IAI America, Inc.

ROBO Cylinder PC Software Version 7

ajimenez — Mon, 22 Feb 2010 20:32:06 +0000

The new ROBO Cylinder PC Software version 7 is now available.

Please view the video tutorial above.

There are no changes in the functionality of the software for the following controllers: PCON, ACON, SCON, ERC2

The changes for the new ROBO Cylinder PC Software version 7 is the addition of ASEP & PSEP controller functionality.

(1) Free upgrade offer to RC PC software version 7 for:

Customers who already own the RC PC software version 6 and need ASEP/PSEP software. (Software to be sent via email)

Please call our offices and provide the purchase date of your current RC PC Software.

If you require a CD, please contact your distributor with the purchase date and the P.O.# of your current RC PC Software version 6.

(2) Please purchase the new RC PC software version 7 if:

You are a new customer purchasing any ROBO Cylinder with any of the following controllers: PCON, ACON, SCON, ERC2, ASEP/PSEP and do not currently own version 6.
You are customer that owns version 4.

If you have any questions, please contact us.

Teaching Pendant CON-PT

ajimenez — Thu, 18 Feb 2010 20:44:00 +0000

With the addition of an interactive touch panel, the CON-PT touch panel teaching pendant allows for easy configuration and use even for the first time user. The new larger display is able to show all position information on one screen, making editing position data easy.

Features:

Large, easy to read display,
Easy configuration with touch panel,
Backlight changes color to alert user of an error

The CON-PT is compatible with all
ROBO Cylinder SEP and CON controllers

Model	CON-PT-M-ENG	CON-PD-M-ENG	CON-PG-M-S-ENG
Type	Standard Type	Enable Switch Type	Global Safety Category Type
Compatible Controllers	PSEP / PCON / RPCON ASEP / ACON / RACON SCON / ERC2*
3 position enable switch	N/A	Yes	Yes
Functions	Position data entry /editing Move function (Move to position, Jog function, Inching function) Input/output signal monitoring and testing Parameter editing Password protection
Display	3 color LED backlight
Ambient Temp / Humidity	Temp: 0~50 deg Celcius Humidity: 20~85% RH or less (No condensation)
Protective Structure	IP40
Weight	750g	780g	780g
Accessories	Stylus	Stylus	TP Adapter (Model: RCB-LB-TG) Dummy Plug (Model: DP-4) Controller Cable (Model: CB-CON-LB005) Stylus

Click to enlarge drawing.

Mini ROBO Cylinder

ajimenez — Wed, 10 Feb 2010 05:12:38 +0000

Features:

Smaller, Compact Size;
Shaped like an air cylinder and easy to use;
Many variations to suit your needs.

1. Space-saving

The new Mini ROBO Cylinder have achieved compact sizes by incorporating a newly developed motor and significantly reduces overall length, width and height. Systems that could only use air cylinders due to sizing constraints can now use Mini ROBO Cylinders to improve performance.

2. Shaped and handled easily like air cylinders

The new Mini ROBO Cylinders are available in the same shapes as air cylinders. Users who are comfortable with the handling and operation of air cylinder can switch to motorized cylinders effortlessly.

3. Wide variations

You can select the model that best suits your specific application from the wide variation of electric actuators. Variations include slider type, rod type, table top and linear servo type.

Mini Slider Type

The slider on the body moves back and forth to perform positioning.
Features:

The coupled motor can be changed with ease
The straight type and motor reversed type are available

Application:

Moving/carrying parts

Mini Rod Type

The rod extends and contracts to perform positioning and push-motion operation.
Features:

The slim and short type have significantly reduced overall length
The guide type with a built-in guide for enhanced rigidity and linearity and the non-guided type are substantially smaller. The non-guided types accept external guide(s).

Application:

Moving parts, push, clamping, etc.

