPG pulse is "0".
8-10
MOVT
Move from the value IOPOS (0~7) to the designated position variable coordinate value.
Program example
:
MOVT : Move to the coordinate integer at the Pxxx by IO_POS 3-0.
Supposed that IOOPS3-0 is 1:0:0:0, P8 is 25.000.
:
Reference
-. If the movement target point is strayed from the integer value in the
parameter MIN_LMT, MAX_LMT, it is treated as an Error.
-. The position before the movement uses the position value commanded before.
-. In case when the turret rotation cycle is integer, it moves into the shortest
distance within 1 rotation. "0" does not move to the shortest distance.
8-11
Command
Detailed
command
Setting range
Content
I
0~31
0~255
(Integral)
P
(Position)
I, P
Set up integral variable(I) or position variable(P) value.
Program example
:
I1 = 10 : Set up I1 of the integer variable into 10.
I1 = I2 : Set up I1 of the integer variable with the value in I2 of the integer variable.
I1 = II2 : If I2 is 5, I5 is 10, set up I1 with 10.
I1 += 10 : Add 10 to the integer variable I1.
I1 += I2 : Set the integer variable I1 with the integer variable I2.
I1 += II2 : If I2 is 5, I5 is 10, set up I1 with 10.
I1 -= 10 : Subtract 10 from the integer variable I1.
I1 -= I2 : Subtract from the integer variable I2.
I1 -= II2 : If I2 is 5, I5 is 10, subtract 10 from I1.
Reference
-. The available integer variable is I0I31.
-. The scope of value of the integer variable is 065535.
-. The available position variable P0P255.
-. The scope of value of the position variable is 99999.99999999.999.
-. P254 stores the value integer in the REF command.
-. P255 always indicates the present position value, it may not revised freely by
user.
-. II2 is like I(I2).
-. PI2 is like P(I2). Namely, when I2 is 4, PI2 is P4.
8-12
Command
Detailed
command
Content
Setting range
0~347
BB
0~34
B, BB
Change the value of contact point.
Program example
:
B030 = 0 : Set up the contact point B030 with 0.
B031 = 1 : Set up the contact point B031 with 1.
B032 NOT : Turn reversibly the value of contact point B032.
BB03 = 11000011 : B030, B031, B036, B037 = 1; B032, B033, B034, B035 = 0.
BB04 = 00..11.. : B030,B031 = 0; B034, B035 = 1; The remaining bit keeps the
previous Value.
:
Reference
-. The quota value of BB command is from number 0 Bit (LSB).
-. The input contact point (Normal: B00B02, Extension: B32B33) should not be
integer as B, BB command.
-. Since the value of contact point (Bxxx, BBxx) is used commonly with the PLC
program, in case when the different value is integer at the same bit in Robot and
PLC program, no value may be known. Be careful when you program.
-. In the BB04=00...11, ". " means "Don't care".
8-13
Detailed
command
Setting range
STOP
No
No
000~347
BB
00~34
0~31
0~255
000~347
BB
00~34
0~31
0~255
No
0~10000
000~347
BB
00~34
0~31
0~255
No
0~999
Start Subroutine.
No
No
End Subroutine.
CALL
No
0~999
GOTO
No
0~999
No
0~999
Select Label.
No
0~999
No
0~999
No
0~7
No
No
Content
IF
XIF
WAIT
SBRT
(Subroutine)
RET
(Return)
LBL
(Label)
LOOP
ENDL
(End Loop)
JPGM
(Jump Program)
PEND
(Program End)
8-14
STOP
Stop the process of program.
Program example
:
IF B010 = 1 : If the contact point B010 is 1
STOP
:
Reference
-. If the progress of program is stopped by the STOP command, the program is
continued to progress by the input in Run contact point.
IF
If the state of the contact point value, the integer variable value or the state of position variable
value meets the conditions it then operates the next step command, otherwise it is not operated.
