Series LC1 Dedicated Controller for Standard AC Servomotor LJ1 Electric Actuator LG1 Teaching Box LTF

Transcription

1 Series LC Dedicated Controller for Standard AC Servomotor Electric Actuator Teaching Box PC (Not incl. To be provided by customer.) LJ LG LC Power supply Controller Setup Software LC6 LZ PLC/ Positioning unit (Not incl. To be provided by customer.) Driver Mitsubishi Electric Corporation (Used on actuators with non-standard motor) Controller Regenerative Absorption Unit (Used for vertical application) Control panel PLC 24 VDC power supply LCF2 X D- To PLC, etc. (Not incl. To be provided by customer.) Dedicated Controller/LC P.80 Controller setup software P.84 Dedicated teaching box P.842 Options P.84 Dedicated Regenerative Absorption Unit/R P.846 Non-standard Motor Compatible Drivers P.8 829

2 Controller Series LJ/LG: Standard Motor Compatible Single Axis Type/Built-in AC Servo Driver Series LC How to Order LC B H N Number of axes axis Mounting bracket M M B D F Actuator classification Series LJ (Incremental encoder) Series LG with coupling (Series LGH2) Incremental encoder Series LG without coupling (Series LGH20) Incremental encoder Mounting N: T-nut mounting L: T-bracket mounting Symbol H 2H H VH Note ) VB Note ) 2VF Note ) 2VA Note ) VA Note ) 2HA 2HC Motor capacity 0 W 00 W 200 W 00 W 00 W 00 W 00 W 200 W 00 W 00 W Applicable actuators Compatible actuator models LJH0B LJH202A LJH202C LJH0D LJH02H-K LJH02B-K LJH202F-K LJH202A-K LJH0A-K LGH2PA LGH2NA LGH2PC LGH2NC Ball screw High rigidity direct acting guide Without brake Ball screw High rigidity direct acting guide Thread lead 0 mm Ball screw High rigidity direct acting guide Thread lead 20 mm Note ) 2 Note ) Ball screw High rigidity direct acting guide With brake Power supply 00/0 VAC (0/60 Hz) 200/220 VAC (0/60 Hz) Note ) Consult SMC if the supply voltage for LC-BV will be 0 VAC or more, or the supply voltage for LC-BV2 will be 220 VAC or more. This controller includes the accessories listed below. LC-- (Either T-nuts or T-brackets for mounting) LC--000 (Controller connector) LC (Controller connector) (Refer to page 84.) Note) The following options are necessary for operating and setting the controller. LC--W (Windows 9 Japanese) LC--W2 (Windows 9 English) and LC--RC (dedicated communication cable) (Refer to pages 84, and 84.) or [LC--T- (Teaching box)] are required. For ordering information, refer to the option part numbers on page 842. Windows and Windows9 are registered trademarks of Microsoft Corporation. Mounting Caution When cooling, make sure the main body's operation temperature remains within the specified range. Make sure there is more than 80 mm of space between the sides of the main body and any constructions or parts. 80

3 Controller Single Axis Type/Built-in AC Servo Driver Series LC General specifications Model LC- LC-2 Power supply 00/0 VAC ±0%, 0/60 Hz (00 VAC, 0/60 Hz for LC-BV) 200/220 VAC ±0%, 0/60 Hz (200 VAC ±0% for LC-BH2) (200 VAC, 0/60 Hz for LC-BV2) Leakage current Dimensions Mass Actuator control Model Compatible actuator model LJH0PB LJH0NB LJH202P LJH202N LJH0PD LJH0ND ma or less 80 x 20 x 244 mm Approx. 2.2 kg LC-BH LC-B2H LC-BH LC-BV LC-B2V LC-BV LC-D2H LC-F2H LJH02 - K LJH202 - K LJH0 - K LGH22P LGH22N LGH202P LGH202N LJ LG LC Compatible guide Motor capacity Operating temperature range Electric power Control system Position detection system Home position return direction Maximum positioning point setting Movement command Position designation range Speed designation range Acceleration/deceleration designation range Programming Means of programming 0 W 00 W to 0 C 80 VA 00 VA 200 W to 40 C 640 VA High rigidity direct acting guide 00 W to 0 C 00 VA AC software servo/ptp control Incremental encoder Can be selected between the motor side and the side opposite the motor. 008 points (when step designation is actuated) Absolute and incremental used in combination 0.00 mm to mm Note) mm/s to 200 mm/s Note) 200 W to 40 C 640 VA Trapezoidal acceleration/deceleration mm/s 2 to 9800 mm/s 2 Note) Note) There are cases in which the position, speed and acceleration designations are not realized, depending on the actuator that is connected and the operating conditions. 00 W to 0 C 00 VA Dedicated controller setup software (LC--W, LC--W2) and dedicated teaching box (LC--T-) LC6 LZ LCF2 X D- Functions Number of programs Number of steps Programming (JOG teaching, direct teaching ), Operation, Monitor, Test, Alarm reset 8 programs 06 steps (27 steps x 8 programs) Direct teaching is only available with LC--W and LC--W2. Operating configuration Operating methods Operation by PLC, operating panel, etc., via control terminal; Operation by PC (controller setup software); Operation by teaching box Summary of operations Program batch execution (program designated operation), Step designated execution (position movement, point designated operation) Test run functions Monitor functions Program test, Step no. designated operation, JOG operation, Input/output operation Executed program indication, Input/output monitor Peripheral device control General purpose input General purpose output Control commands 6 inputs, Photo-coupler insulation, 24 VDC, ma 6 outputs, Open collector output, VDC max., 80 ma/output (maximum load current) Output /, Input condition wait, Condition jump, Time limit input wait Safety items Protection functions Over current, Over load, Over speed, Encoder error, Abnormal driver temperature, Abnormal drive power supply, Communication error, Battery error, Abnormal parameter, Limit SW on 8