Mini Table Type

The table on the body slides to perform positioning.
Features:

The built-in guide allows an overhang load to be received
The short type with a compact body and the coupled motor type with long strokes are available

Application:

Moving parts, part transport, horizontal move, push-motion. (Overhang mounting from the body is also possible)

Small Linear Servo Type

Light parts can be transferred at high speed.
Features:

The linear motor achieves high-speed, high-acceleration/deceleration movements at a maximum of 2G
The slider type and rod type are available. The slider type comes in six types having different sizes and strokes
The multi-slider type lets you install two sliders on one axis and operate them independently

Application:

Transfer applications where minimal cycle times are required.

4. Quality and Innovation

We at IAI are always working to offer high quality and innovative solutions tailored for your specific application. Whenever you need support, IAI’s experienced teams of technical support engineers are available to help you diagnose and troubleshoot IAI products. When you require innovative and high quality robots, excellent service and support for your unique needs, demand IAI!

See the rest of the ROBO Cylinder Lineup:

Save Energy with Green Automation

ajimenez — Tue, 09 Feb 2010 05:17:58 +0000


	The comparison of electric costs between a ROBO Cylinder and an air cylinder application.


	Examples of real-world energy-saving application benefits of ROBO Cylinder.


	Other benefits of a ROBO Cylinder system: - Longer Life – High Quality – Improved Productivity -

Energy is not a fixed cost, but rather a variable cost and there are many ways to improve energy efficiency such as turning off or dimming the lights when not needed, setting computers to hibernate when not in use, changing to more energy efficient light bulbs and introducing energy efficient strategies in automation.

Using energy in an efficient manner will cut running costs and benefit the environment and as a result, can significantly boost the image of a business in the public eye. With this said, it is clear and essential that we see the convergence of environmental and business needs are indeed in sync.

We at IAI also see this, and are working hard to build energy efficient products so both businesses and our environment can benefit each and every day. Make Green Automation a part of your business today!

Lower Running Costs by 1/3 and up to 1/10th of Air Cylinders with IAI Electric Actuators!

With air cylinders, a compressor is operated with electricity to generate compressed air, and generated air is supplied though a line to the air cylinder where it is then converted to linear-motion force. This mechanism is subject to significant energy loss. With IAI Electric Actuators, revolutions of electric motors are mechanically converted to linear-motion force, which minimizes energy loss. The running cost (energy cost) of IAI Electric Actuators are 1/3 to 1/10th the cost of an air cylinder (based on IAI’s internal test).

The Benefits of a Long Maintenance-Free Period

The AQ seal is a lubrication unit using a lubrication member made of resin-solidified lubricating oil. AQ seals supply lubricating oil as they are pressed against the surface of the guide and ball screw (steel-ball rolling surface). This, combined with the lubrication effect of grease, ensures a long maintenance-free period.

Long Maintenance-Free Period with the AQ seal

Minimize the number of cumbersome greasing operations required. (When used with grease, the actuator will remain maintenance free for 5,000 km of traveled distance or three years.
Effective in locations where greasing is difficult due to the structure of the system.
Environmentally friendly, since no extra grease is needed.

Energy Cost Comparison

ajimenez — Tue, 09 Feb 2010 05:16:08 +0000

Below is a sample comparison of electricity cost between an air cylinder application and a ROBO Cylinder application. In this example, the air cylinder and ROBO Cylinder are assumed to have the same ratings and carry out the same operation.

Sample Comparison of Electricity Costs (Annual Running Cost)

(1) Rod-less (Slide Type)

* The air cylinder specifications (inner cylinder diameter, etc.) and ROBO Cylinder specifications (motor wattage, motor characteristics, etc.) may slightly vary slightly depending on the models selected for the operation. The specific level of power consumption changes according to the specifications (characteristics) of each model, conditions in which the model is used, etc.