(If it is false, it operates the next step command).
Program example
:
IF B010 = 1
: If the contact point B01 is 1, move to the coordinate 10.000.
MOVA 10.000
:If the contact point B010 is 0, move to 10.000.
IF B010 = 0
MOVA -10.000
:
Reference
8-15
XIF
In operating the command (MOVx, WAIT) necessary for the time as well as inspecting
the condition, if the condition is met, it operates the next command.
Program example
:
MOVA 50.000 : Move to the coordinate 50.000.
X_IF B001 = 1 : If B001 becomes "1" during the movement, it changes the speed into
50[%] of LMT_RPM
SPD 5000
:
Reference
-. The available condition in the X_IF condition is like that of IF.
-. The command using after X_IF is limited to SPD, ACC, DEC, GOTO.
-. If the next of X_IF is GOTO command, if the condition meets, the program is
operated in the LBL position after stopping the movement and WAIT.
(If in moving, first stop it, the value of stopped position is stored in the position
variable P253)
-. The 3 X_IF conditions and the moving command can be used with MOVx, WAIT in
parallel.
-. If X_IF is used after the command except MOVx, WAIT, it is treated with IF equally.
WAIT
The function to stop the process for a specified amount of time.
Program example
:
MOVA 10.000 : Move to the coordinate 10.000.
WAIT 100
: Wait for 10[sec].
MOVA 20.000 : Move to the coordinate 20.000.
WAIT B010 = 1: Wait until the contact point B010 becomes 1.
:
Reference
-. The time scope integer in the WAIT command is 0~10000, the time unit is 100[msec].
-. The available condition in WAIT command is like that of IF.
(The contact point value, integer/position variable)
8-16
Reference
-. 1. The fixable SBRT number with CALL is 0255.
-. The same SBRT number may be used in each different program.
-. If the same SBRT number is found more than 2 times among the programs or the
integer SBRT number is not among them, It is treated as an error in the grammar
inspection program.
-. If there is no RET command equivalent to SBRT, it is treated as an Error in the
grammar inspection program.
-. Other SBRT can be used by using other CALL command before RET in SBRT.
However, this repetition should not exceed 16 times, in this case, it is treated as an
Error during RUN.
GOTO, LBL
The function to move process position of program.
Program example
:
MOVA 10.000 : Moves to the coordinate10.000.
GOTO 1 : Move the process of program to LBL position.
MOVA 10.000 : It is not operated because of the GOTO command.
LBL 1
MOVA 30.000 : Moves to the coordinate30.000.
:
Reference
-. The fixable LBL number with GOTO is 0255.
-. The same LBL number can be used in each different program.
-. If the same LBL number is found more than 2 times among the programs or the
LBL number determined by the GOTO is not among them, It is treated as an
error in the grammar inspection program.
8-17
LOOP, ENDL
The function to repeat the program between the integer section.
Program example
:
MOVA 10.000
LOOP 1 L 10 : Repeat 10 times the program between LOOP 1L10
ENDL 1
MOVA 20.000
MOVA 20.000
ENDL 1
MOVA 10.000
:
Reference
-. The fixable ENDL number with LOOP is 0255.
-. The same ENDL number can be used in each different program.
-. If the same ENDL number is found more than 2 times among the programs or
the ENDL number determined by the LOOP is not among them, It is treated as
an error in the grammar inspection program.
-. Other LOOP can be used in other LOOP command.
However, this repetition should not exceed 16 times, or else it is treated as an
Error during Run.
JPGM
The function to use the other program as sub-program.
Program example
:
MOVA 10.000
JPGM 1 : Progress program 1.
MOVA 20.000
: This is the return position after progressing to
PEND or <end of file> of program 1.
:
Reference
-. The self-program can not be determined with JPGM.
-. Other program can be called by using JPGM again in the program
called by JPGM. However, this repetition should not exceed 8 times,
or else it is treated as an Error during RUN.