4 SMC Series LC Dimensions LC-BH LC-D2H LC-F2H CN motor power line connector (Molex 6P) CN4 encoder signal line connector (Halfpitch 20P) Indicator light TB power terminal CN2 general purpose input/output connector (Halfpitch 20P) CN control input/output connector (Halfpitch 26P). LINIAR CTROLLER ACTUATOR CSTRUCTI SYSTEM Interface cover CN communication connector (D-sub 9P) 244 Mounting bracket With regenerative absorption unit LC-BV CN6 regenerative absorption unit connector (Molex 2P) CN motor power line connector (Molex 6P) TB power terminal Compatibility indicator CN4 encoder signal line connector (Halfpitch 20P) Indicator light CN2 general purpose input/output connector (Halfpitch 20P) CN control input/output connector (Halfpitch 26P) 2. 9 CN4 CN CN6 SMC LINIAR CTROLLER ACTUATOR CSTRUCTI SYSTEM Interface cover 2. CN communication connector (D-sub 9P) 244 Mounting bracket

5 Controller Series : Standard Motor Compatible Single Axis Type/Built-in AC Servo Driver Series LC H LC Number of axes axis Actuator classification Series (Incremental encoder) H 2V Applicable actuators Symbol Motor capacity Compatible actuator models 2H 00 W 6E- H 200 W 8F- Note ) 2V Note 2) 00 W 6E-K Note ) V Note 2) 200 W 8F-K Note 2) When using this product (with brakes), always use the regenerative absorption unit (R- KA). Note ) 2 Note ) Screw lead F H L 6 mm 0 mm 20 mm How to Order F Power supply 00/0 VAC (0/60 Hz) 200/220 VAC (0/60 Hz) Note ) Consult SMC if the supply voltage for LC-HV will be 0 VAC or more, or the supply voltage for LC-HV2 will be 220 VAC or more. L Mounting Mounting bracket M M N: T-nut mounting L: T-bracket mounting This controller includes the accessories listed below. LC-- (Either T-nuts or T-brackets for mounting) LC--000 (Controller connector) LC (Controller connector) (Refer to page 84.) Note) The following options are necessary for operating and setting the controller. LC--W (Windows 9 Japanese) LC--W2 (Windows 9 English) and LC--RC (dedicated communication cable) (Refer to pages 84, and 84.) or [LC--T- (Teaching box)] are required. For ordering information, refer to the option part numbers on page 842. Windows and Windows9 are registered trademarks of Microsoft Corporation. Mounting Caution When cooling, make sure the main body's operation temperature remains within the specified range. Make sure there is more than 80 mm of space between the sides of the main body and any constructions or parts. LJ LG LC LC6 LZ LCF2 X D- 8

6 Series LC General specifications Model LC-H LC-H2 Power supply Leakage current Dimensions Mass 00/0 VAC ±0%, 0/60 Hz (00 VAC, 0/60 Hz for LC-HV) ma or less 80 x 20 x 244 mm Approx. 2.2 kg 200/220 VAC ±0%, 0/60 Hz (200 VAC ±0% for LC-H2) (200 VAC, 0/60 Hz for LC-HV2) Actuator control Model Compatible actuator model LC-H2H LC-HH LC-H2V LC-HV 6E- 8F- 6E-K 6E-K Motor capacity 00 W 200 W 00 W 200 W Operating temperature range to 0 C to 40 C to 0 C to 40 C Electric power 00 VA 640 VA 00 VA 640 VA Control system Position detection system Home position return direction Maximum positioning point setting Movement command Position designation range AC software servo/ptp control Incremental encoder Can be selected between the motor side and the side opposite the motor. 008 points (when step designation is actuated) Absolute and incremental used in combination 0.00 mm to mm Note) Speed designation range mm/s to 200 mm/s Note) Acceleration/deceleration designation range Trapezoidal acceleration/deceleration mm/s 2 to 9800 mm/s 2 Note) Note) There are cases in which the position, speed and acceleration designations are not realized, depending on the actuator that is connected and the operating conditions. Programming Means of programming Functions Number of programs Number of steps Dedicated controller setup software (LC--W, LC--W2) and dedicated teaching box (LC--T-) Programming (JOG teaching, direct teaching ), Operation, Monitor, Test, Alarm reset 8 programs 06 steps (27 steps x 8 programs) Direct teaching is only available with LC--W and LC--W2. Operating configuration Operating methods Operation by PLC, operating panel, etc., via control terminal; Operation by PC (controller setup software); Operation by teaching box Summary of operations Program batch execution (program designated operation), Step designated execution (position movement, point designated operation) Test run functions Monitor functions Program test, Step no. designated operation, JOG operation, Input/output operation Executed program indication, Input/output monitor Peripheral device control General purpose input General purpose output Control commands 6 inputs, Photo-coupler insulation, 24 VDC, ma 6 outputs, Open collector output, VDC max., 80 ma/output (maximum load current) Output /, Input condition wait, Condition jump, Time limit input wait Safety items Protection functions Over current, Over load, Over speed, Encoder error, Abnormal driver temperature, Abnormal drive power supply, Communication error, Battery error, Abnormal parameter, Limit SW on 84

