MISUMI C1 Bedienungsanleitung

User’s Manual ENGLISH E

MISUMI SINGLE-AXIS ROBOT CONTROLLER

4-43, Toyo 2-chome, Koto-ku, Tokyo, 135-8458 Japan

URL http://www.misumi.co.jp/english/company/office/

MISUMI Corporation

KE1-Ver. 3.00

Introduction

Thank you for purchasing the C1 Controller (hereafter referred to simply as

"Controller"). Please read this manual carefully to ensure correct and safe use of this

controller.

Main functions

Function Explanation Reference Section

Positioning

operation

Moves the robot slider to the specified position.

There are 4 types of position operation:

1. Positioning operation Section 5.3

"Positioning operation".

2. Positioning merge operation Section 5.3.3

Positioning merge operation

3. Push operation Section 5.3.4

"Push operation".

4. Decel. Push Section 5.3.5

Deceleration push operation

* Positioning can be specified in an "absolute

position" or "relative position" format.

Point data

Specifies the slider position (point).

Up to 255 points of point data can be handled.

Each point includes the following elements:

RUN Type, Position, Speed, Accel., Decel.,

Push Force, Zone (-), Zone (+), Near Width

(In-Position Zone), Jump, Flag, Timer.

Section 3.2

"Point data".

Point table

type setting

The "point data type" setting can be selected

as "Standard setting" or "Custom setting". This

is possible only from the support software.

Section 3.2

"Point data".

Origin search

Performs an origin search (return-to-origin)

simply by entering a return-to-origin command.

Section 5.1

"Operation procedure".

Section 5.2

"Origin search".

JOG operation

and current

position teaching

Robot JOG operation and current position

teaching can be performed from the host

controller.

Section 5.3

"Positioning operation".

Soft limit

function

Sets the robot's movement range. This function is used

to avoid collisions, etc., when obstacles are present.

Section 5.7.1

"Soft limit function"

Output function

The following statuses can be selected and

output to the host controller.

Point No. output, alarm No. output, zone

output, personal zone output, near output (in-

position zone output), push status, origin return

completion status, warning output, movement-

in-progress output, manual mode status.

Section 4.3

"I/O signal details".

Alarm history

Saves up to 50 of the most recent alarms. The

following elements are saved:

Cause, start time, position, speed, operation status,

operation point, elec. current, voltage, input, output.

Section 6.2

Alarm recording function

Operation modes

Exclusive I/O and communication control is possible.

Section 5.6

"Operation modes".

Support tools

H1 (Handy Terminal)

Offers point and parameter data editing/

monitoring functions.

RS-Manager (PC software for Windows)

Support software for data designing,

debugging, maintenance, and management.

H1 Operation Guide

About this manual

iii

About this manual

This manual is divided into 3 main parts: Safety Cautions, Controller Guide, and a

Supplement (H1 Operation Guide, Communication Command Guide). In order to

use the controller and optional devices in an efficient manner, users should read

the parts which are pertinent to the objective in question. Moreover, after reading

this manual, keep it on hand for easy referencing as needed, and always make it

available to the end user.

Configuration of this manual

Contains the handling cautions related to the

controller and the optional Handy Terminal. Be

sure to read these cautions before using the

equipment, and strictly observe them at all times.

Explains the controller functions, as well as the

controller installation and operation procedures.

Be sure to read this section before operating the

controller, and strictly observe the instructions at

all times.

Explains the procedures for using the H1 (Handy

Terminal) to edit point data, and to operate the

robot, etc.

H1 Operation Guide

Be sure to read this section before writing the data,

such as parameter or point data, or operating the

robot using a communication unit, such as a personal

computer through the RS-232C communication.

Communication

Command Guide

•Safety Cautions

•Controller Guide

•Supplement

Use any of the following methods for referencing this manual content during

controller installation, operation, and adjustment procedures.

Keep this manual close at hand for referencing when performing

■

installation, operation, and adjustments.

Display the CD-ROM version of this manual onscreen for referencing

■

when performing installation, operation, and adjustments.

Print out the required pages of this manual from the CD-ROM in

■

advance, and use them for reference when performing installation,

operation, and adjustments.