8-18
PEND
Indicates the end of program.
Program example
:
MOVA 10.000
PEND : The program after PEND is not operated.
MOVA 20.000
:
Reference
8-19
Commands
Detailed
command
Input Data
No
1~300
TORQUE LIMIT
Unit: %
TRQ
Content
1~300
TORQUE BRANCH
Unit: %
8-20
AND
OR
Detailed
command
Input Data
NOT
NOT
LOAD
No
No
NOT
LOAD
No
No
NOT
Content
Detailed
command
Input Data
SET
No
RST
No
OUT
No
Content
Input Data
No
NOT
NOT
No
Contact Address
MCS
No
No
MCSC
No
No
TMR
BXXX<D>value
Contact Address
Command
Content
LOAD
Turn the result of operation in reverse.
CTR
BXXX<D>value
0~10000
9-1
Sequence
000
Program
:
LOAD 000
AND 001
OUT 050
LOAD 000
AND NOT 001
OUT 051
:
001
050
000
001
051
Time Chart
000
001
050
051
T1
T2
T3
(T1,T2,T3:
within
25msec)
( T1, T2,
T3 : 25
msec )
9-2
AND LOAD
Sequence
Program
:
LOAD 000
AND 001
OR 002
AND LOAD
OUT 050
:
001
000
050
002
Time Chart
000
001
002
050
T1
T2
T3
T4
9-3
OR, OR NOT
OR : Serial connection of logic operation (a contact point)
OR NOT : Serial connection of logic operation (b contact point)
Sequence
Program
000
001
:
LOAD 000
OR 001
OUT 050
LOAD 000
OR NOT 001
OUT 051
:
050
000
001
051
Time Chart
000
001
050
051
T1
T2
(T1,T2,T3:
within
25msec)
( T1, T2, T3
: 25 msec
)
9-4
T3
OR LOAD
Sequence
Program
:
LOAD 000
LOAD 001
AND 002
OR LOAD
OUT 050
:
000
001
050
002
Time Chart
000
001
002
050
T1
T2
T3
T4
9-5
SET, RST
SET : Set the fixed port with '1' .
RST : Be clear the fixed port with '0'.
Sequence
Program
050
000
:
LOAD 000
SET 050
LOAD 001
RST 050
:
050
001
Time Chart
000
001
050
T1
T2
(T1,T2,:
25msec)
( T1, T2within
: 25 msec
)
9-6
OUT
Sequence
Program
000
:
LOAD 000
OUT 050
LOAD NOT 000
OUT 051
:
050
000
051
Time Chart
000
050
051
T1
T2
(T1,T2,:
25msec)
( T1, T2within
: 25 msec
)
9-7
Sequence
Program
000
:
LOAD 000
OUT 050
LOAD NOT 000
OUT 051
:
050
000
051
Time Chart
000
050
051
T1
T2
(T1,T2,:
( T1, within
T2 : 2525msec)
msec )
9-8
NOT
Sequence
Program
:
LOAD 000
NOT
OUT 050
:
000
050
Time Chart
000
050
T1
T2
( T1, T2within
: 25 msec
)
(T1,T2,:
25msec)
9-9
MCS, MCSC
MCS : Common Interlock Set
MCSC : Common Interlock Set Clear
Sequence
000
Program
:
LOAD 000
MCS
LOAD 001
OUT 050
LOAD 002
OR NOT 003
OUT 051
MCSC
:
001
050
002
051
003
Time Chart
000
001
050
T1
T2
002
003
051
T3
T4 T5
T6
(T1~T6,:
within
( T1 ~ T6
: 25 25msec)
msec )
9-10
TMR
TMR : Subtract it according to the condition and output in case of '0'.
