Electric Rotary Table

Transcription

1 Electric Rotary Table New RoHS H Low profile Basic type [mm] Model H LER 42 LER LER High precision type [mm] Model H LERH 49 LERH 2 LERH 7 Spacesaving Hollow shaft axis Accommodates wiring and piping of work pieces. Motor built-in Space-saving Shock-less/high speed actuation Max. speed: 4 /sec (7. rad/sec) Max. acceleration/deceleration:, /sec 2 (2. rad/sec 2 ) Positioning repeatability: ±. Repeatability at the end: ±.1 (Pushing control/with external stopper) Rotation angle ( ), 1, 9 The value indicated in brackets shows the value for the LER. Possible to set speed, acceleration/deceleration, and position. Max. 4 points Energy-saving Automatic 4% power reduction after the table has stopped. Rotating torque [N m] Max. speed [ /s] Basic High torque Basic High torque Value when an external stopper is mounted. Positioning repeatability [ ] Basic High torque ±. (End: ±.1) Offering 2 types of controller Series LER Step Data Input Type Series LECP 4 positioning points Teaching box, controller setting kit input New Programless Type Series LECP1 14 positioning points Control panel setting CAT.ES-94B

2 Electric Rotary Table Basic and high precision types are available. Basic type/ler High precision type/lerh Rolling bearing High precision bearing The movement in the table s radial thrust direction is reduced. Rotation angle ( ), 1, 9 The value indicated in brackets shows the value for the LER. Built-in step motor (Servo/24 VDC) Space-saving High torque Output is times with special worm gear. Special worm gear with reduced backlash is used. Maximum rotation torque can be selected. Belt deceleration ratio can be selected. Model LER LER LER Basic.2.. (N m) High torque Manual override screw (Both sides) Possible to rotate the table with power by manual override. Easy mounting of work pieces Tolerance between table s inside and outside diameter: H/h Dowel pin hole Hollow shaft axis Accommodates wiring and piping of work pieces. Electric Gripper Series LEH Hollow shaft axis For alignment of rotation center and workpiece Dowel pin hole Positioning of rotating direction Hollow shaft axis ø ø17 ø Features 1

3 Series LER Easy Mounting of the Main Body Dowel pin hole Mounting Variations Through-hole mounting Reference diameter (boss) Dowel pin hole Body tapped mounting Reference diameter (hole) With External Stopper/Rotation Angle: 9 /1 Specification Repeatability at the end: ±.1 9 specification Adjuster bolt 1 specification Setting range ±2 Application Examples Electric Gripper Series LEH Rotation transfer after gripping in combination with a gripper Vertical transfer: no change in speed due to load fluctuation Features 2

4 Offering 2 Types of Controller Step Data Input Type Simple Setting to Use Straight Away Simple Setting Easy Mode <When a PC is used> Controller setting software Series LECP If you want to use it right away, select Easy Mode. Step data setting, test operation, move jog and move for the constant rate can be set and operated on one screen. Step Motor (Servo/24 VDC) LECP Move jog Start testing Step data setting Setting of jog and speed of the constant rate Move for the constant rate <When a TB (teaching box) is used> The simple screen without scrolling promotes ease of setting and operating. Pick up an icon from the first screen and select a function. Set up the step data and check the monitor on the second screen. Teaching box screen Data can be set with position and speed. (Other conditions are already set.) Example of setting the step data 1st screen 2nd screen Data Axis 1 Step No. Posn 12.4 Speed /s It can be registered by SET after entering the values. Data Axis 1 Step No. Posn. Speed /s Example of checking the monitor 1st screen 2nd screen Monitor Axis 1 Step No. 1 Posn 12.4 Speed /s Operation status can be checked. Data Axis 1 Step No. 1 Posn. Speed /s Programless Type No programming Setting a registered number for the stop position Maximum 14 points Series LECP1 Capable of setting up an electric actuator operation without using a PC or teaching box 1 Setting position number 2 Setting a stop position Registration Moving the actuator to a stop position using FORWARD and REVERSE buttons Step Motor (Servo/24 VDC) LECP1 Registering the stop position using SET button Speed/acceleration 1-level adjustment Position number display Position selecting switch FOWARD and REVERSE buttons SET button Speed adjustment switches Acceleration adjustment switches Features

5 Detail Setting Normal Mode Select normal mode when detail setting is required. Step data can be set in detail. Signals and terminal status can be monitored. <When a PC is used> Controller setting software Step data setting, parameter setting, monitor, teaching, etc., are indicated in different windows. Step data setup window Parameters can be set. JOG and constant rate movement, return to origin, test operation and testing of compulsory output can be performed. Parameter setup window Monitoring window Teaching window <When a TB (teaching box) is used> Multiple step data can be stored in the teaching box, and transferred to the controller. Continuous test operation by up to step data. Teaching box screen Each function (step data setting, test, monitor, etc.) can be selected from the main menu. Menu Axis 1 Step data Parameter Menu Axis 1 Test Step No. Menu Axis 1 Main menu screen Operation type Step No. 1 Step data setup screen Position 12.4 Stop Output monitor Axis 1 BUSY[ ] Test screen SVRE[ ] SET[ ] Monitoring screen The actuator and controller are provided as a set. (They can be ordered separately.) Confirm that the combination of the controller and the actuator is correct. <Check the following before use.> q Check that actuator label for model number. This matches the controller. w Check Parallel I/O configuration matches (NPN or PNP). Actuator Controller q q w Features 4

6 Series LECP/LECP1 Item Step data and parameter setting Step data position setting Number of step data Operation command (I/O signal) Completion signal Function Input the numerical value from controller setting software (PC) Input the numerical value from teaching box Input the numerical value from controller setting software (PC) Input the numerical value from teaching box Direct teaching JOG teaching 4 points Step No. [IN ] input [DRIVE] input [INP] output Step data input type LECP Select using controller operation buttons Direct teaching JOG teaching 14 points Step No. [IN ] input only [OUT ] output Programless type LECP1 Step data setting (Excerpt) Parameter setting (Excerpt) Test Item Movement MOD Speed Position Acceleration/Deceleration Pushing force Trigger LV Pushing speed Positioning force Area output In position Stroke (+) Stroke ( ) ORIG direction ORIG speed ORIG ACC JOG MOVE Return to ORIG Test drive Compulsory output Contents Selection of absolute position and relative position Transfer speed [Position]: Target position [Pushing]: Pushing start position Acceleration/deceleration during movement Rate of force during pushing operation Target force during pushing operation Speed during pushing operation Force during positioning operation Conditions for area output signal to turn [Position]: Width to the target position [Pushing]: How much it moves during pushing + side limit of position side limit of position Direction of the return to the original position can be set. Speed when returning to the original position Acceleration when returning to the original position Operation of the specified step data / of the output terminal can be tested. Setting Items Step data input type LECP Set at ABS/INC. Set in units of 1 /s. Set in units of.1. Set in units of 1 /s 2. Set in units of 1%. Set in units of 1%. Set in units of 1 /s. Set to %. Set in units of.1. Set to. or more. (Units:.1 ) Set in units of.1. Set in units of.1. Compatible Set in units of 1 /s. Set in units of 1 /s 2. Continuous operation at the set speed can be tested while the switch is being pressed. Operation at the set distance and speed from the current position can be tested. Compatible Compatible Compatible TB: Teaching box PC: Controller setting software Easy mode TB PC Normal mode TB, PC (Continuous operation) Programless type LECP1 Fixed value (ABS) Select from 1-level Direct teaching JOG teaching Select from 1-level Select from -level (weak, medium, strong) No setting required (same value as pushing force) Fixed value Fixed value Fixed value Fixed value Fixed value Compatible Fixed value Fixed value Compatible Compatible Hold down MANUAL button ( ) for uniform sending (speed is specified value) Press MANUAL button ( ) once for sizing operation (speed, sizing amount are specified values) Monitor DRV mon In/Out mon Current position, speed, force and the specified step data can be monitored. Current / status of the input and output terminal can be monitored. Compatible Compatible ALM Active ALM ALM Log record Alarm currently being generated can be confirmed. Alarm generated in the past can be confirmed. Compatible Compatible Compatible (display alarm group) File Save/Load Step data and parameter can be saved, forwarded and deleted. Compatible Other Language Features Can be changed to Japanese or English. Compatible