7 SMC Controller Single Axis Type/Built-in AC Servo Driver Series LC Dimensions LC-HH 8 80 With regenerative absorption unit LC-HV 29 CN motor power line connector (Molex 6P) CN4 encoder signal line connector (Halfpitch 20P) Indicator light. 29 LINIAR CTROLLER ACTUATOR CSTRUCTI SYSTEM 2. Interface cover 2. 7 CN communication connector (D-sub 9P) TB power terminal CN2 general purpose input/output connector (Halfpitch 20P) CN control input/output connector (Halfpitch 26P) Mounting bracket CN6 regenerative absorption unit connector (Molex 2P) CN motor power line connector (Molex 6P) TB power terminal Compatibility indicator CN4 encoder signal line connector (Halfpitch 20P) Indicator light CN2 general purpose input/output connector (Halfpitch 20P) CN control input/output connector (Halfpitch 26P) LJ LG LC LC6 LZ LCF2 X D CN4 CN CN6 SMC LINIAR CTROLLER ACTUATOR CSTRUCTI SYSTEM Interface cover 2. CN communication connector (D-sub 9P) 244 Mounting bracket

8 Controller Series LX: AC Servomotor compatible Single Axis Type/Built-in AC Servo Driver Series LC How to Order LC Number of axes axis 2 Ball screw lead C D BV 2 mm mm D Power supply 00/0 VAC (0/60 Hz) 200/220 VAC (0/60 Hz) N Mounting Mounting bracket M M Stroke X80 0 mm 7 mm 00 mm 2 mm 0 mm 7 mm 200 mm N: T-nut mounting L: T-bracket mounting Actuator classification AB-S--X2 X80 AB-S--X AB-S--X2 X2 AB-S--X This controller includes the accessories listed below. LC-- /Either T-nuts or T-brackets for mounting LC--000/Controller connector LC--2000/Controller connector (Refer to page 84.) Note) The following options are necessary for operating and setting the controller. LC--W (Windows 9 Japanese) LC--W2 (Windows 9 English) and LC--RC (dedicated communication cable) (Refer to pages 84 and 84.) or [LC--T- (Teaching box)] are required. For ordering information, refer to the option part numbers on page 842. Windows and Windows9 are registered trademarks of Microsoft Corporation. Mounting Caution When cooling, make sure the main body's operation temperature remains within the specified range. Make sure there is more than 80 mm of space between the sides of the main body and any constructions or parts. 86

9 SMC Controller Single Axis Type/Built-in AC Servo Driver Series LC General specifications Model LC-BV---X80 LC-BV---X2 LC-BV2---X80 LC-BV2---X2 Power supply Leakage current Dimensions Mass Actuator control Model LC-BV---X80 LC-BV---X2 Compatible actuator AB-S--X2 AB-S--X2 Position designation range 00 V/0 VAC ±0%, 0/60 Hz 200 V/220 VAC ±0%, 0/60 Hz ma or less 80 x 20 x 244 mm Approx. 2.2 kg 0.00 mm to mm Note) LC-BV2---X80 AB-S--X Compatible guide Motor capacity Operating temperature range Electric power High rigidity direct acting guide Guide rod High rigidity direct acting guide 0 W to 0 C 80 VA Control system Position detection system Home position return direction Maximum positioning point setting Movement command AC software servo/ptp control Incremental encoder Can be selected between the motor side and the side opposite the motor. 008 points (when step designation is actuated) Absolute and incremental used in combination LC-BV2---X2 AB-S--X Guide rod Speed designation range mm/s to 200 mm/s Note) Acceleration/deceleration Trapezoidal acceleration/deceleration mm/s designation range 2 to 9800 mm/s 2 Note) Note) There are cases in which the position, speed and acceleration designations are not realized, depending on the actuator that is connected and the operating conditions. Dimensions LC-BV---X80 LC-BV---X2 LJ LG LC LC6 LZ LCF2 X D- CN motor power line connector (Molex 6P) TB power terminal CN4 encoder signal line connector (Halfpitch 20P) Indicator light CN2 general purpose input/output connector (Halfpitch 20P) CN control input/output connector (Halfpitch 26P). LINIAR CTROLLER ACTUATOR CSTRUCTI SYSTEM Interface cover CN communication connector (D-sub 9P) 244 Mounting bracket