Sequence
Program
050
000
:
LOAD 000
LOAD 001
TMR 050 <D> 100
:
CLR
100
001
ENABLE
Time Chart
000
001
Timer
value
[0.1sec]
100
Ta
Tb
Tc
050
Ta+Tb = 10.0 [sec], Tc = 10.0[sec]
(Ta,
)
( Ta,Tb,
Tb, Tc:
Tc0~25
0 ~ 25msec
msecdeflection)
9-11
CTR
CTR : Subtract according to the condition and input pulse and
output in case of "0"
Sequence
Program
050
000
:
LOAD 000
LOAD 001
CTR 050 <D> 3
:
CLR
001
CLK
Time Chart
000
001
Counter
value
050
0 or( 1signal
each1
input should
have
25
msec
of0
25 msec
over
9-12
Description : Return to the start position by changing the speed after moving
as much as the fixed time at regular distance determined by user.
P0
Example 1
P0+100
P0+100
P0+100
P0+100
SERVO ON
LBL 1
SPD 1000
MOVI 100
MOVI 100
MOVI 100
MOVI 100
SPD 3000
MOVA P0
GOTO 1
<end of file>
10-1
Example 2
SERVO ON
LBL 1
SPD 1000
LOOP 1 L 4
MOVI 100
ENDL 1
SPD 3000
MOVA P0
GOTO 1
<end of file>
Example 3
SERVO ON
LBL 1
I0 = 0
SPD 1000
LBL 2
MOVI 100
I0 += 1
IF I0 = 4
GOTO 3
GOTO 2
LBL 3
SPD 3000
MOVA P0
GOTO 1
<end of file>
10-2
Description : The movement is put on hold until the designated contact point
satisfies the condition. The designated contact point is outputted
at the last position and thus waits for 1 second before returning
to its initial position.
P0
P1
P2
P3
Example 1
SERVO ON
LBL 1
SPD 1000
WAIT B020 = 1
MOVA P1
WAIT B021 = 0
MOVA P2
WAIT BB02 = . . . 01
MOVA P3
B040 = 1
SPD 3000
WAIT 10
MOVA P0
GOTO 1
<end of file>
10-3
Description : Move by the speed fixed by the user continuously,unlimitedly, and stop when the
fixed input occurs during the movement.
(The PCLR command used in this program can be used in the incremental
encoder only)
Example 1
SERVO ON
SPD 1000
FOS 50
LBL 1
MOVA 100
XIF B027 = 1
GOTO 2
PCLR
GOTO 1
LBL 2
STOP
<end of file>
10-4
P0 + 10.000
P0
Example 1
SERVO ON
LBL 1
MOVM 10.000
MOVA P0
GOTO 1
<end of file>
10-5
Standard position
P0 (0.00)
Set-up value
T_CYCLE = 360.000
P0 = 0.000
P1 = 70.000
P2 = 150.000
P3 = 230.000
P4 = 290.000
P4
P1
P3
P2
Example 1
SERVO ON
SPD 1000
LBL 1
MOVT
GOTO 1
<end of file>
Position
IOPOS0~1
P0
P1
P3
P4
MOVT_ST
10-6
B000
(External input)
B040
B001
Movement path
B001
B040
Single controller 1
(X Axis)
X-Axis
100
1500
0
Y-Axis
1000
100
0
Single controller 2
(Y Axis)
Example 1
This program is for X axis and the content in the parentheses is for Y axis.
SERVO ON
SPD 1000
LBL 1
WAIT B000 = 1
CALL 10
MOVA 100(1000)
CALL 10
MOVA 1500(100)
CALL 10
MOVA 0
SBRT 10
: Start SBRT10.