7 Series LER System Construction Supplied by customer PLC Power supply for I/O signal 24 VDC I/O cable Pages 21, 1 Controller type LECP LECP1 (Programless) Part No. LEC-CN- LEC-CK4- Controller Supplied by customer Controller power supply 24 VDC Step data input type Programless type LECP LECP1 Page 1 Page 2 Controller setting kit (Option) Page 22 Power supply connection Pages 1, 1 Controller type Connection LECP (Step data input type) Power supply plug (accessory) LECP1 (Programless type) Power supply cable (1.m) (accessory) Controller setting kit (Communication cable, conversion unit and USB cable are included.) Part No.: LEC-W1 Communication cable ( m) Actuator cable Pages 21, Controller type LECP (Step data input type) LECP1 (Programless type) Standard cable LE-CP--S LE-CP--S Robotic cable LE-CP- LE-CP- PC Conversion unit USB cable (A-mini B type) Electric actuator Electric rotary table Page Motor cable (Fixed) Teaching box (Option) Page 2 Or Part No.: LEC-T1-JG with m cable Features

8 H Rod Type Guide Rod Type Servo Motor (24 VDC) Rod Type Series LEY Long stroke: Max. mm (LEY2) Mounting variations Direct mounting: directions, Bracket mounting: types Auto switch can be mounted. Speed control/positioning: Max. 4 points Positioning and pushing control can be selected. Possible to hold the actuator when pushing the rod to a workpiece, etc. Guide Rod Type Series LEYG Lateral end load: times more Compared with rod type, size 2 and stroke Compatible with slide-bearing and New ball-bushing bearing. Compatible with moment load and stopper (slide bearing). Speed control/positioning: Max. 4 points Positioning and pushing control can be selected. Possible to hold the actuator when pushing the rod Guide Rod Type to a workpiece, etc. AC Servo Motor (/ W) Type Rod Type Series LEY High output motor (/ W) Improved high speed transfer abitity High acceleration compatible (, mm/s 2 ) Pulse input type With internal absolute encoder (LECSB specifications) New Type Rod Type Rod Type Servo Motor (24 VDC) Controller Step Data Input Type New Programless Type Series LECP/LECA Series LECP1 4 positioning points Teaching box, controller setting kit input Slider Type Ball Screw Drive Series LEFS Max. work load: kg Positioning repeatability: ±.2 mm New 4 added! Belt Drive Series LEFB Max. stroke: mm Transfer speed: mm/s AC Servo Motor (//4 W) 14 positioning points Control panel setting New New New AC Servo Motor : 1, 2, 2 Rod Type/ In-line Motor Type : 1, 2, 2 Guide Rod Type/ In-line Motor Type : 2, 2 Rod Type/ In-line Motor Type Controller New AC Servo Motor Controller Series LECSA/LECSB Pulse input type Absolute encoder (LECSB) Built-in positioning functionn (LECSA) CAT.ES-C RoHS : 1, 2, 2, 4 : 1, 2, 2 Ball Screw Drive Series LEFS : 2, 2, 4 High output motor (//4 W) Improved high speed transfer ability Servo Motor (24 VDC) Controller Step Data Input Type NewProgramless Type Series LECP/LECA Series LECP1 4 positioning points Teaching box, controller setting kit input Servo Motor (24 VDC) Type High acceleration compatible (, mm/s 2 ) Pulse input type With internal absolute encoder (LECSB specifications) Sealed-construction dust cover (Equivalent to IP) Prevents machining chips, dust, etc., from getting inside Prevents spattering of grease, etc. New 14 positioning points Control panel setting Z Type (2 fingers) Compact and light, various gripping forces Series LEHZ Stroke/ both sides [mm] Gripping force [N] Basic to 14 1 to 4 2 to 1 4 to 2 Compact 2 to to 11 to 2 F Type (2 fingers) Long stroke, can hold various types of work pieces. Series LEHF Stroke/ Gripping force both sides [N] [mm] 1 (2) (4) 2 (4) 4 () ( ): Long stroke Basic type [mm] Model LER LER LER Type New 2-finger type with dust cover is added to electric grippers! Offering 2 types of controller to 7 11 to 2 4 to 1 72 to 1 Step Data Input Type Series LECP 4 positioning points Teaching box, controller setting kit input H 42 High precision type [mm] Model LERH LERH LERH Shock-less/high speed actuation Max. speed: 4 /sec (7. rad/sec) Max. acceleration/deceleration:, /sec 2 (2. rad/sec 2 ) Positioning repeatability: ±. Repeatability at the end: ±.1 (Pushing control/with external stopper) Rotation angle ( ), 1, 9 The value indicated in brackets shows the value for the LER. Possible to set speed, acceleration/deceleration, and position. Max. 4 points Energy-saving Automatic 4% power reduction after the table has stopped. Offering 2 types of controller Step Data Input Type Series LECP 4 positioning points Teaching box, controller setting kit input H AC Servo Motor Pulse input type Absolute encoder (LECSB) Controller NewAC Servo Motor Controller Series LECSA/LECSB Rotating torque [N m] Basic High torque.2.. Built-in positioning function (LECSA) CAT.ES-7C RoHS ZJ Type (2 fingers) New With dust cover (Equivalent to IP) Three types of cover material (Finger portion only) S Type ( fingers) Can hold round work pieces. Series LEHS New. 1.2 Drop prevention function is provided. (Self-lock mechanism is provided for all series.) Gripping force of the work pieces is maintained when stopped or restarted. The work pieces can be removed by hand. Energy-saving Power consumption reduced by self-lock mechanism Compact body sizes and long stroke variations Can achieve the gripping force equivalent to the widely used air grippers. Gripping check function is provided. Identify work pieces with different dimensions/detect mounting and removal of the work pieces. Possible to set position, speed and force. (4 points) Series LEHZJ Stroke/ both sides [mm] positioning points Control panel setting Max. speed [ /s] Basic High torque 4 2 Value when an external stopper is mounted. New Programless Type Series LECP1 14 positioning points Control panel setting Stroke/ diameter [mm] Programless Type Series LECP1 RoHS Hollow shaft axis Accommodates wiring and piping of work pieces. Motor built-in Space-saving Positioning repeatability [ ] Basic High torque ±. (End: ±.1) CAT.ES-94B Gripping force [N] Basic to 14 1 to 4 Gripping force [N] Basic 2.2 to. 9 to 22 to 9 2 to 1 Compact to 4 to 11 to 2 Compact 1.4 to. 7 to 17 CAT.ES-77D newly added to electric slide table basic type (R type). Improved mounting flexibility! New Compact, Space-saving 1% reduction in volume For R/L type (compared to the SMC conventional products). Symmetrical Type (L Type) Basic Type (R Type) Series LESHR 124. Built-in motor LESH R/L mm stroke Offering 2 types of controller Step Data Input Type Series LECP/LECA 4 positioning points Teaching box, controller setting kit input Servo Motor (24 VDC) New Symmetrical Type (L Type) Series LESHL In-line Motor Type (D Type) Maximum pushing force: 1 N uced cycle time Max. acceleration/deceleration:, mm/s 2 Max. speed: 4 mm/s Positioning repeatability: ±. mm New In-line Motor Type (D Type) Series LESHD Programless Type Series LECP1 14 positioning points Control panel setting input RoHS CAT.ES-7D Rod Type Electric Actuator Series LEY New CAT.ES- Basic Type Series LEY Stroke to to 4 to In-line Motor Type Series LEYD Stroke to to 4 to SMC Electric Actuators Servo Motor (24 VDC) AC Servo Motor (/ W) Guide Rod Type Series LEYG Stroke to to to In-line Motor Type /Guide Rod Type Series LEYGD Stroke to to to Basic Type Series LEY 2 2 Stroke to 4 to In-line Motor Type Series LEYD 2 2 Stroke to 4 to Slider Type Electric Actuator Series LEF New CAT.ES-7 Ball Screw Drive Series LEFS Servo Motor (24 VDC) AC Servo Motor (//4 W) Stroke to 4 to to to Belt Drive Series LEFB Stroke to to to Ball Screw Drive Series LEFS Stroke to to to Rotary Table Electric Rotary Table Low profile Series LER Spacesaving New CAT.ES-94 Basic Type Series LER Rotation angle( ), 1, 9, 1, 9 High Precision Type Series LERH Rotation angle( ), 1, 9, 1, 9 Slide Table Electric Slide Table New Symmetrical type (L type) and In-line motor type (D type) Series LES CAT.ES-7 Basic Type (R Type) Series LESHR 1 2 Stroke, 7,,, 1 Symmetrical Type (L Type) Series LESHL 1 2 Servo Motor (24 VDC) Stroke, 7,,, 1 In-line Motor Type (D Type) Series LESHD 1 2 Stroke, 7,,, 1 Gripper Electric Grippers New Z Type (2 Fingers) Series LEHZ With Dust Cover Series LEHZJ F Type (2 Fingers) Series LEHF S Type ( Fingers) Series LEHS Series LEH CAT.ES Opening/closing stroke Opening/closing stroke Opening/closing stroke 1 (2) 24 (4) 2 (4) 4 () 2 4 Opening/closing stroke 4 12 Controller Step Data Input Type For Step Motor Series LECP Step Data Input Type For Servo Motor Series LECA Programless Type Series LECP1 AC Servo Motor Controller Incremental Type Series LECSA AC Servo Motor Controller Absolute type Series LECSB Control motor Step Motor (Servo/24 VDC) Control motor Servo Motor (24 VDC) Control motor Step Motor (Servo/24 VDC) Control motor AC servo Motor (/ VAC) Control motor AC servo Motor (/ VAC) Features 7