Comparison Model	Rodless Air Cylinder/Slide Type	ROBO Cylinder/RCP3, Slider Type (RCP3-SA3C-I-28P-6-300-P1-S)
Specifications	• Inner cylinder diameter: 10mm • Stroke: 300mm	• 24-VDC pulse motor • Stroke: 300mm
Operation Conditions	Transfer loads between processes (Horizontal movement of the slider) • Load: 1kg • Stroke Length: 300mm • Cycle Time: 3 sec • Operating Hours: 16 hours/day, 240 days/year
Operation Conditions	Service Pressure: 0.4 MPa	- N/A
Air Consumption (annual)	1,085.18 Nm³	- N/A
Power Consumption (annual)	116.61 kwh	33.59 kwh
Electricity Charge (annual) (1 Nm3 = $0.013) (1 kwh = $0.121)	$14.11	$4.06
Calculation Formula	“Air consumption per cycle” x “Number of operation cycles” x “Unit energy cost of air” 0.0002355 Nm³ x 19,200 cycles/day x 240 days x $0.013/Nm³ = $14.11/year	“Air/electricity consumption per cycle” x “Number of operation cycles” x “Unit energy cost of electricity” 0.00000729 kwh x 19,200 cycles/day x 240 days x $0.121/kwh = $4.06/year
Result	The running cost of the ROBO Cylinder is approximately 30% of the corresponding cost of the air cylinder (reduction of approximately 70%)
Result	CO₂ reduction: 0.0307 ton/year (CO₂ reduction ratio: 70%) (The equivalent CO₂ emissions and effect of reduction vary depending on the specifications of the entire system)

*Calculated exchange rate: 1 USD = 100 JPY (10/08)

(2) Rod Type

Comparison Model	Rod Type Air Cylinder	ROBO Cylinder/ERC2, Rod Type (ERC2-RA6C-I-PM-3-50NP-S)
Specification	- Inner cylinder diameter: 40mm - Stroke: 50mm	- 24-VDC Pulse Motor - Stroke: 50mm
Operation Conditions	Transfer loads between processes (Horizontal movement of the rod) - Load: 1kg - Travel: 50mm - Cycle Time: 3 sec - Operating hours: 16 hours/day, 240 days/year
Operation Conditions	- Service Pressure: 0.4 MPa	- N/A
Air Consumption (annual)	2662.32 Nm3	- N/A
Power Consumption (annual)	280.03 kwh	68.25 kwh
Electricity Charge (annual) (1 Nm3 = $0.013) (1 kwh = $0.121)	$34.61	$8.26
Calculation Formula	“Air consumption per cycle” x “Number of operation cycles” x “Unit energy cost of air” 0.000577776 Nm3 x 19,200 cycles/day x 240 days x $0.013/Nm3 = $34.61/year	“Electricity consumption per cycle” x “Number of operation cycles” x “Unit energy cost of electricity” 0.00001481 kwh x 19,200 cycles/day x 240 days x $0.121/kwh = $8.26/year
Result	The running cost of the ROBO Cylinder is approximately 24% of the corresponding cost of the air cylinder (reduction of approximately 76%) CO2 reduction: 0.0805 ton/year (CO2 reduction ratio: 76%) (The equivalent CO2 emissions and effect of reduction vary depending on the specifications of the entire system)

*Calculated exchange rate: 1 USD = 100 JPY (10/08)
* The air cylinder specifications (inner cylinder diameter, etc.) and ROBO Cylinder specifications (motor wattage, motor characteristics, etc.) vary depending on the models selected for the operation. The specific level of power consumption changes according to the specifications (characteristics) of each model, conditions in which the model is used, etc.

RCP3/RCA2 Table Type Actuators

ajimenez — Tue, 09 Feb 2010 01:25:15 +0000

IAI’s New RCP3/RCA2 Series Electric Actuators. The motor unit can be switched out simply by removing a single screw. This makes for easy maintenance if the motor should need to be replaced.

Features:

Table Top Version Offers Increased Moment and Built-In Guide
Energy Efficient: Running Cost 1/10 that of an air cylinder
Low Cost: Improving our Technologies Mean Lower Cost to You
Space Saving: 32mm Ultra Slim Slider
Easy Replacement: Reduce Downtime with Simple One-Bolt Motor Exchange

Have you been wanting to switch over to the easy to use ROBO Cylinder series?

Now is the perfect chance for you to upgrade to IAI’s quality electric linear actuators!
The new RCP3/RCA2 electric actuators have been completely re-engineered, with all new guide, ball screws and servo motor to further improve cost savings and reliability.