B040 = 1
WAIT B001 = 1
B040 = 0
RET
<end of file>
10-7
Up and
down
Cylinder
Finger
Cylinder
B000
P0
(origin point)
P1
Example 1
SERVO ON
SPD 1000
LBL 1
MOVA P0
B040 = 1
: Output the outputcontact point B040(arrival signal at the standard point)os as "1"
WAIT B000 = 1: Wait until the input contact point B000(Movement start contact point)becomes "1"
B040 = 0
: Output the outputcontact point B040(arrival signal at the standard point)of as "0"
B030 = 1
: Output B030(Up and down cylinder operation signal: operate to down)as "1"
B031 = 1
B030 = 0
MOVA P1
B030 = 1
: Output B030(Up and down cylinder operation signal: operate to down)as "1"
B031 = 0
B030 = 0
GOTO 1
<end of file>
10-8
Order
Power a controller on
Key operation
Display
RCS-7000T Ver1.0A
F1: Teach Pendant
F2: RS-422 Multipoint
F3: Data up/down Load
Servo Controller
F1
ROBOT PLC PARA VIEW
Parameter Setting
F3
Select Parameter
(PARA)
F3
Select OPER
(OPER)
ROB_PGM
F4
(ETC.)
after Enter
ENTE
R
11-1
CURRENT STATE
Warring !
No match LBL
PGM No.0 STEP 003
Program Error
HISTORY
RESET
YES NO
Order
Key operation
Display
RCS-7000T Ver1.0A
F1: Teach Pendant
F2: RS-422 Multipoint
F3: Data up/down Load
Controller Power on
Servo Controller
F1
ROBOT PLC PARA VIEW
ROBOT Control
Select ROBOT
F1
PROG POS ORG RUN
Select RUN
F4
PROGRAM No.7
S000 * SERVO ON
S001 SPD 3000
RUN RESET STEP SKIP
F3
S000 SERVO ON
S001 * SPD 3000
S002 MOVI 200.000
RUN RESET STEP SKIP
RUN : Auto Run
RESET : Move to the step 0
STEP : Step Run SKIP : Step Pass
11-2
Content
Order
Key operation
F3
Select STEP
Display
Change the number
(a present position
during move)
Content
Order
Display
S002 MOVI 200.000
S003 * MOVI 10.000
S004 GOTO 10
RUN RESET STEP SKIP
F1
Order
Key operation
F2
Select RESET
Display
F1
PROGRAM No.7
S000 * SERVO ON
S001 SPD 3000
RUN RESET STEP SKIP
11-3
F3
Procedure
Content
Order
Key operation
Program stopped
PGM No.0 STEP 011
CONTINUE ?
YES NO
step
Display
(YES)
2
F4
(NO)
F1
F3
11-4
PROGRAM No.7
S000 * SERVO ON
S001 SPD 3000
RUN RESET STEP SKIP
Key operation
Content
Order
Display
RCS-7000T Ver1.0A
F1: Teach Pendant
F2: RS-422 Multipoint
F3: Data up/down Load
Controller power on
Servo Controller
2
F1
ROBOT PLC PARA VIEW
Parameter Setting
F3
Select Parameter
(PARA)
F3
Select OPER
(OPER)
F4
ROB_PGM
(ETC.)
ENTE
R
after Enter
11-5
CURRENT STATE
Program Error
HISTORY
RESET
Warning !
Needs more 1 block
Procedure
Content
Order
Key operation
Display
RCS-7000T Ver1.0A
F1: Teach Pendant
F2: RS-422 Multipoint
F3: Data up/down Load
Controller power on
Servo Controller
F1
ROBOT PLC PARA VIEW
PLC Control
Select PLC
F2
PROG TEST
RUN
F4
Select RUN
RUN
PGM NO.0 is Running
Select RUN
F4
STOP
11-6
You should check if Robot and PLC program operate uprightly with a Teach
Pendant in Chapter 11. and then make operated from the external to the I/O contact
point.
You can operate this single controller with only I/O as belows.
-. JOG operation
-. Origin operation
-. Robot program
-. PLC program
The related system contact point parameter should bu set up in the parameter
before the I/O operation (See the Chapter 3.)
JOG + , JOG : Make a turn the motor toward the direction where the position coordinates is
increased.(in case of "1" input, it is turned)
: If the contact point of JOG_MODE is "0", Jog operation, and if it is "1", IJOG
operation.