9 Series Variations Electirc Rotary Table Series LER Rotating torque [N m] Type Basic High torque Max.speed [ /s] Basic High torque Positioning repeatability [ ] Basic High torque Controller series Page Model Selection LER.2. LER LER Value when an external stopper is mounted 2 ±. (End: ±.1) Series LECP Series LECP1 Page 1 Controller LEC Type Series Compatible motor Power supply voltage Parallel input/output Input Output Number of positioning pattern points Page Teaching Box Step data input type LECP Step motor (Servo/24 VDC) 24 VDC ±% 11 inputs (Photo-coupler isolation) 1 outputs (Photo-coupler isolation) 4 Page 1 LECP Programless type LECP1 Step motor (Servo/24 VDC) 24 VDC ±% inputs (Photo-coupler isolation) outputs (Photo-coupler isolation) 14 Page 2 LECP1 Specific Product Precautions Front matter 1

10 Front matter 2

11 Type Electric Rotary Table Series LER Model Selection Page 1 How to Order Page Specifications Page Construction Page 7 Dimensions Page Specific Product Precautions Page 11 Controller Step Data Input Type/Series LECP Page 1 Controller Setting Kit/LEC-W1 Page 22 Teaching Box/LEC-T1 Page 2 Programless Controller/Series LECP1 Page 2 Front matter

12 Electric Rotary Table Series LER Model Selection Selection Precedure Operating conditions b H a Electric rotary table: LERK Mounting position: Horizontal Load type: Inertial load Ta Configuration of load: 1 mm x mm (Rectangular plate) Rotation angle : 1 Angular acceleration/ angular deceleration : 1, /sec 2 Angular speed : 4 /sec Load mass (m): 2. kg Distance between shaft and center of gravity H: 4 mm Step1 Moment of inertiaangular acceleration/deceleration q Calculation of moment of inertia w Moment of inertiaconfirmation of angular acceleration/deceleration Select the target model based on the moment of inertia and angular acceleration and deceleration with reference to the (Moment of Inertia Angular Acceleration/Deceleration graph). Formula = m x (a 2 + b 2 )/12 + m x H 2 Selection example = 2. x ( )/ x.4 2 =.2 kg m 2 LER. Moment of inertia: (kg m 2 ) LERK High torque LERJ Basic. Angular acceleration/deceleration: ( /s 2 ) Step2 Necessary torque q Load type Static load: Ts Resistance load: Tf Inertial load: Ta w Confirmation of effective torque Confirm whether it is possible to control the speed based on the effective torque corresponding with the angular speed with reference to the (Effective TorqueAngular Speed graph). Formula Effective torque > Ts Effective torque > Tf x 1. Effective torque > Ta x 1. Selection example Inertial load: Ta Ta x 1. = x x 2 / x 1. =.2 x 1, x.17 x 1. =.21 N m LER 1.4 Effective torque: T (N m) LERK High torque LERJ Basic 4 Angular speed: ( /s) Step Allowable load q Confirmation of allowable load Radial load Thrust load Moment Step4 Rotation time Formula Allowable thrust load > m x 9. Allowable moment > m x 9. x H Selection example Thrust load 2. x 9. = 19. N < Allowable load OK Allowable moment 2. x 9. x.4 =.74 N m < Allowable moment OK 1 q Calculation of takt time (rotation time) Speed: [ /sec] : Rotation angle [ ] : Angular speed [ /sec] 1: Angular acceleration [ /sec 2 ] 2: Angular deceleration [ /sec 2 ] 1 2 T1 T2 T T4 Time [s] T1: Acceleration time [s]... Time until reaching the set speed T2: Constant speed time [s]... Time while the actuator is operating at a constant speed T: Deceleration time [s]... Time from constant speed operation to stop T4: Settling time [s]... Time until in position is completed Formula Angular acceleration time T1 = / 1 Angular deceleration time T = / 2 Constant speed time T2 = {. x x (T1 + T)}/ Settling time T4 =.2 (sec) Takt time T = T1 + T2 + T + T4 Selection example Angular acceleration time T1 = 4/1, =.42 sec Angular deceleration time T = 4/1, =.42 sec Constant speed time T2 = {1. x 4 x ( )}/4 =.9 sec Takt time T = T1 + T2 + T + T4 = = 1.49 (sec)