10 Series LC Controller Mounting Part Descriptions Mounting of the controller is performed by means of the two T-grooves provided on the bottom surface. Mounting is possible from above or below using the special T-nuts or T-brackets. Refer to page 84 for further details. Note) This controller comes with either the T-nuts or T-brackets as accessories. Controller model LC--N LC--N LC--L LC--L Mounting with T-nuts Mounting screw M x 0. M x 0.8 M M Mounting bracket assembly LC--N LC--N LC--L LC--L Encoder signal line connector : CN4 Communication connector: CN Motor power line connector: CN Regenerative absorption unit connector: CN6 Control input/output connector : CN General purpose input/output connector : CN2 Power terminal : TB Controller Command Setting List Actuator control commands T-nut Classification Function Instruction Parameter value Movement Absolute movement command Incremental movement command MOVA MOVI Address (speed) ± Movement (speed) Setting Acceleration setting command ASET Acceleration I/O control commands Max.28 to Min.8 Mounting with T-brackets ± for L 2 ± for L 90 Classification Output control Function Output command Output command Output reversal command Instruction O-SET O-RES O-NOT Parameter value General purpose output no. General purpose output no. General purpose output no. Input wait AND input wait command I-AND General purpose input no., State OR input wait command I-OR General purpose input no., State AND input time out General purpose input no., State T-AND jump command (P-no.) label Input wait with time out function Condition jump OR input time out jump command AND input time out subroutine call command OR input time out subroutine call command AND input condition jump command OR input condition jump command T-OR C-AND C-OR J-AND J-OR General purpose input no., State (P-no.) label General purpose input no., State (P-no.) label General purpose input no., State (P-no.) label General purpose input no., State (P-no.) label General purpose input no., State (P-no.) label T-bracket Program control commands Classification Function Instruction Jump Unconditional jump command JMP Subroutine Loop Subroutine call command Loop start command CALL FOR Subroutine end declaration Loop end command RET NEXT End Timer Program end declaration Timer command END TIM Parameter value (P-no.) label (P-no.) label Loop frequency Timer amount 88

11 Controller Single Axis Type/Built-in AC Servo Driver Series LC Connection Examples Control Input/Output Terminal: CN Control input/output terminal: CN Terminal to perform actuator operation (connects PLC and operating panel) CN + 24 VDC CN. Control input terminal list Terminal +24V SET-UP RUN Pin no., 4 Pro-no. bit 7 Pro-no. bit2 Pro-no. bit 8 Stp-no. bit 6 Stp-no. bit2 9 Stp-no. bit 7 Stp-no. bit4 20 Stp-no. bit 8 Stp-no. bit6 2 Stp-no. bit7 9 HOLD STOP ALARM RESET 2 Description Common Starting preparation Starting 6 4 CN. Control output terminal list Terminal Pin no. Description Function READY 2 SET- 0 BUSY ALARM 24 Program designation Step designation Temporary stop Emergency stop (nonlogical input) Alarm release System ready signal Start readiness signal Operating signal Alarm output COM 2, 2 Common Function The positive common of the input terminal. The terminal that performs setup operations (actuator starting preparation). The terminal that performs program start. The terminal that designates the program to be executed. Can designate 8 types of programs with a total of bits. (Set by the binary system.) The terminal that designates the step to be executed. Used when executing steps (position movement). (Set by the binary system.) Temporarily stops the program run by means of the input. Performs an emergency stop when input stops. Releases the alarm being generated by means of the input. Indicates ability to perform control terminal input and communication via the dedicated communication cable when. Indicates that the SET-UP operation (start ready operation: return to home position after servo ) is complete when. The state in which the program can be run. Indicates operation in progress when. when program is being executed and when returning to the home position. When this signal is, an alarm is being generated for the actuator/controller. The output terminal common. <> <2> SET-UP RUN HOLD STOP ALARM RESET PRO-NO BIT BIT 2 BIT STP-NO BIT BIT 2 BIT BIT 4 BIT BIT 6 BIT 7 SET- READY BUSY ALARM COM COM General purpose input/output terminal: CN2 <> CN CN control terminal Input terminal Output terminal COM COM NO.0 NO. NO.2 NO. NO.4 NO. NO VDC max. Rated input voltage: 24 VDC Rated input: ma Maximum load voltage: VDC Maximum load current: 80 ma/output 20 ma/com 24 VDC VDC max. LJ LG LC LC6 LZ LCF2 X D- <2> NO. NO.2 NO. NO.4 NO. CN2 control terminal Input terminal Output terminal Rated input voltage: 24 VDC Rated input: ma Maximum load voltage: VDC Maximum load current: 80 ma/output 89