As we improve our manufacturing and engineering technology, we were able to price our high-quality electric linear actuators lower than ever. IAI’s ROBO Cylinder series offers energy efficiency and reliable operation that many around the world have come to expect, proven by IAI’s 56.8% World Market Share for electric linear actuators.

The ease of use, seamless compatibility and a proven track record of IAI’s ROBO Cylinder series will provide you and your company more ROI and piece of mind than thought possible.

The New Slim Slider type electric linear actuator is the right solution to applications that require a compact design for use in confined spaces. The SA3 Slim Slider Type is a narrow 32mm and offered up to a 60mm wide version.

Easy Maintenance To Reduce Downtime
The Value of the RCP3/RCA2 Series Electric Actuators doesn’t stop at quality and pricing, but also offers improved performance and reliability seen in actuators costing far more. The maintainability of the RCP3/RCP2 series actuators has been engineered to satisfy even the most demanding needs in automation. The motor unit is easily replaced with only a turn of one screw reducing downtime.

IK Series Multi-Axes Cartesian System

ajimenez — Tue, 09 Feb 2010 00:25:05 +0000

Boost Productivity and ROI!

The competitively priced ROBO Cylinder IK Series is the multi-axes solution to your automation needs.
In addition to easy set-up and simple software programming, IAI’s high-quality electric actuators are energy efficient and will dramatically reduce your energy bills.

Features:

Increased Productivity
Wide Variation
Easy Assembly
Energy Efficient
Easy Programming

1. Wide Variation

The engineers at IAI have worked extensively to produce the highest quality products at affordable prices. The new IK Series lineup offers many variations and can be easily integrated and prepared to your specific needs.

2. Motor Options

The IK Series is offered in both pulse and servo motors. Choose the pulse motor for applications requiring high thrust at low speeds. Choose the servo motor for applications requiring constant thrust regardless of the operating speed.

3. Easy Assembly

The ROBO Cylinder IK Series multi-axes kit includes everything needed for fast and easy assembly.

4. High Functionality

Combined with the PCON, PSEL, SCON, SSEL, XSEL controllers, complex programming is made easy.

5. Quality and Innovation

RCL-SA Micro Servo Slider Actuator

ajimenez — Mon, 08 Feb 2010 22:59:36 +0000

The ROBO Cylinder Micro Slider RCL-SA offers high performance in a slim, compact body thats only 20mm wide. The RCL-SA comes in 3 different sizes to meet your needs and operates at a maximum acceleration of 2G and maximum speed of 600 mm/s.

Features:

Ultra Compact Linear Servo Slider Actuator
Compact Size with Linear Motor
Smooth, Quiet Operation
Built-in Encoder Supports Multiple Positioning Points
Choice of Controllers for Different Applications

Space-saving, high speed, high acceleration/deceleration and quiet operation optimal for high-speed load transfer.

The New 20mm Thin Ultra Compact Linear Servo Slider Actuator

1. Space Saving, Ultra Compact Linear Servo Slider

The 20mm width facilitates installation in a narrow space (SA1L type). The built-in motor coil eliminates the need for a cable track, so there is no cable disconnection.

2. High-Speed Operation Through the Linear Motor Method

The linear motor method, which has no rotational speed reduction mechanism, makes the slider smaller in size and able to operate at higher speed.

3. Smooth, Quiet Operation

The sine-wave drive using 3-phase coil eliminates cogging. Furthermore, there’s virtually no outside leakage of magnetism.

4. Built-in Encoder Supports Multiple Positioning Points

Thanks to its built-in encoder, the RCL series can perform positioning to a maximum of 512 points when combined with a compact, affordable ACON controller.

5. Choice of Controllers for Different Applications

The RCL series can be combined with ASEL controllers supporting program operation, or ACON controllers supporting operation by position specification. The ACON series includes different types of controllers including the standard type, solenoid type, pulse-train input type, and serial communication type. Choose a controller that best suits your specific application and purpose.

ZR Unit – High Speed Vertical / Rotation Electric Actuator

ajimenez — Mon, 08 Feb 2010 21:08:53 +0000

With the integration of the Z-axis and the R-axis, achieve high-speed vertical and rotation operation.