13 Model Selection Series LER Formulas for Moment of Inertia (Calculation of moment of inertia ) : Moment of inertia (kg m 2 ) m: Load mass (kg) Model Selection 1. Thin bar Position of rotation shaft: Perpendicular to a bar through one end a2 a1 2. Thin bar Position of rotation shaft: Passes through the center of gravity of the bar.. Thin rectangular plate (cuboid) Position of rotation shaft: Passes through the center of gravity of a plate. 4. Thin rectangular plate (cuboid) Position of rotation shaft: Perpendicular to the plate and passes through one end. (The same applies to thicker cuboids.) a a1 b a1 = m1 2 a2 + m2 2 a a = m 2 a 12 = m 2 a2 12 = m1. Thin rectangular plate (cuboid) Position of the rotation shaft: Passes through the center of gravity of the plate and perpendicular to the plate. (The same applies to thicker cuboids.). Cylindrical shape (including a thin disk) Position of rotation shaft: Center axis 7. Sphere Position of rotation shaft: Diameter + m2 4a1 2 + b a2 2 + b Thin disk (mounted vertically) Position of rotation shaft: Diameter a b = m r r a 2 + b 2 r 12 = m 2 2r 2 = m 2 r r = m When a load is mounted on the end of the lever a2 r. Gear transmission (A) (B) Number of teeth = a a1 m2 m1 = m1 + m2 a2 2 + K (Ex.) Refer to 7 when the shape of m2 is spherical. a1 2 2r K = m2 2 Number of teeth = b 1. Find the moment of inertia B for the rotation of shaft (B). 2. Then, replace the moment of inertia B around the shaft (A) by A, A = ( a b ) 2 B Load Type Static load: Ts Only pressing force is necessary. (e.g. for clamping) L F Load type Resistance load: Tf Gravity or friction force is applied to rotating direction. Gravity is applied. Friction force is applied. Center of rotation and center of gravity of the load are concentric. L L mg mg Inertial load: Ta Rotate the load with inertia. Rotation shaft is vertical (up and down). Specific Product Precautions Ts = F L Ts : Static load (N m) F : Clamping force (N) L : Distance from the rotation center to the clamping position (m) Necessary torque: T = Ts Gravity is applied to rotating direction. Tf = m g L Resistance load: Gravity or friction force is applied to rotating direction. Ex. 1) Rotation shaft is horizontal (lateral), and the rotation center and the center of gravity of the load are not concentric. Ex. 2) Load moves by sliding on the floor. The total of resistance load and inertial load is the necessary torque. T = (Tf + Ta) x 1. Friction force is applied to rotating direction. Tf = m g L Tf : Resistance load (N m) m : Load mass (kg) g : Gravitational acceleration 9. (m/s 2 ) L : Distance from the rotation center to the point of application of the gravity or friction force (m) : Friction coefficient Necessary torque: T = Tf x 1. Note 1) Ta = 2 / (Ta =.17) Ta : Inertial load (N m) : Moment of inertia (kg m 2 ) : Angular acceleration/deceleration ( /sec 2 ) : Angular speed ( /sec) Necessary torque: T = Ta x 1. Note 1) Not resistance load: Neither gravity or friction force is applied to rotating direction. Ex. 1) Rotation shaft is vertical (up and down). Ex. 2) Rotation shaft is horizontal (lateral), and rotation center and the center of gravity of the load are concentric. Necessary torque is inertial load only. T = Ta x 1. Note 1) To adjust the speed, margin is necessary for Tf and Ta. 2

14 Series LER Moment of InertiaAngular Acceleration/Deceleration Effective TorqueAngular Speed LER LER.4. Moment of inertia: (kg m 2 ) LERK High torque LERJ Basic Effective torque: T (N m) LERK High torque LERJ Basic. Angular acceleration/deceleration: ( /s 2 ). 4 Angular speed: ( /s) LER LER. 1.4 Moment of inertia: (kg m 2 ) LERK High torque LERJ Basic Effective torque: T (N m) LERK High torque LERJ Basic. Angular acceleration/deceleration: ( /s 2 ). 4 Angular speed: ( /s) LER.12 LER 12 Moment of inertia: (kg m 2 ) LERK High torque LERJ Basic Effective torque: T (N m) 4 2 LERK High torque LERJ Basic. Angular acceleration/deceleration: ( /s 2 ) 4 Angular speed: ( /s)

15 Model Selection Series LER Allowable Load Model Selection (a) (b) Allowable radial load (N) Basic type High precision type Basic type 2 7 Table Displacement (Reference Value) (a) High precision type Allowable thrust load (N) (b) Basic type Allowable moment (N m) High precision type Basic type High precision type Displacement at point A when a load is applied to point A mm away from the rotation center. A Load Displacement LER LER Displacement (m) Displacement (m) 4 4 LER 1 2 Load (N) LER (Basic type) LERH (High precision type) LER (Basic type) LERH (High precision type) Displacement (m) 1 1 LER (Basic type) LERH (High precision type) 4 Load (N) 1 Specific Product Precautions 4 7 Load (N) Deflection Accuracy: Displacement at 1 Rotation (Guide) Deflection on the top of the table Deflection on the external surface of the table Measured part Deflection on the top of the table Deflection on the external surface of the table [mm] LER (Basic type) LERH (High precision type)

16 Electric Rotary Table Series LER LER,, RoHS How to Order LER K S 1 N 1 q w e r t y u i o! q Table accuracy Nil Basic type H High precision type w e Max. rotating torque [N m] Symbol Type LER LER LER K J High torque Basic r Rotation angle [ ] Symbol LER LER LER Nil 2 External stopper: 1 External stopper: 9 Caution Note) CE-compliant products EMC compliance was tested by combining the electric actuator LER series and the controller LEC series. The EMC depends on the configuration of the customer s control panel and the relationship with other electrical equipment and wiring. Therefore conformity to the EMC directive cannot be certified for SMC components incorporated into the customer s equipment under actual operating conditions. As a result it is necessary for the customer to verify conformity to the EMC directive for the machinery and equipment as a whole. The actuator and controller are sold as a package. (Controller Page 1) Confirm that the combination of the controller and the actuator is correct. <Check the following before use.> q Check that actuator label for model number. This matches the controller. w Check Parallel I/O configuration matches (NPN or PNP). t Motor cable entry Nil L Basic type (entry on the right side) Entry on the left side y Actuator cable type Nil Without cable S Standard cable R Robotic cable (Flexible cable) The standard cable should be used on fixed parts. For using on moving parts, select the robotic cable. u Actuator cable length [m] Nil 1 Without cable 1. A B C 1 Produced upon receipt of order (Robotic cable only) Refer to the specifications Note ) on page. Compatible controllers Type Series Feature(s) Step data input type i Controller type Nil N P 1N 1P For details of controllers and compatible motors, refer to the compatible controllers below. If Without controller is selected for controller types, I/O cable is not included. Refer to page 21 (LECP) or page 1 (LECP1) if I/O cable is required. LECP Value input Standard controller Without controller LECP (Step data input type) LECP1 (Programless type) o I/O cable length [m] Nil Without cable 1 1.! Controller mounting Nil Screw mounting D DIN rail mounting Programless type LECP1 NPN PNP NPN PNP Only available for the controller types N and P. DIN rail is not included. Order it separately. (Refer to page 1.) Capable of setting up operation without using a PC or teaching box q Refer to the operation manual for using the products. Please download it via our website. w Compatible motor Maximum number of step data Power supply voltage Reference page 4 points Step motor (Servo/24 VDC) 24 VDC 14 points Page 1 Page 2