12 Series LC Control Method/Timing Timing for READY signal generation immediately after turning on power Timing for temporary stop during operation Power READY Max. 00 ms After turning the power on, the internal control power comes on, and after self diagnosis the READY signal goes. HOLD Speed BUSY V O Max. 2 ms Max. 0 ms Max. 0 ms BUSY- timing is controlled by actuator deceleration. Timing for home position return Timing for stop by ALARM-RESET during operation SET -UP BUSY V Speed O SET Max. ms Max. 20 ms Home position return speed Max. ms Creeping speed ALARM -RESET Speed BUSY V O Max. 2 ms BUSY- timing is controlled by actuator deceleration. Timing for program/step execution Timing for emergency stop during operation SET - P-NO S-NO RUN After confirming that the SET- signal is, the RUN signal should be turned. Selection Selection should be made before the RUN signal goes. After confirming that the BUSY signal is, the RUN signal should be turned. STOP SET - ALARM Speed V O Max. 0 ms Max. ms Max. 0 ms BUSY Speed V O Max. 0 ms Max. 0 ms Max. 60 ms BUSY Timing for alarm reset Response time with respect to controller input signals ALARM -RESET ALARM Max. ms The following factors exist for delay of response with respect to controller input signals. ) Scanning delay of the controller input signal 2) Delay by the input signal analysis computation ) Delay of command analysis processing Factors () and (2) above apply to delay with respect to the SET-, ALARM-RESET and STOP signals. Factors (), (2) and () above apply to delay with respect to cancellation of the RUN and HOLD signals. When signals are applied to the controller by means of a PLC, the PLC processing delay and the controller input signal scan delay should be considered, and the signal state should be maintained for 0 ms or longer. It is recommended that the input signal state be initialized with the response signal to the input signal as a condition. 840

13 Series LC Controller Setup Software LC-- W W2 Windows/LC--W (Japanese) LC--W2 (English) Features are Direct teaching Program printing Batch editing and sending/receiving of all programs Batch management and multiple saving of parameters and programs Operating environment Computer OS Memory Hard disk A model with a Pentium 7 MHz or faster CPU, and able to fully operate Windows 9. Windows 9 6 MB or more MB or more of disk space required The dedicated communications cable (LC--RC) is required when using this software. LJ LG LC LC6 LZ LCF2 X D- Screen example The contents of this software and the registered product specifications may change without prior notice. Duplicating, copying or reproducing of this software, in whole or in part, is prohibited without prior consent from SMC. SMC owns the copyright of this software. The intellectual property rights and other rights concerning this software are solely owned by SMC. This also applies to any future version upgrades and revised versions of this software. SMC does not assume any compensatory responsibility for any damage or loss of profit, etc., resulting from the use of this software. Windows and Windows9 are registered trademarks of Microsoft Corporation. Pentium is a trade mark of Intel Corporation. 84

14 Series LC Dedicated Teaching Box/LC--T How to Order LC T 02 Interactive input display Programming with the same language as PC software Able to execute operations such as programming and parameter changes, which up until now have been performed from a PC. The special cable is packed with the teaching box. (2 to m) Cable length m m 4 m m General specifications LC--T-0 Power supply Supplied from LC Dimensions (mm) 70 x 76 x 20 Mass (g) 8 Case type Resin case Display unit (mm) 46 x LCD Operating unit Key switches, LED indicators Cable length (m) 2,, 4, Basic performance Compatible controller Operating temperature range ( C) LC (all models) to 0 L c ACTUATOR & CSTRUCTI SYSTEM CTROLLER POWER ALARM HOLD /BS L STOP UP MODE /ESC R DOWN ENT Functions Monitor functions Protection functions Programming, Parameter change, Setup, Operation, JOG operation, Monitor, Alarm reset, JOG teaching Movement position, Movement speed Over current, Over load, Over speed, Encoder error, Abnormal driver temperature, Abnormal drive power supply, Communication error, Battery error, Limit SW on, Abnormal driver parameter, RAM malfunction Protection function indicator Alarm code Options Teaching box cable LC Cable length m m 4 m m 842

15 Dedicated Teaching Box Series LC Dimensions LCD screen STOP key Communication cable connector SMC ACTUATOR & CSTRUCTI SYSTEM CTROLLER L c POWER STOP ALARM UP HOLD /BS L R DOWN ENT MODE /ESC 26 LJ LG Hanger ring Warning light (ALARM) Power indicator light (POWER) LC Alarm Code List Alarm code Alarm Reset Description Emergency stop Limit switch Battery error Communication error RAM malfunction Soft stroke limit Over current Over load Over speed Abnormal driver temperature Encoder error Abnormal drive current Abnormal driver parameter Unsuccessful home position return No designated speed No jump destination Nesting exceeded No return destination Executing FOR No FOR No operation program Invalid movement command Format error An emergency stop condition exists or has occurred in the past due to the controller setup software or the CN control STOP terminal. Limit switch is turned. The memory backup battery voltage is low. Contact SMC. Communication with the controller is interrupted. The parameter is damaged. The program is about to exceed the stroke length set by the parameter. Three times the rated current or more is flowing into the driver unit. The driver unit continuously received a current exceeding the rated current for a prescribed time or longer. The controller exceeded the maximum operational speed. A temperature increase of the driver unit activated the temperature sensor. An encoder or actuator cable malfunction has occurred. The driver unit power supply is shut off due to a regeneration problem, etc. A driver parameter abnormality in the controller system has occurred. Trying to execute a program/step without completing the setup (home position return). No speed designation with MOVA or MOVI, and no prior speed designation found. No label found at the program designated jump destination. Sub-routine nesting (calling a sub-routine from another sub-routine) exceeds 4 levels. No return destination found for the RET command operation. A forbidden command is found between FOR and NEXT. NEXT command was executed without executing FOR command. Trying to execute a program/step with no commands. Trying to execute a command other than MOVA, MOVI, or ASET with a step (position movement) designated operation. An error is found in the attached value of a command being programmed. Refer to the Series LC instruction manual for alarm details. Explanation of "Reset" symbols above: : Can be reset by the alarm reset. : Turning the controller power is required for resetting. LC6 LZ LCF2 X D- 84