Although every effort was made to ensure that this manual content is accurate and

complete, please contact MISUMI if errors, misprints, or omissions are found.

For information related to the robot unit, support software, and other optional

devices, please refer to the operation manuals for those items.

ii iii

Safety alert symbols and signal words

The following safety alert symbols and signal words are used in this manual to

describe safety concerns, handling precautions, prohibited or mandatory action and

key points when using this product. Make sure you fully understand the meaning of

each symbol and signal word and comply with the instructions.

DANGER

"DANGER" indicates an imminently hazardous situation which, if not avoided, will

result in death or serious injury.

WARNING

"WARNING" indicates a potentially hazardous situation which, if not avoided, could

result in death or serious injury.

CAUTION

"CAUTION" indicates a potentially hazardous situation which, if not avoided, could

result in minor or moderate injury or damage to the equipment or software.

Indicates a prohibited action related to the handling of this product. Read the

content carefully to ensure that the prohibited action is not performed.

[Example]

Indicates a mandatory action related to the handling of this product. Read the

content carefully to ensure that the mandatory action is performed.

[Example]

Mandatory action

Cut off power

CE marking

1. Safety standard

Cautions regarding compliance With EC Directives

■

The MISUMI robot (robot and controller) is not, in itself, a robot system. The

MISUMI robot is just one component that is incorporated into the customer's

system (built-in equipment), and MISUMI robots are in compliance with the EC

Directives as they apply to built-in equipment. Therefore, this does not guarantee

EC Directive compliance in cases where the robot is used independently.

Customers who incorporate a MISUMI robot into a system which will be shipped

to, or used in, the EU, should therefore verify that the overall system is compliant

with EC Directives.

•Differences between a MISUMI robot (robot and controller), and a robot system:

A MISUMI robot (robot and controller) is just one component in a robot system, and is not, in

itself, a robot system.

This is because a MISUMI robot does not include the "end effectors" or "any equipment,

devices, or sensors required for the robot to perform its tasks", as deﬁned in the EN10218-

1:2006 Standard, Item –3.20.

Applicable EC Directives and their related standards

■

The following table lists the Directives (and related standards) which apply to the

robot's CE Marking compliance.

EC Directive Related Standards

Machinery

Directive

2006/42/EC

EN ISO12100-1: Safety of machinery - Basic concepts Part1

EN ISO12100-2: Safety of machinery - Basic concepts Part2

EN ISO14121-1: Safety of machinery - Risk assessment

EMC Directive

2004/108/EC

EN 55011 : EMC Emission of ISM Equipment

EN 61000-6-2 : EMC Immunity for Industrial Environments

Referred standards: EN ISO10218-1: Safety requirements - Part1:Robot

Cautions regarding the official language of EU countries

■

For MISUMI robots that will be installed in EU countries, the language used for

the user's manuals, CE declarations, and operation screen characters is English

only, except for warning labels.

Warning labels only have pictograms or else include warning messages in

English. In the latter case, Japanese language messages might be added.

CE marking

2. Safety measures

Usage Conditions

■

The usage conditions which apply to the MISUMI robot series are described below.

•EMC (Electromagnetic Compatibility)

MISUMI robots are designed for industrial environments. (Applicable standard

relating to the EMC Directive: Refer to the EN61000-6-2 Standard, Item 1 "Scope".)

EMC Directive compliance requires that the customer have the final product

(over equipment system) evaluated, with any necessary measures being

implemented.

•Explosion-proof

The robot and controller do not have explosion-proof specifications, and the

robot should therefore not be used in environments exposed to flammable

gases which could explode or ignite, or to gasoline and solvents, etc.

3. EMC countermeasure example

Regarding EMC directives, the customer's final product (entire system) including

the MISUMI robot must provide the necessary countermeasures. We at MISUMI

determine a model for single units of MISUMI robots (controller, robot, and

peripheral device) and verify that it complies with the relevant standards of EMC

directives.

In order to ensure the customer's final product (entire system) complies with

EMC directives, the customer should take appropriate EMC countermeasures.

Typical EMC countermeasures for a single unit of MISUMI robot are shown for your

reference.