17 Electric Rotary Table Series LER Note 1) Pushing force accuracy is LER: ±% (F.S.), LER: ±2% (F.S.), LER: ±% (F.S.). Note 2) The angular acceleration, angular deceleration and angular speed may fluctuate due to variations in the inertia moment. Refer to page Moment of InertiaAngular Acceleration/ Deceleration, Effective TorqueAngular Speed graphs for confirmation. Note ) The speed and force may change depending on the cable length, load and mounting conditions. Furthermore, if the cable length exceeds m then it will decrease by up to % for each m. (At 1 m: uced by up to %) Note 4) Impact resistance: No malfunction occurred when the slide table was tested with a drop tester in both an axial direction and a perpendicular direction to the lead screw. (Test was performed with the actuator in the initial state.) Vibration resistance: No malfunction occurred in a test ranging between 4 to Hz. Test was performed in both an axial direction and a perpendicular direction to the lead screw. (Test was performed with the actuator in the initial state.) Note ) Power consumption (including the controller) is for when the actuator is operating. Note ) Standby power consumption when operating (including the controller) is for when the actuator is stopped in the set position during operation. Note 7) Momentary max. power consumption (including the controller) is for when the actuator is operating. This value can be used for the selection of the power supply. Specifications Actuator specifications Basic type External stopper type Electric specifications Model LERK LERJ LERK LERJ LERK LERJ Rotation angle [ ] Max. rotating torque [N m] Max. pushing torque [N m] Note 1) ) Max. moment of inertia [kg m 2 ] Note 2) Angular speed [ /sec] Note 2) ) Pushing speed [ /sec] Max. angular acceleration/deceleration [ /sec 2 ] Note 2) Backlash [ ] Positioning repeatability [ ] Impact/Vibration resistance [m/s 2 ] Note 4) Actuation type Max. operating frequency [c.p.m] Operating temp. range [C] Operating humidity range [%RH] Weight [kg] Rotation angle [ ] Basic type High precision type -2/ arm (1 pc.) -/ arm (2 pcs.) Repeatability at the end [ ]/ with external stopper External stopper setting range [ ] Weight [kg] Motor size Motor type Encoder -2/external arm (1 pc.) -/external arm (1 pc.) Power supply [V] Basic type High precision type Basic type High precision type Power consumption [W] Note ) Standby power consumption when operating [W] Note ) Momentary max. power consumption [W] Note 7) Controller weight [kg]..1.4 to to to 2, ±. ±. 1/ to 4 Special worm gear + Belt drive to 4 9 or less (No condensation) ±.1 ± Step motor (Servo/24 VDC). to Incremental A/B phase ( pulse/rotation) VDC ±% /Screw mounting,.17/din rail mounting...4 to 4 Model Selection Specific Product Precautions Table Rotation Angle Range Home position mark ( ) Home position mark Note 2) Home position (Stroke end) Stroke end (Home position) Note ) Dowel pin hole External stopper: 1 Adjuster bolt adjustment range Adjuster bolt adjustment range ±2 ±2 External stopper: 9 Adjuster bolt adjustment range Adjuster bolt adjustment range ±2 ±2 LER/ LER, Table operating / range Note 1) Note 1) Range within which the table can move when it returns to origin. Make sure a workpiece mounted on the table does not interfere with the work pieces and facilities around the table. Note 2) Position after return to origin. Note ) The number in brackets indicates when the direction of return to origin has changed. 1 9 The figures show the origin position for each actuator. 9

18 Series LER Construction External stopper type Basic type High precision type Component Parts No. Description Material Note Body Side plate A Side plate B Worm screw Worm wheel Bearing cover Table Joint Bearing holder Bearing retainer Home position bolt Pulley A Pulley B Grommet Motor plate Basic type High precision type Deep groove ball bearing Deep groove ball bearing Deep groove ball bearing Belt Deep groove ball bearing Special ball bearing Step motor (Servo/24 VDC) Aluminum alloy Aluminum alloy Aluminum alloy Stainless steel Stainless steel Aluminum alloy Aluminum alloy Stainless steel Aluminum alloy Aluminum alloy Carbon steel Aluminum alloy Aluminum alloy NBR Carbon steel Anodized Anodized Anodized Heat treated, specially treated Heat treated, specially treated Anodized Component Parts No. Description Material Note Table Arm Holder Adjuster bolt Aluminum alloy Carbon steel Aluminum alloy Carbon steel Anodized Heat treated, electroless nickel treated Anodized Heat treated, chromate treated 7

19 Electric Rotary Table Series LER Dimensions LER (Rotation angle: ) x M4 x.7 x H ( ) depth H ( ) depth Model Selection Home position mark Manual override screw (Both sides) Dimensions Model H1 LER LERH 17 H [mm] H2.. Manual override screw (Both sides) LER-2 (Rotation angle: 1 ) LER- (Rotation angle: 9 ) Dimensions Model H1 LER LERH 17 H2.. [mm] H H2. 2 H1 H2 2 x ø9 depth of counterbore. depth 2 H H ( ) depth 4 1 Effective length of accuracy = Effective length of accuracy = (Motor cable entry: Entry on the left side) 2 x M x 1. x x M4 x.7 x 9 (at max. adjuster bolt length) Note) Not applicable to 1 specification (LER-2) +.14 H ( ) depth 4 Effective length of accuracy = 7 Effective length of accuracy = 2 4 ø42h (.9 ) (Motor cable entry: Entry on the left side) 2 2 ø4h (.9) ø42h (.9) +.27 ø1h ( ) ø (through) 2 x ø.2 (through) 2 x ø +.27 ø1h ( ) x M x. (Adjuster bolt) x M x 1. x (Motor cable entry: Basic type) H ( ) depth ø. (Arm operating range) ø4h (.9 ) +.27 ø1h ( ) ø (through) 2 x ø9 depth of counterbore. depth 2 x ø.2 (through) 2 x ø +.27 ø1h ( ) 2.1 (Motor cable entry: Basic type) Specific Product Precautions

20 Series LER Dimensions LER (Rotation angle: ) x M x. x 4H ( ) depth H ( ) depth x ø. (through) Home position mark Manual override screw (Both sides) Dimensions Model H1 LER 1 LERH 22 Manual override screw (Both sides) H [mm] H LER-2 (Rotation angle: 1 ) LER- (Rotation angle: 9 ) Dimensions Model H1 LER 1 LERH 22 9 H [mm] H H2. H1 4 2 x ø11 depth of counterbore. depth +.1 4H ( ) depth H2 4 H1 Effective length of accuracy = Effective length of accuracy = 2 2 (Motor cable entry: Entry on the left side) 7 ø4h (.4 ) øh (.4) +.9 ø2h ( ) ø17 (through) x M x 1.2 x x M x. x Note) Not applicable to 1 specification (LER-2) H ( ) depth 12 (at max. adjuster bolt length).2 4 Effective length of accuracy = 19. Effective length of accuracy = (Motor cable entry: Entry on the left side) 2 x M x 1.2 x x M x 1. (Adjuster bolt) ø4h (.4) øh (.4 ) 2 x ø +. ø22h ( ) 2 (Motor cable entry: Basic type) 4H ( ) depth ø12.2 (Arm operating range) +.9 ø2h ( ) ø17 (through) 2 x ø 2 x ø11 depth of counterbore. depth 2 x ø. (through) +. ø22h ( ) 2 (Motor cable entry: Basic type)