Features and Benefits:

High-Speed: 1256mm/s and 2200°/s
Maximum Stroke: 200mm / 360°
Maximum Payload: 6kg
Maximum Positions of up to 20,000 Points

1. Add the ZR Unit to a 2-axes System
to Create a High Speed 4-axes System

Because of the compact construction of the ZR unit, it is possible to add the ZR unit as a standard configuration to the ICSA/ICSPA series actuators. Take your manufacturing to higher levels of efficiency and productivity.

2. High Speed Rotation

The R-axis is capable of up to 2200°/s.

3. A Lineup of 2 Sizes to Fit Your Application

Select the small or medium type ZR unit with either the absolute or incremental encoder.

		Small Type	Medium Type
Motor Output	Z-axis (Vertical) W	100	200
Motor Output	R-axis (Rotational) W	100	200
Work Envelope	Z-axis (Vertical) mm	150	200
Work Envelope	R-axis (Rotational) Degrees	±360	±360
Maximum Operating Speed	Z-axis (Vertical) mm/s	1005	1256
Maximum Operating Speed	R-axis (Rotational) deg/s	2200	2200
Payload	Rated (@ 0.3G)	1	2
Payload	Maximum (@ 0.1G)	3	6

4. Quality and Innovation

PSEL-C-ABU Absolute Controller

ajimenez — Mon, 08 Feb 2010 21:02:14 +0000

Features:

Eliminates the need for a home return
Interpolate 2 axes
Save data for up to 20 days

1. The simple absolute eliminates the need for a home return.
The unit works immediately when connected to a power source.

2. The controller can interpolate 2 axes. The proprietary SEL language enables easy programming of difficult operations.

3. Encoder data can be saved for a maximum of 20 days.

4. Quality and Innovation

Controller	Incremental	Absolute	Simple Absolute
PCON	X	-	X
ACON	X	-	X
SCON	X	X
PSEL	X	-	X
ASEL	X	X	-
SSEL	X	X	-
RPCON (ROBONET)	X	-	X
PACON (ROBONET)	X	-	X

See the rest of the ROBO Cylinder Lineup:

RCP2/RCA-SRA Short Body Type Actuators

ajimenez — Mon, 08 Feb 2010 18:19:52 +0000

The new RCP2/RCA-SRA series short type electric actuator length has been reduced by up to 45%.
Choose from single and double guides offering flexible installation.

Features:

45% Reduction in length
Pulse/Servo Motor Option
4 Guide Mounting Options
Energy Efficient
Flange and Foot Bracket Available for Flexible Mounting

1. Significantly Shortened Length

We have shortened the length of the actuator by up to 129mm compared to the current equivalent model. Customers can now use the actuator in narrow locations where there is very little space.

2. Choose Between Pulse/Servo Motor

Select between 2 types of motors: a pulse motor type suitable for push force and low-speed raising and lowering operations, or a servo motor type effective for stable transportation during high-speed operations.

3. Guides Can Be Selected

Guides can be selected if a load is applied to the end of the rod (actuator), or if straight motion is required. A single guide or a double guide can be selected, and for the single guide, there are 3 directions that the guide can be installed.

4. Flexible Installation

There are 5 installation surfaces on the actuator. We have also prepared optional front and rear flanges and foot brackets. (bottom/side)

5. Quality and Innovation

Product Overview

ajimenez — Mon, 08 Feb 2010 06:57:21 +0000

IAI offers a vast line of energy efficient SCARA, Linear Actuators, ROBO Cylinder Electric Linear Actuators, Table Top and Controllers as “Complete Solutions” that cover all the necessary links in order to operate seamlessly with your vision from software to robots.

IX SCARA

High-performance SCARA with low-cost solutions for dispensing, assembly, insertion, and more.

IX-NNN Ultra Compact SCARA

IX SCARA Application Videos

ROBO Cylinder

The ROBO Cylinder ® Electric Actuator is a flexible, intelligent, and economical, ballscrew linear actuator.

ROBO Cylinder Visual Index

Green Automation

Cost Saving Application Examples

Linear Actuators

Many of the electric units below are available in Clean room class 10 versions.