16 Series LC Key Arrangement and Functions Mode selection Mode Display Function Programming mode PRO Sets a program. SMC PRO PRA SETUP RUN JOG MALM PRO STEP Controller command Parameter input/output mode PRA Sets a parameter. LABEL I - PORTO- PORTLOOPSEC mm 2 /s PRO LABEL ALM mm/s L C ACTUATOR & CSTRUCTI SYSTEM CTROLLER Main modes Home position return mode Operation mode SETUP RUN Directs home position return. Directs a program operation. POWER ALARM STOP HOLD /BS UP L R DOWN MODE ENT /ESC JOG operation mode Monitor mode Alarm reset mode JOG M ALM Executes a JOG operation. Monitors operating condition. Directs alarm code display and clear. For the operation of each mode, refer to the product's instruction manual. Key UP DOWN L R HOLD/BS MODE/ESC STOP ENT Functions Moves upward for item selections. Also used to increase values for data entry. In combination with L/R keys, this key drives the actuator at high speed during a JOG operation. Moves downward for item selections. Also used to decrease values for data entry. Moves to the left for item selections. Also used to move a numerical value place to the left for data entry. It drives the actuator to the end side during a JOG operation. Moves to the right for item selections. Also used to move a numerical value place to the right for data entry. It drives the actuator to the motor side during a JOG operation. Returns to the previous mode during item selections. It becomes the temporary stop key during actuator operation. Returns to the main mode during item selections. It exits all modes. Becomes the emergency stop key during actuator operation. In combination with the ENT key, it launches JOG teaching and aids program editing. Determines data during item selections. In combination with the STOP key, it launches JOG teaching and aids program editing. 844

17 Series LC Options T-nuts and T-brackets for Mounting Be sure to use when mounting the controller. Note) The controller unit includes either T-nuts or T-brackets. T-nuts (Mass: 0.0 g) 7. Model LC--N LC--N Controller Connectors 8 M M M x 0. M x Model LC--L (Mass: 6.0 g) Model LC--L (Mass:. g) M M These are connectors 'all halfpitch type' used for CN (control input/output) and CN2 (general purpose input/output). Note) The controller unit includes a controller connector for use with CN and CN2. CN (Control input/output) Controller/LC CN PLC Controller connector (CN: Control input/output) Model LC A0-008 Halfpitch hood (26P) Sumitomo/M Limited VE Halfpitch plug (26P) Sumitomo/M Limited T-brackets CN2 (General purpose input/output) Controller/LC CN PLC Controller connector (CN2: General purpose input/output) Model LC A0-008 Halfpitch hood (20P) Sumitomo/M Limited VE Halfpitch plug (20P) Sumitomo/M Limited 7. LJ LG LC LC6 LZ LCF2 X D- Controller connector (CN: Control input/output) Model LC-- 00 Cable length X 0. m m Single side wired controller connector (CN2: General purpose input/output) Model LC Cable length X2 0. m m L Cable is connected to LC L Cable is connected to LC Dedicated Communication Cables These are cables used to connect controllers and PCs. Note) Be aware of the configuration of the connector on the PC when selecting a dedicated communication cable.. Controller/LC PC Dedicated communication cable (IBM PC/AT compatible computer) Model LC--RC PC Cable length 02 2 m 04 4 m 0 m 0 m Controller Cable length: 2 to m 84

18 Series R Dedicated Regenerative Absorption Unit How to Order Regenerative Absorption Unit R K Connected controller power supply voltage Note ) Without 2 00 VAC (0/60 Hz) 200 VAC (0/60 Hz) A Accessory type Nil accessory S C Series LC connector and contact pin + Regenerative absorption unit connector and contact pin Series LC connection cable (0. m) Note 2) The regenerative absorption unit absorbs the energy (regenerative energy) that is generated by the motor when it decelerates. It is used to prevent drive power abnormality in the Single Option controller. R Standard motor vertical mount specification electric actuator Controller Note ) Consult SMC if the connected controller power supply voltage will be 0 VAC or 220 VAC. Note 2) The temperature control output cable length is m. Also, the connector cable already has the required contact pin and connector assembled. S0 Option type S0 Regenerative absorption unit connector and pin S Series LC connector and pin C Series LC connection cable (0. m) Note ) Note ) The temperature control output cable length is m. Also, the connector cable already has the required contact pin and connector assembled. Specifications Danger Regenerative absorption unit To PLC, etc.. Contact SMC if the connected controller power supply voltage will be 0 VAC or 220 VAC, as this may cause fire or malfunction. 2. Secure a distance of 0 mm or more between the body and control panel interior or other equipment, as this may cause fire or malfunction.. Confirm that there are no problems with terminal polarity, pin numbers, and crimping before connecting, as they may cause damage, malfunction, injuries, or fire. 4. Set up a circuit that shuts off the connected controller main power supply if trouble occurs in the regenerative absorption unit.. The regenerative absorption unit (R) is exclusively for use with series LC controller connection. Therefore, never connect it to other equipment as this may cause fire or malfunction. 846 Model Regeneration method Regenerative resistance capacity Regenerative operation voltage Protective circuit Ambient operating temperature Connected controller power voltage External connection method Insulation resistance Mounting R-KA R-K2A Heat exchange method based on resistance 40 W 80 V 80 V Regenerative voltage input mis-wiring protection Over current protection, Overheating protection (Normally closed, Radiator sensor at 00 C) 0 to 40 C 00 VAC 200 VAC Connector 00 VDC, 0 MΩ or more DIN rail mount