21 Electric Rotary Table Series LER Dimensions LER (Rotation angle: ) x M x 1. x H ( ) depth H ( ) depth. +.1 Model Selection Home position mark Manual override screw (Both sides) Dimensions Model H1 LER 1 LERH 2 2 [mm] H H2 H1 2 ø14 depth of counterbore. depth +.1 H ( ) depth. 2 Effective length of accuracy = 11 4 Effective length of accuracy = 2 2 (Motor cable entry: Entry on the left side) 9 ø7h (.4) ø74h (.4) 2 x ø. (through) +.9 øh ( ) ø (through) 2 x ø +. ø2h ( ) (Motor cable entry: Basic type) 2 x M x 1. x 2 LER-2 (Rotation angle: 1 ) LER- (Rotation angle: 9 ) x M x 1. x 1 (at max. adjuster bolt length) x M x 1.2 (Adjuster bolt) H ( ) depth ø14 (Arm operating range) Specific Product Precautions Manual override screw (Both sides) H Dimensions Model H1 LER 1 LERH H2. 1. [mm] H Note) Not applicable to 1 specification (LER-2) H2 2 H1 +.1 H ( ) depth. Effective length of accuracy = 11 Effective length of accuracy = 2 2 (Motor cable entry: Entry on the left side) 9 ø7h (.4 ) ø74h (.4) +.9 øh ( ) ø (through) 2 x ø +. ø2h ( ) x ø14 depth of counterbore. depth 2 x ø. (through) 24 (Motor cable entry: Basic type) 2 x M x 1. x 2

22 Series LER Electric Rotary Table/ Specific Product Precautions 1 Be sure to read before handling. Refer to back cover for Safety Instructions and the Operation Manual for Electric Actuator Precautions. Please download it via our website. Warning Design/Selection 1. If the operating conditions involve load fluctuations, ascending/descending movements, or changes in the frictional resistance, ensure that safety measures are in place to prevent injury to the operator or damage to the equipment. Failure to provide such measures could accelerate the operation speed, which may be hazardous to humans, machinery, and other equipment. 2. Power failure may result in a decrease in the pushing force; ensure that safety measures are in place to prevent injury to the operator or damage to the equipment. When the product is used for clamping, the clamping force could be decreased due to power failure, potentially creating a hazardous situation in which the workpiece is released. Caution 1. If the operating speed is set too fast and the moment of inertia is too large, the product could be damaged. Set appropriate product operating conditions in accordance with the model selection procedure. 2. If more precise repeatability of the rotation angle is required, use the product with an external stopper, with repeatability of ±.1 (1 and 9 with adjustment of ±2 ) or by directly stopping the workpiece using an external object utilizing the pushing operation. When using angle adjustment, the initially set rotation angle may change.. When using the electric rotary table with an external stopper, or by directly stopping the load externally, ensure that the [Pushing operation] is utilized. Also, ensure that the workpiece is not impacted externally during the positioning operation or in the range of positioning operation. Warning Mounting. When mounting the electric rotary table use screws with adequate length and tighten them with adequate torque within the specified torque range. Tightening the screws with a higher torque than recommended may cause malfunction, whilst the tightening with a lower torque can cause the displacement of the mounting position or in extreme conditions the actuator could become detached from its mounting position. Through-hole mounting Body mounting/bottom Model LER LER LER Bolt M x. M x 1 M x 1.2 Body tapped mounting Max. tightening torque [N m] Body mounting/bottom Body mounting/top Mounting Warning 1. Do not drop or hit the electric rotary table to avoid scratching and denting the mounting surfaces. Even slight deformation can cause the deterioration of accuracy and operation failure. 2. Tighten the load mounting screws to the specified torque. Tightening to a torque greater than the specified range may cause malfunction, and insufficient tightening may cause displacement. Mounting the workpiece to the electric rotary table The load should be mounted with the torque specified in the following table by screwing the bolt into the mounting female thread. Model LER LER LER Bolt M4 x.7 M x. M x 1 Max. tightening torque [N m] Model LER LER LER Bolt M x 1 M x 1.2 M x 1. Max. tightening torque [N m] 4. The mounting face has holes and slots for positioning. If required use them for accurate positioning of the electric rotary table.. If it is necessary to operate the electric rotary table when it is not energized, use the manual override screws. When the product is operated with the manual override screws, check the position of the manual override screws of the product, and leave necessary space. Do not apply excessive torque to the manual override screws that could lead to damage and malfunction of the product Max. screw-in depth [mm]

23 Series LER Electric Rotary Table/ Specific Product Precautions 2 Be sure to read before handling. Refer to back cover for Safety Instructions and the Operation Manual for Electric Actuator Precautions. Please download it via our website. Model Selection Handling Caution 1. When an external guide is used, connect the moving parts of the product and the load in such a way that there is no interference at any point within the stroke. Use a free moving connector (such as a coupling). 2. INP output signal 1) Positioning operation When the product comes within the set range by step data [In position], the INP output signal will be turned on. Initial value: Set to [.] or higher. 2) Pushing operation When the effective force exceeds the [Trigger LV] value (including thrust during operation), the INP output signal will be turned on. The [Trigger LV] should be set between 4% and [Pushing force]. a) To ensure that the clamping and external stop is achieved by [Pushing force], it is recommended that the [Pushing force] and [Trigger LV] are set to the same value. b) When the [Trigger LV] and [Pushing force] are set to be less than the lower limit of the specified range, there is a possibility that the INP output signal will be turned on from the pushing operation start position.. When the workpiece is to be stopped by the electric rotary actuator with an external stopper or directly by an external object, utilize the pushing operation. Do not stop the table with an external stopper or external object by using in the range of the positioning operation mode. If the product is used in the positioning operation mode, there may be galling or other problems when the product/workpiece comes into contact with the external stopper or external object. 4. When the table is stopped by the pushing operation mode (stopping/clamping), set the product to a position of at least 1 away from the workpiece. (This position is referred to as the pushing start position.) If the pushing operations start position (stopping or clamping) is set to the same position as the external stop position, the following alarms may be generated and operation may become unstable. a. Posn failed alarm is generated. It is not possible to reach the pushing operation start position within the target time. b. Pushing ALM alarm is generated. The product is pushed back from a pushing start position after starting to push. c. Deviation over flow alarm is generated. Displacement exceeding the specified value is generated at the pushing operation start position.. There is no backlash effect when the product is stopped externally by pushing operation. For the return to origin, the origin position is set by the pushing operation.. For the specification with an external stopper, an angle adjustment bolt is provided as standard. The rotation angle adjustment range is ±2 from the angle rotation end. If the angle adjustment range is exceeded, the rotation angle may change due to insufficient strength of the external stopper. One revolution of the adjustment bolt is approximately equal to 1 of rotation. Maintenance Danger 1. The high precision type bearing is assembled by pressing into position. It is not possible to disassemble it. Specific Product Precautions 12

24 1

25 Controller Step Data Input Type Page 1 Model Selection Step Motor (Servo/24 VDC) Series LECP Programless Type Page 2 Specific Product Precautions Step Motor (Servo/24 VDC) Series LECP1 14