NS – Nut Linear Actuator

ISPA – Integrated System High-Precision Series

ISPD – Integrated System Clean Room Series

ICS – Integrated Combination Systems

SS – Series

IF – Integrated Flexible Belt Drive

FS – Flexible Series

LS – Linear Servo Ultra High Speed Actuator

Table Top

High-performance table top robot at an amazingly affordable price.

Table Top Compact Robot

Controllers

Features Fitted to Your Application – and Budget

Compatibility Comparison

ROBO Cylinder Controller List

RoboNet Network Controller

P-Driver Pulse Train Input Driver

Teaching Pendant

The Robo Cylinder ® Teaching Pendant simplifies input point and position data to Robo Cylinder controllers.

Teaching Pendant

SEL-T/TD SEL Controller Teaching Box

Examples of Cost Savings with ROBO Cylinder Electric Actuator Applications

ajimenez — Mon, 08 Feb 2010 06:05:35 +0000

In the world of business today, demands for quality low-cost products are expected NOW. With energy costs rising everyday, and demand for higher output places strain on all those involved. Fortunately, IAI understands the mounting pressures on today’s businesses and work hard to provide environmentally friendly, energy-efficient cost-effective solutions for the needs of our customers. Our line of electric actuators will help your business save money and increase output. Along with being ‘green’, our ROBO Cylinder electric actuator line will reduce man-hours because of easy setup and maintenance.

Please browse though out web site and see how ROBO Cylinder electric actuators are the solution to your automation needs. Make IAI part of your business and take advantage of cost-effective automation solutions and gain a lead on the competition!

If there are any questions about our products, please contact us at the phone number at the top of our web site.

List of Industry Applications and Benefits using
ROBO Cylinder Linear Electric Actuators

To learn more about how IAI can help your business go green:

See the energy efficient
ROBO Cylinder Electric Actuator Lineup

Examples of Electronic Parts Application Cost Savings

ajimenez — Mon, 08 Feb 2010 06:04:46 +0000

Examples of Cost Savings with
ROBO Cylinder Electric Actuator Applications

Click to expand

Reduction of Initial Cost From $1,108.47 to $750.91*

Application – A ROBO Cylinder system that transfers electrical control parts in an assembly line having five stop points.

Air Cylinder	ROBO Cylinder
The air cylinder system required five cylinders, because a cylinder with a different stroke must be used to implement each stop. Cost of air cylinder parts Rod-less air cylinder Linear guide Positioning cylinder x 5 Valve, etc. Initial Cost of air cylinder system: $1,108.47	The ROBO Cylinder system requires only one cylinder, because it can perform multi-point positioning to respective stop points. Cost of ROBO Cylinder parts ROBO Cylinder x 1 – $493.27 Controller – $203.22 Cables – $54.42 Initial Cost of ROBO Cylinder system: $750.91

* At the exchange rate of 108.26 JPY (Nov. 2007)

Explanation – Compared to the cost of air cylinder parts amounting to $1,108.47, the ROBO Cylinder system only costs $750.91 for parts. The cost savings of this system is $357.56. In addition to costing more on parts, the air cylinder system also requires higher costs associated with assembly jigs, air piping man-hours, and so on. When all savings are considered, the initial cost of the ROBO Cylinder system becomes much lower.

Click to expand

Reduction of Initial Cost From $2,400 to $931.04*

Application – System removes dust from inside rollers used in office equipment. An air nozzle is installed at the tip of a ROBO Cylinder. This nozzle is inserted into a roller, and then the nozzle is moved to blow dust out of the roller. Different types of rollers are involved in the process, all varying in length and other dimensions.

Air Cylinder	ROBO Cylinder
Four types of air cylinders had to be used to accommodate rollers of different strokes. Air cylinder cost: $600 per set Total purchase cost of air cylinders: $600 x 4 types = $2,400	Since the ROBO Cylinder is capable of multi-point positioning, one unit can accommodate all rollers. Total purchase cost of ROBO Cylinder ROBO Cylinder – $702.62 Controller – $154.42 Cables – $74 Purchase cost of ROBO Cylinder – $931.04

* At the exchange rate of 108.26 JPY (Nov. 2007)

Explanation – The air cylinder system had an initial cost of $2,400, whereas the ROBO Cylinder system costs only $931.04 initially. This is a cost reduction of $1468.96.