19 Dedicated Regenerative Absorption Unit Series R Dimensions Operation window Connection Examples Electrical wire Cover O.D.: Max.. mm (AWG8 to 20) [0. m or less] Cover O.D.: Max.. mm (AWG8 to 24) [ m or less] Temperature control output terminal Maximum rated voltage: 0 V Maximum rated current: 6 ma Controller + Regenerative output P N 2 Regenerative absorption unit Regenerative resistance 2 + Main circuit External power Resistor supply Max. 6 ma Input R 24 VDC + Control equipment (PLC, etc. ) 6 96 Note) Select 6 ma or less for resistor R after confirming the input capacity of the control equipment. Regenerative absorption unit connectors [Manufacturer: Molex Japan Co., Ltd.] Description Receptacle Female terminal Part no. 7-06R 6PBTL Temperature sensor (NC) Quantity 6 Label Connector Contact pin number Terminal Vin (P) Vin (N) Vout (P) Vout (N) ALM (P) ALM (N) Pin no Description Regenerative absorption unit power input (positive) Regenerative absorption unit power input (negative) Extended regenerative resistance output (positive) Extended regenerative resistance output (negative) Temperature control output terminal (positive) Temperature control output terminal (negative) R connection method LC side connctor pin no. Terminal Pin no. Description N Regenerative absorption unit power output (negative) P B Regenerative absorption unit power output (positive) Connector: Molex Pin: Molex 67PBTL Crimping tool: JHTR244A LC connector (preassembled) (2P) (6P) LC connection cable (0. m) Contact pin (preassembled) DIN rail holding plate Insertion side Regenerative absorption unit R-KA LJ LG LC LC6 LZ LCF2 X D- Regenerative absorption unit connector (preassembled) Temperature control cable ( m) Temperature control output (negative) Temperature control output (positive) Wiring tools [Manufacturer: Molex Japan Co., Ltd.] Wiring tools should be provided by customer. Description Part no (for UL007) Crimping tool (for UL0) Puller Series LC controller (vertical specification) To control equipment, etc. 847

20 Series R Regenerative Absorption Unit Selection Guide The graphs show the relationship between speed and distance where the use of a regenerative absorption unit becomes necessary for each vertical specification actuator based on the desired work piece load. When setting a speed and distance that are above the line on the graphs, based on the work piece load for the actuator to be used, be sure to use a regenerative absorption unit. Note ) If a graph line for the work piece load (within the actuator's maximum load mass) on the actuator is not found, be sure to refer to the graph line for the heavier work piece load that is closest to the desired load. Note 2) The use of a regenerative absorption unit is recommended for any operating conditions. Applicable Controller Power Supply Voltage 00 VAC Specification Series LJH0 LJH02H-K (8 mm lead) 400 Series LJH20 LJH202F-K ( mm lead) 20 Speed (mm/s) kg 8 kg 6 kg Speed (mm/s) kg 4 kg kg 2 kg Stroke (mm) When an actuator is operated under conditions that exceed the lines on the graph above, be sure to use a regenerative absorption unit. LJH02B-K (2 mm lead) It is not necessary to mount a regenerative absorption unit when the work piece load, speed, and stroke are within the actuator rating. However, use of a regenerative absorption unit is recommended under all conditions. Actuator rating Maximum work piece load: kg Maximum speed: 600 mm/s Maximum stroke: 00 mm Stroke (mm) When an actuator is operated under conditions that exceed the lines on the graph above, be sure to use a regenerative absorption unit. LJH202A-K (0 mm lead) It is not necessary to mount a regenerative absorption unit when the work piece load, speed, and stroke are within the actuator rating. However, use of a regenerative absorption unit is recommended under all conditions. Actuator rating Maximum work piece load: 8 kg Maximum speed: 00 mm/s Maximum stroke: 600 mm Series LJH0 Speed (mm/s) Series kg 4 kg 6 kg 8 kg 20 kg 0 kg LJH0A-K (0 mm lead) When an actuator is operated under conditions that exceed the lines on the graph to the left, be sure to use a regenerative absorption unit. 6E-K, 8F-K Regardless of the operating conditions, always use a regenerative absorption unit. 8 kg A Example) Actuator: LJH0A-K Work piece load: 9 kg Speed: 00 mm/s Stroke: 00 mm When the above conditions are used, mark a position based on the speed and stroke. (See point A on the graph for series LJH0.) Since point A is above the line for 0 kg, a regenerative absorption unit is required Stroke (mm) Danger Consult SMC if the connected controller power supply voltage is 220 VAC, as this may cause fire or malfunction.