26 Controller (Step Data Input Type) Series LECP How to Order RoHS LE C P N P Controller Compatible motor Step motor (Servo/24 VDC) Number of step data (Points) 4 Parallel I/O type N NPN P PNP I/O cable length [m] Nil 1 Without cable 1. Actuator part number (Except cable specifications and actuator options) Example: Enter [LERK-2] for LERK-2L-R1N1 Option Nil D Note) Screw mounting DIN rail mounting Note) DIN rail is not included. Order it separately. When controller equipped type (-N/-P) is selected when ordering the LE series, you do not need to order this controller. The controller is sold as single unit after the compatible actuator is set. Confirm that the combination of the controller and the actuator is correct. <Check the following before use.> q Check that actuator label for model number. This matches the controller. w Check Parallel I/O configuration matches (NPN or PNP). Refer to the operation manual for using the products. Please download it via our website. q w Specifications Basic Specifications Item Compatible motor Power supply Note 1) Parallel input Parallel output Compatible encoder Serial communication Memory LED indicator Lock control Cable length [m] Cooling system Operating temperature range [ C] Operating humidity range [%RH] Storage temperature range [ C] Storage humidity range [%RH] Insulation resistance [M] Weight [g] Specifications Step motor (Servo/24 VDC) Power voltage: 24 VDC % Current consumption: A (Peak A) Note 2) [Including motor drive power, control power, stop, lock release] 11 inputs (Photo-coupler isolation) 1 outputs (Photo-coupler isolation) Incremental A/B phase ( pulse/rotation) RS4 (Modbus protocol compliant) EEPROM LED (Green/) one of each Forced-lock release terminal Note ) I/O cable: or less Actuator cable: or less Natural air cooling to 4 (No freezing) 9 or less (No condensation) to (No freezing) 9 or less (No condensation) Between the housing (radiation fin) and SG terminal ( VDC) 1 (Screw mounting) 17 (DIN rail mounting) Note 1) Do not use the power supply of inrush current prevention type for the controller power supply. Note 2) The power consumption changes depending on the actuator model. Refer to the specifications of actuator for more details. Note ) Applicable to non-magnetizing lock. 1

27 Controller (Step Data Input Type)/ Series LECP How to Mount a) Screw mounting (LECP-) (Installation with two M4 screws) b) DIN rail mounting (LECPD-) (Installation with the DIN rail) Model Selection Ground wire Ground wire DIN rail is locked. Ground wire Mounting direction DIN rail Mounting direction A DIN rail mounting adapter Hook the controller on the DIN rail and press the lever of section A in the arrow direction to lock it. DIN rail AXT-DR- For, enter a number from the No. line in the table below. * Refer to the dimensions on page 17 for the mounting dimensions. L Dimension [mm] L 12. (Pitch).2. () (2) Specific Product Precautions No. L No. L DIN rail mounting adapter LEC-D (with 2 mounting screws) This should be used when the DIN rail mounting adapter is mounted onto the screw mounting type controller afterwards. 1

28 Series LECP Dimensions a) Screw mounting (LECP-) Power supply LED (Green) (: Power supply is.) ø4. for body mounting 1 (1.7) 1 Power supply LED () (: Alarm is.) CN parallel I/O connector CN4 serial I/O connector CN encoder connector CN2 motor power connector CN1 power supply connector 4. for body mounting b) DIN rail mounting (LECPD-) Refer to page 1 for L dimension and part number of DIN rail. 1 (1.7) 1 (11.) 17.2 (When removing DIN rail) 17. (When locking DIN rail) (91.7) 17

29 Controller (Step Data Input Type)/ Series LECP Wiring Example 1 Power Supply Connector: CN1 Power supply plug is an accessory. Power supply plug for LECP Model Selection CN1 Power Supply Connector Terminal for LECP (PHOENIX CTACT FK-MC./-ST-2.) Terminal name Function Function details V M24V C24V EMG BK RLS Common supply ( ) Motor power supply (+) Control power supply (+) Stop (+) Lock release (+) M24V terminal/c24v terminal/emg terminal/bk RLS terminal are common ( ). This is the motor power supply (+) that is supplied to the controller. This is the control power supply (+) that is supplied to the controller. This is the input (+) that releases the stop. This is the input (+) that releases the lock. Wiring Example 2 Parallel I/O Connector: CN Wiring diagram LECPN- (NPN) CN COM+ COM IN IN1 IN2 IN IN4 IN SETUP HOLD DRIVE RESET SV OUT OUT1 OUT2 OUT OUT4 OUT BUSY AREA SET INP SVRE ESTOP ALARM A1 A2 A A4 A A A7 A A9 A A11 A12 A1 B1 B2 B B4 B B B7 B B9 B B11 B12 B1 24 VDC for I/O signal Load LECPP- (PNP) CN COM+ COM IN IN1 IN2 IN IN4 IN SETUP HOLD DRIVE RESET SV OUT OUT1 OUT2 OUT OUT4 OUT BUSY AREA SET INP SVRE *ESTOP *ALARM A1 A2 A A4 A A A7 A A9 A A11 A12 A1 B1 B2 B B4 B B B7 B B9 B B11 B12 B1 V M24V C24V EMG BK RLS When you connect a PLC, etc., to the CN parallel I/O connector, please use the I/O cable (LEC-CN-). The wiring should be changed depending on the type of the parallel I/O (NPN or PNP). Please wire referring to the following diagram. 24 VDC for I/O signal Load Specific Product Precautions Input Signal Name COM + COM IN to IN SETUP HOLD DRIVE RESET SV Contents Connects the power supply 24 V for input/output signal Connects the power supply V for input/output signal Step data specified Bit No. (Input is instructed in the combination of IN to.) Instruction to return to the original position Operation is temporarily stopped Instruction to drive Alarm reset and operation interruption Servo instruction Output Signal Name Contents OUT to OUT Outputs the step data No. during operation BUSY Outputs when the actuator is moving AREA Outputs within the step data area output setting range SET Outputs when returning to the original position Outputs when target position or target force is reached INP (Turns on when the positioning or pushing is completed.) SVRE ESTOP Note) ALARM Note) Outputs when servo is on Not output when EMG stop is instructed Not output when alarm is generated Note) These signals are output when the power supply of the controller is. (N.C.) 1