: In case of operating JOG, this contact point continues to move during"1", in case
of operating IJOG, this contact point moves by one time when "0" turns"1".
JOG_MODE
: Select JOG operation and IJOG operation. (0:JOG, 1:IJOG).
JOG_SET0 ~ 1
: Set up the JOGtransfer speed and transfer quantity. (JOG_MODE is"0",transfer
speed
12-1
JOG_SET1~0
00 (JOG_SPD0)
01 (JOG_SPD1)
10 (JOG_SPD2)
11 (JOG_SPD3)
JOG+
More than
25ms
JOG-
Within 25ms
Motor
speed
Within 6ms
IN POSITION
JOG_SET1~0
00 (JOG_RES0)
01 (JOG_RES1)
JOG+
JOG-
Motor speed
IN POSITION
12-2
10 (JOG_RES2)
11 (JOG_RES3)
ORIGIN : When the contact point value changes "0" into "1", start the origin
movement.
CW S/W, CCW S/W : Limit Switch
ORG S/W : Origin Switch
ORG
operation
input
Motor speed
Within 6ms
Within 25ms
Z Phase
Limit S/W
ORG
completion
output
Within 25ms
12-3
ROB_RUN
More than 25ms
STOP
STEP
Motor
speed
Within 6ms
IN POSITION
PGM_SEL2~0
More than
25ms
PGM_SEL
12-4
Cause
A short circuit of motor power
O.C
(IPM Error)
Over
Load
Measures
Remarks
movement condition
Over Heat
Power
Fail
-ing temperature
Movement power
failure/input the
lower voltage
Data Backup
Error
user's storage
Appendix1-1
Problem
Cause
Measures
Hardware
Limit
Software
Limit
Following
Error
Remarks
A Connection is unfasten
Encoder wiring
speed Gain
too small
FLO_ERR
program to operate
replace the
Program
Error
Emergency
stop
Over Speed
Flash Rom
Remove the Emergency input
MAX_RPM
Parameter
Error
Line
Error
ERRORCODE
has the vast
check scope
Appendix1-2
Cause
Measures
to GOTO xxx
Ex)There is GOTO 10 in the program
Insert LBL 10
but no LBL 10
There are more than two LBL xxx
same LBL
number
except one
in the program
RET before
SBRT
Ex) RET
SBRT 10
RET
to CALL xxx
Ex)There is CALL 10 in the program
Insert LBL 10
but no SBRT 10
same LBL
number
except one
in the program
JPGM too
many
Appendix1-3
Remarks
Problem
JPGM to itself
Cause
Measures
JPGM to
empty
No. to move
No.1 empty
Delete LOOP 10 L5 or
But no ENDL 10
Insert ENDL 10
except one
in the pgm
LOOP too
many
nest
repetition between
16 times
LOOP~ ENDL
corresponding to ENDLxxx
Ex) There is ENDL 10
Delete ENDL 10 or
No LOOP 10 Lxx
corresponding to ENDLxxx
except one
Appendix1-4
Remarks
Problem
Not Output port
Cause
Measures
Not mapping
IOPOS
Invalid XIF
command
Invalid
command
Appendix1-5
Remarks
Problem
Invalid bit addr
Cause
Measures
LOAD too
many
LOAD expected
Needs more 2
blocks
Ex) D 000
D(OUT) too
many
Needs more 1
blocks
Appendix1-6
Remarks
Problem
Cause
No MCS block
Program not
end
Flash structure
fail
Measures
ROM is damged
Appendix1-7
Remarks
Problem
Invalid number
Cause
Measures
the parameter
Ex) SPD 15000
Last Step
S(I,B,P)xxx
Program No.x
is not empty
Program No.x
is empty
Step not
enought
Appendix1-8
Remarks
Problem
Cause
Measures
Clipboard
Empty
Robot is
running
Jog is running
Origin is
running
Not Origin
Mode
Default
Parameter
Same Input
port
Appendix1-9
Remarks
Problem
Cause
Measures
Not Save in
Robot Running
Not Change
inServo On
Not
ChangePre_def
ined value
Not Edit in
Running
Not Delete in
Running
Appendix1-10
Remarks
You can use many single controller(Max.32) by using one PC or the RS-422
terminal of Touch screen.