CAUTION

The examples shown here are the countermeasures tested under our installation

conditions. When our product is installed in the customer's system, the test

results may differ due to the difference in the installation conditions.

●Configuration

MP24V

CP24VROB I/O

COM1

Power connector

Power supply

(200V)

Ground

AC/DC

converter

24V

AC/DC converter JWS100-24: made by TDK Lambda

Single-axis robot

External safety circuit

Controller

Meaning of symbols

I/O circuit or

network

Handy Terminal with

ENABLE switch

Safety cautions

vii

Safety cautions

The controller was designed and manufactured with ample consideration given to

safety. However, incorrect handling or use may lead to injury, fire, electrical shocks,

or other accidents or equipment failures. To prevent possible problems, be sure to

observe the following safety cautions at all times.

Also carefully read the safety cautions listed in the robot user's manual and follow

all instructions given there.

DANGER

Never enter the robot movement range during operation.

Entering the movement range while the robot is in motion could

result in serious accidents or death. A safety enclosure or area

sensor with a gate interlock function should be installed to keep all

persons safely out of the robot's movement range.

Always turn the main power breaker OFF and establish an

"emergency stop" status before performing tasks within

the robot's movement range.

Failing to do so could result in serious accidents or death. (See

Section 2.7, "Configuring an emergency stop circuit".)

The controller and robot were designed as general-

purpose industrial equipment, and cannot be used

for the following applications.

·In medical equipment systems which are critical to human life.

In systems which significantly affect society and the general public.

·In environments which are subject to vibration, such as aboard

ships and vehicles.

For safety purposes, be sure to install an "emergency

stop" circuit.

Use the controller's "emergency stop" input terminal to install a main

power shutoff circuit (required).

vii

Safety cautions

WARNING

•Installation environment

Use only in environments where the prescribed

ambient temperature and humidity are maintained.

Usage in other environments could cause electrical shocks, fires,

malfunctions, and product deterioration.

Do not use in environments which are subject

to vibration and impact shocks, electromagnetic

interference, electrostatic discharges, and radio

frequency interference.

Usage in these environments could cause malfunctions and

equipment failure.

Do not use in environments which are exposed to

water, corrosive gases, metal cutting chips, dust, or

direct sunlight.

Usage in these environments could cause malfunctions and

equipment failure.

Do not use in flammable or explosive environments.

Usage in these environments could hamper operating tasks, and

could possibly cause injuries.

Provide ample space to ensure that tasks (teaching,

inspections, etc.) can be performed safely.

Failing to provide adequate space makes tasks difficult to perform,

and can cause injuries.

Secure the equipment firmly to a non-flammable

vertical wall of metal material.

The controller becomes hot during operation, and must be secured

to a metal wall in order to prevent the risk of fires.

Install in a well ventilated site with ample space

around the equipment.

Failing to do so could cause malfunctions, equipment failure, and fires.

viii

Safety cautions

•Wiring and connections

Always shut off the power to the controller before

performing wiring work and connecting cables.

Failing to do so could result in electrical shocks and equipment

failure.

When connecting cables, use care to avoid subjecting

the connectors to impact shocks or excessive loads.

Failing to do so could result in connector pin deformation, and

internal PCB damage.

Handle cables with care to avoid damaging them.

Do not attempt to modify the cables, and avoid pulling them or

placing heavy objects on them. These actions could damage the

cable, possibly resulting in malfunctions and electrical shocks.

Be sure that cable connectors and terminals are fully

inserted and securely fastened.

Tighten the fastening screws securely. Failing to do so could cause a

poor connection, possibly resulting in malfunctions.

Securely ground the power terminal block's ground

terminal.

Failing to do so could result in malfunctions or breakdowns.

•Operation and handling

The controller and the H1 should be operated only by

personnel who have received safety and operation

training.

Operation by an untrained person is extremely hazardous.

Set the payload, acceleration, and deceleration to

appropriate values.

Payload, acceleration, and deceleration settings which differ greatly

from the actual values will result in operation time loss, shorten the

robot life, and cause vibration. Be sure to set them to appropriate

values.

Do not enter the robot's movement range while power

is supplied to the controller.

Doing so could result in a serious accident, injury, or death.

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