30 Series LECP Step Data Setting 1. Step data setting for positioning 2. Step data setting for pushing In this setting, the actuator moves toward and stops at the target position. The following diagram shows the setting items and operation. The setting items and set values for this operation are stated below. Speed Speed Acceleration Deceleration The actuator moves toward the pushing start position, and when it reaches that position, it starts pushing with less than the set force. The following diagram shows the setting items and operation. The setting items and set values for this operation are stated below. Speed Speed Acceleration Deceleration Position Pushing speed In position Force Position In position INP output Pushing force Trigger LV INP output Step Data (Positioning) : Need to be set. : Need to be adjusted as required. : Setting is not required. Step Data (Pushing) : Need to be set. : Need to be adjusted as required. Necessity Item Description Necessity Item Description Movement MOD When the absolute position is required, set Absolute. When the relative position is required, set Relative. Movement MOD When the absolute position is required, set Absolute. When the relative position is required, set Relative. Speed Position Transfer speed to the target position Target position Speed Position Transfer speed to the pushing start position Pushing start position Acceleration Parameter which defines how rapidly the actuator reaches the speed set. The higher the set value, the faster it reaches the speed set. Acceleration Parameter which defines how rapidly the actuator reaches the speed set. The higher the set value, the faster it reaches the speed set. Deceleration Parameter which defines how rapidly the actuator comes to stop. The higher the set value, the quicker it stops. Deceleration Parameter which defines how rapidly the actuator comes to stop. The higher the set value, the quicker it stops. Pushing force Trigger LV Pushing speed Positioning force Area 1, Area 2 In position Set. (If values 1 to are set, the operation will be changed to the pushing operation.) Setting is not required. Setting is not required. Max. torque during the positioning operation (No specific change is required.) Condition that turns on the AREA output signal. Condition that turns on the INP output signal. When the actuator enters the range of [in position], the INP output signal turns on. (It is unnecessary to change this from the initial value.) When it is necessary to output the arrival signal before the operation is completed, make the value larger. Pushing force Trigger LV Pushing speed Positioning force Pushing force ratio is defined. The setting range differs depending on the electric actuator type. Refer to the operation manual for the electric actuator. Condition that turns on the INP output signal. The INP output signal is turned on when the generated force exceeds the value. Threshold level should be less than the pushing force. Pushing speed When the speed is set fast, the electric actuator and work pieces might be damaged due to the impact when they hit the end, so this set value should be smaller. Refer to the operation manual of the electric actuator. Max. torque during the positioning operation (No specific change is required.) Area 1, Area 2 Condition that turns on the AREA output signal. In position Transfer distance during pushing. If the transferred distance exceeds the setting, it stops even if it is not pushing. If the transfer distance is exceeded, the INP output signal will not be turned on. 19

31 Controller (Step Data Input Type)/ Series LECP Signal Timing Return to Origin Power supply SV Input SETUP BUSY SVRE SET Output INP ALARM 24 V V Model Selection ESTOP Speed mm/s Return to origin If the actuator is within the in position range of the basic parameter, INP will be turned, but if not, it will remain. ALARM and ESTOP are expressed as negative-logic circuit. Positioning Operation Input IN DRIVE 1 ms or more Scan the step data no. Output the step data no. Pushing Operation Input IN DRIVE 1 ms or more Scan the step data no. Output the step data no. Output OUT BUSY INP Output OUT BUSY INP Specific Product Precautions Speed Positioning operation mm/s Speed Pushing operation mm/s If the actuator is within the in position range of the step data, INP will be turned, but if not, it will remain. If the current pushing force exceeds the trigger LV value of the step data, the INP signal will be turned. OUT is output when DRIVE is changed from to. (When power supply is applied, DRIVE or RESET is turned or ESTOP is turned, all of the OUT outputs are turned.) HOLD Input Output HOLD BUSY Speed Slow-down starting point HOLD during the operation When the actuator is in the positioning range in the pushing operation, it does not stop even if HOLD signal is input. mm/s Reset Input Output RESET OUT ALARM Alarm out Alarm reset ALARM is expressed as negative-logic circuit. It is possible to identify the alarm group by the combination of OUT signals when the alarm is generated.

32 Series LECP Options: Actuator Cable, I/O Cable Actuator cable [Robotic cable for step motor (Servo/24 VDC), standard cable] LE CP 1 Cable length (L)[m] 1 1. A B 1 C Produced upon receipt of order (Robotic cable only) Nil S Cable type Robotic cable (Flexible cable) Standard cable 1 LE-CP- /Cable length: 1. m, m, m (Terminal no.) A1 B1 A B (Terminal no.) A1 B1 A (14.7) (14.7) B (17.7) (17.7) Circuit A A B B COM-A/COM COM-B/ Vcc GND A A B B Actuator side (.7) Actuator side (ø) Connector A LE-CP- A B C /Cable length: m, m, 1 m, m ( Produced upon receipt of order) (ø.) (ø.) Connector C Controller side (14.2) (Terminal no.) 1 2 (1.) (14.2) (14) (1) (14) (1) L Connector D (11) () Connector C Controller side (Terminal no.) 1 2 (1.) 1 2 Connector A 1 1 (.7) L Connector D (11) () Connector A terminal no. B-1 A-1 B-2 A-2 B- A- B-4 A-4 B- A- B- A- Shield Cable color Brown Orange Yellow Green Blue Cable color Brown Orange Connector C terminal no Connector D terminal no I/O cable LEC CN 1 Cable length (L) [m] 1 1. (Terminal no.) B1 A1 B1 A1 Controller side (22.4) (ø.9) (14.4) L PLC side A1 A1 B1 B1 Conductor size: AWG2 Connector Insulation pin No. color A1 Light brown A2 Light brown A Yellow A4 Yellow A Light green A Light green A7 Gray A Gray A9 White A White A11 Light brown A12 Light brown A1 Yellow Dot mark Dot color Connector pin No. B1 B2 B B4 B B B7 B B9 B B11 B12 B1 Insulation color Yellow Light green Light green Gray Gray White White Light brown Light brown Yellow Yellow Light green Light green Dot mark Shield Dot color 21

33 HRS Series LEC Controller Setting Kit/LEC-W1 How to Order Model Selection LEC W1 w Communication cable e Conversion unit rusb cable (A-mini B type) q Controller setting software PC Controller setting kit (Japanese and English are available.) Contents q Controller setting software (CD-ROM) w Communication cable (Cable between the controller and the conversion unit) e Conversion unit r USB cable (Cable between the PC and the conversion unit) Hardware Requirements PC/AT compatible machine installed with Windows XP and equipped with USB1.1 or USB2. ports. Windows and Windows XP are registered trademarks of Microsoft Corporation. Screen Example Easy mode screen example Normal mode screen example Specific Product Precautions Easy operation and simple setting Allowing to set and display actuator step data such as position, speed, force, etc. Setting of step data and testing of the drive can be performed on the same page. Can be used to jog and move at a constant rate. Detail setting Step data can be set in detail. Signals and terminal status can be monitored. Parameters can be set. JOG and constant rate movement, return to origin, test operation and testing of compulsory output can be performed. 22

34 Series LEC Teaching Box/LEC-T1 How to Order RoHS Enable switch (Option) LEC T1 J G Teaching box Cable length [m] Enable switch Nil None S Equipped with enable switch Interlock switch for jog test function Stop switch Initial language J Japanese E English Stop switch G Equipped with stop switch Specifications Standard functions Chinese character display Stop switch is provided. Option Enable switch is provided. Switch Item Cable length [m] Enclosure Operating temperature range [ºC] Operating humidity range [%RH] Weight [g] Description Stop switch, Enable switch (Option) IP4 (Except connector) to 9 or less (No condensation) (Except cable) Note) CE-compliance The EMC compliance of the teaching box was tested with the LECP series step motor controller (servo/24 VDC) and an applicable actuator. Easy Mode Function Step data Jog Test Monitor Alarm TB setting Jog operation Return to origin Description Setting of step data 1 step operation Return to origin Display of axis and step data No. Display of two items selected from Position, Speed, Force. Display of active alarm Alarm reset Reconnection of axis Setting of easy/normal mode Setting step data and selection of items from easy mode monitor Menu Operations Flowchart Menu Data Monitor Jog Test Alarm TB setting Data Step data No. Setting of two items selected below (Position, Speed, Force, Acceleration, Deceleration) Monitor Display of step No. Display of two items selected below (Position, Speed, Force) Jog Return to origin Jog operation Test 1 step operation Alarm Display of active alarm Alarm reset TB setting Reconnect Easy/Normal Set item 2