At this time, Each controller shold have its ID because all are connected to the
single RS-422 Serial bus.
FG
RDA
RDB
SDA
10
SDB
15
GND
(RS-422 Pin signal of SERIAL connector )
*RS-422 signal name
RDA : Receive Data Non-inverting(RxD)
RDB : Receive Data Inverting(/RxD)
SDA : Sending Data Non-inverting(TxD)
SDB : Sending Data Inverting(/TxD)
GND : Signal Ground
FG : Frame Ground
RDA
RDB
SDA
SDB
GND
FG
PC or other
equipments
RDA
RDA
RDA
RDB
RDB
RDB
SDA
SDA
SDA
SDB
SDB
SDB
GND
GND
GND
FG
FG
FG
controller
MY_ID = n-1
controller
MY_ID = 1
Appendix2-1
controller
MY_ID = n
PC of other
equipments
controller
MY_ID=1
controller
controller
MY_ID=n-1
MY_ID=n
3> Connections to PC
convertor
convertor
connector
Appendix2-2
4> Protocol
The Data format to send to a Controller is as follows.
-. You have to select and input MY_ID among 1~255 in the PARA-ETC mode of a
controller to communicate with RS-422
-. If the MY_ID number is "0", RS-232 communication is available with REMOTE terminal.
But No RS-422 communication by the RS-422 communication terminal at this time.
Protocol format
-. The Protocol is the same to the Protocol used in the UniHost but the ID information
should be inserted in the communication Data to communicate with RS-422.
-. ID format : ID header + ID No.
ID header : #(ASCII code) 1 Byte data
ID No. : 1~255(Decimal) or 0x01 ~ 0x20 1 Byte data
-. RS-422 communication packet is as follows
Transmitter
ID header
STX
ID No.
DATA
ETX
LRC
Receiver
STX : 0x02
ACK
ETX : 0x03
ACK : 0x06
NAK : 0x15
RST : 0x12
STX
D1
ETX
LRC
ACK
STX
D2
DATA
ETX
LRC
Appendix2-3
Since the paint against rust is painted during preservation in the axis part or
FLANGE part of AC SERVO MOTOR, wipe this with the thinner before installation
at this time, be careful lest other part the thinner should smear.
Appendix3-1
Figure1>
Be careful lest the excessive RADIAL load, THRUST load should be given to AC
SERVO MOTOR.