21 Dedicated Regenerative Absorption Unit Series R Applicable Controller Power Supply Voltage 200 VAC Specification Series LJH0 Series LJH20 LJH022H-K (8 mm lead) LJH2022F-K ( mm lead) Speed (mm/s) Stroke (mm) When an actuator is operated under conditions that exceed the lines on the graph above, be sure to use a regenerative absorption unit. Series LJH kg 8 kg LJH022B-K (2 mm lead) It is not necessary to mount a regenerative absorption unit when the work piece load, speed, and stroke are within the actuator rating. However, use of a regenerative absorption unit is recommended under all conditions. Actuator rating Maximum work piece load: kg Maximum speed: 600 mm/s Maximum stroke: 00 mm A 0 kg Speed (mm/s) LJH02A-K (0 mm lead) 0 kg kg 4 kg Stroke (mm) When an actuator is operated under conditions that exceed the lines on the graph above, be sure to use a regenerative absorption unit. Speed (mm/s) LJH2022A-K (0 mm lead) 8 kg 2 kg Stroke (mm) When an actuator is operated under conditions that exceed the lines on the graph above, be sure to use a regenerative absorption unit. When an actuator is operated with conditions that exceed the lines on the graph to the left, be sure to use a regenerative absorption unit. LJ LG LC LC6 LZ LCF2 X D- 0 Speed (mm/s) kg 6 kg 4 kg 8 kg 20 kg Stroke (mm) Example) Actuator: LJH02A-K Work piece load: 7 kg Speed: 400 mm/s Stroke: 00 mm When the above conditions are used, mark a position based on the speed and stroke. (See point A on the graph for Series LJH0.) Since point A is above the line for 8 kg, a regenerative absorption unit is required. Danger Consult SMC if the connected controller power supply voltage is 220 VAC, as this may cause fire or malfunction. Series 6E2-K, 8F2-K Regardless of the operating conditions, always use a regenerative absorption unit. 849

22 Series LC Brake Wiring Example A wiring example for controller (Series LC) connectors and a brake is shown below. The brake is in a de-energized condition and locked. 24 VDC is required to unlock it. The brake terminal is located in the motor power line connector (CN), and it is connected to the relay switch inside the controller. By connecting the wiring to this terminal, turning on and off of the brake is controlled by the controller. (The brake does not have polarity.) LC (Controller) Control connector: CN +24 or 4 Regenerative absorption unit connector:cn6 Mount a blanking connector when not connecting a regenerative absorption unit. STOP 6 EMG RY 24 VDC (Emergency stop) (for control terminal) Switch q Power terminal: TB When the AC power supply (00 VAC or single phase 200 VAC) is shut off, use a relay to shut off 24 VDC. Motor power line connector: CN Red White Black Green Brown Blue Manual unlocking switch for brake VAR RY EMG 24 VDC (Emergency stop) (for brake) Switch w Brown MOTOR Blue BRAKE When the AC power supply (00 VAC or single phase 200 VAC) is shut off, use a relay to shut off 24 VDC. RY Power supply Rated brake voltage: 24 VDC ±0% Brake power consumption: 8 W... When using 00 W motor 2 W... When using 200 W motor 24 VDC power supply: The brake power supply and control terminal power supply are set up separately. EMG (Emergency stop) device: Use normally closed ("B" contact) switch. Also, synchronize switches q and w. RY (Relay): Rated contact load 24 VDC, A or more, "A" contact VAR (Varistor): Series LJ (except -X part numbers): NVD07SCD082 (KOA) Series, Series LX: TND4V-2KB00AAA0 (Nippon Chemi-Con) Consult with SMC if electric actuators other than those listed above is required. Note) For standard type electric actuators Danger. When not connecting a regenerative absorption unit, use a blanking plate to cover CN6, as there is a danger of electrocution or injury. 2. The manual brake unlocking switch unlocks the brake during maintenance or an emergency. Mount the switch when it is necessary for maintenance, etc. Be sure to turn the switch off for purposes other than maintenance, etc. The brake will not operate with the switch on.. If the manual brake unlocking switch is not mounted, the brake cannot be unlocked for an emergency. Caution. A regenerative absorption unit is required depending on actuator operating conditions. Read the instruction manual for the regenerative absorption unit when one is connected. 80

23 Non-standard Motor Compatible Drivers Mitsubishi Electric Corporation Drivers for LJ, LG, LX Dimensions (RS-22C without optional unit) Driver 40 x ø hole 00 LJ LG 20 0 LC Driver dimensions For LJ, LG, LX Driver model MR-C0A MR-C20A MR-C0A MR-C20A Driver input/output signal list (CN-/F connector) Pin no Symbol V+ ALM PF OP SG NP NG PP PG Signal description Digital output power supply Failure Positioning complete Z phase pulse Interface power supply common Reverse pulse line Reverse pulse line Normal pulse line Normal pulse line Pin no Symbol SD SG CR LSN LSP V S OPC V24 Signal description Shield Interface power supply common Clear Reverse stroke end Normal stroke end Interface power supply Servo Open collector power supply Interface power supply LC6 LZ LCF2 X D- 8