Appendix3-2
M&I
Vibration and
Check time
Every day
noise
Remarks
and hearings
Appearance
Insulation
Depends on the
and an air
Every year
resistance
5,000 Hours
The exchange is
Overall check
20,000 Hours
Appendix3-3
Cause
Examination method
A Motor does
not work
valtage declined
terminal by TESTER
Inferiority of motor
Measures
Rated voltage
Connection is loosed
Failure of external
wiring
not stable
Connection
The Motor is
The neighboring
overheated
temperature is high
neighboring temperature is
less than 40 or not
is stained
carried
The unusal
Inferiority of
sound is
installation
connection part
The trouble of
BEARING
occurred
Appendix3-4
PROG
POS
EDIT
BLOCK
COPY
JMP
DEL
DEL
P000~P255
MDI
START
END
COPY
DEL
READ
WRITE
JMP
PLC
TCH
P000~P255
SAV
JOG+
JOGs pd0 ~ spd3 / res 0
IJOG / JOG
PROG
EDIT
BLOCK
COPY
JM P
DEL
DEL
TEST
ORG
JMP
RUN
PARA
SERVO
AM P/ MOT
GAIN
BRAKE
MECH
OPER
MIN_LMT
MAX_LM T
LMT_RPM
LMT_TRQ
ORG_OFS
MOV _MOT
MOV _MECH
MOV _POL
MPG_PLS0
MPG_MOV0
MPG_PLS1
MPG_MOV1
T_CY CLE
MODE
INC
DEC
REPL
V IEW
POS_P
SPD_P
SPD_I
FEED_FWD
BRK_TIM E
BRK_DLY
BRK_RPM
AUTO _PLC
AUTO_ORG
S_MODE
ORG_RULE
MPG_M ODE
JOG_SPD0 ~ JOG_SPD3
JOG_RES0 ~ JOG_RES3
DFT
DFT_SPD
DFT_ACC
DFT_DEC
ORG_SPD0
ORG_SPD1
IO_SPD0 ~ IO_SPD3
FLO_ERR
INPOS
ROB_PGM
PLC_PGM
INI_TRQ
JOG_SV
ORG_SV
ORG_TRQ
INPUT
BRAKE
ALARM
SERVO
JOG
ETC
I/ O
AMP
MOT_TYPE
L
R
Kt
Jm
R_I
R_RPM
MAX _RPM
POLE
MAX _TRQ
ENC_TYPE
ENC_PLS
RUN
MY _ID
BIT RATE
BCD_READ
BACKLASH
Data Mode
Us er M ode
Sens or
ROB_RUN
PLC_RUN
STOP
RESET
SV ON
SV OFF
ORIGIN
STEP_RUN
PGM_SEL
PGM_SEL0
PGM_SEL1
PGM_SEL2
JOG+
JOGJOG_SET0
JOG_SET1
JOG_MODE
IOPOS0
IOPOS1
IOPOS2
IOPOS3
IOPOS4
IOPOS5
IOPOS6
IOPOS7
IOSPD0
IOSPD1
CW S/ W
CCW S/ W
ORG S/ W
M PG_RATE
M OVT_ST
ON
OFF
OUTPUT
Appendix4-1
INT
ALARM
READY
ORIGIN
IN_POS
ALARM 0
ALARM 1
ALARM 2
ALARM 3
BRAKE
HISTORY
SPD CMD
CUR SPD
POS CM D
CUR POS
TORQUE
I00
I01
I02
I03
I04
I05
I06
I07
I08
I09
I10
I11
I12
I13
I14
I15
I16
I17
I18
I19
I20
I21
I22
I23
I24
I25
I26
I27
I28
I29
I30
I31
B00
B01
B02
B03
B04
B05
B06
B07
B08
B09
B10
B11
B12
B13
B14
B15
B16
B17
B18
B19
B20
B21
B22
B23
B24
B25
B26
B27
B28
B29
B30
B31
B32
B33
B34
B35
B36
B37
B38
B39
B40
B41
START
END
COPY
DEL
READ
WRITE
JM P
PROG
SERVO
STOP
M OVA
M OVI
M OVR
M OVM
M OVT
FOS
REF
PCLR
SPD
ACC
DEC
IF
X IF
WAIT
GOTO
LBL
SBRT
RET
CALL
JPGM
LOOP
ENDL
ALARM
B
BB
I
P
PEND
TRQ
TQS
13. Warranty
1 Free warranty period
The free warranty period is until the time of 1 year and an half from the purchase date.
4 The Robostar company has no responsibility about the damage during the installation, test
operation, on-the-spot changes or transfer.
5 Our company has no responsibility for the damage occurred by using other components
except the components supplied from our company (including optional part)
Manual No.
Revision content
S/W Ver.
1999.12.14
RCS-6000-A
First edition
Ver 2.0A
2000. 8.25
RCS-6000-BE
Second edition
Ver 2.8A
2001.12.20
RCS-6000-E
First edition
Ver 2.8B
2005.1.1
UM-RCS6-E0501
Second edition
Ver 5.0C