With the air cylinder system, the setup had to be changed for each roller type. This is no longer necessary on the ROBO Cylinder system. The ROBO Cylinder system also eliminated the need for stopper adjustment and speed control adjustment.

Click to expand

Reduction of running costs by $20,000 a year*

Application – System cuts printed circuit boards. ROBO Cylinders are used to move an end-mill up and down to cut circuit boards. Since the blade becomes dull after 1,000 boards, the end mill is lowered after 1,000 boards so as to cut boards using an unused, sharp blade face.

Air Cylinder	ROBO Cylinder
Since the position of the cutting blade cannot be changed, the blade had to be changed after 1,000 boards. Unit price of end mill – $11.10 End mill life: 1,000 boards Machining quantity per day – 1,000 boards End mill cost – $11.10 per day = $222.00 per month (20 days) = $2,664 per year Annual cost of air cylinder system – $2,664.00	Since the position of the cutting blade can be changed to four locations, 4,000 boards can be cut with each blade. Unit price of end mill – $11.10 End mill life – 4,000 boards Machining quantity per day – 1,000 boards End mill cost – $2.77 per day = $55.40 per month = $664.80 per year Annual cost of ROBO Cylinder system $664.80

* At the exchange rate of 108.26 JPY (Nov. 2007)

Explanation – The running cost of the air cylinder is $2,664.00 a year, while that of the ROBO Cylinder system is $664.80 per year. The associated cost savings is $2,000.

This factory uses 10 of these systems. The total cost reduction thus amounted to $2,000 x 10 units = $20,000 a year.

Click to expand

8% Increase in Production Efficiency*

Application – A system that assembles auto-focus parts for cameras. A ROBO CYlinder is used in the press-fitting of parts on an index table.

Air Cylinder	ROBO Cylinder
Since the press-fit part is very small, adjustment of press-fit height is very difficult. Approximately one-half day was wasted three times a month for adjustment. Adjustment Time – Half-day = 4 hours Adjustment Interval – 3 times/month Monthly Adjustment Time – 4 hours x 3 times = 12 hours Monthly Operation Time = 8 hours x 20 days – 12 hours = 148 hours	Since the ROBO Cylinder allows for numerical control, adjustment and setup change require little time. Monthly Adjustment Time = 0 hours Monthly Operation Time = 8 hours x 20 days = 160 hours

Explanation – (160 hours – 148 hours) / 148 hours = 0.08 Approximately 8% increase in production efficiency.

The ROBO Cylinder system also provides the following benefits:

Shorter Assembly Time – The actuator can be moved at high speed until immediately before press-fitting and during the subsequent retreat, with the speed reduced only when the part is press-fit. This reduced the assembly time.

Improved Quality – Auto-focus parts are becoming increasingly smaller. With the air cylinder system, the parts may be damaged due to impact.

Click to expand

Reduction of Loss by $6,700 a Year*

Application – System assembles electronic parts. A ROBO Cylinder is used in the mechanism for moving up and down a motorized screwdriver that tightens fine-pitch screws. Stable up/down movement at a low speed of 0.1 mm/s is required.

Air Cylinder	ROBO Cylinder
Since the speed cannot be finely adjusted, screw tightening problems occurred. Defect rate – 1 to 2% 1 or 2 out of 100 products were defective. 1 or 2 out of 400 screws had tightening problems (each part has 4 screws). Scrapping and rework of defective products cost approximately $558.80 a month	Stable movement is possible at a low speed of 0.1 mm/s Defect rate dropped to nearly zero Scrapping/rework cost of defective products was virtually eliminated.

Explanation – While the air cylinder system incurred a loss of $558.80 a month, the ROBO Cylinder system generates virtually no loss

With the ROBO Cylinder system, it also takes less time to change the setup upon switchover of works, which contributed to productivity increase.

(Note) The minimum speed of the ROBO Cylinder is normally 1 mm/s. If you must operate your ROBO Cylinder at 0.1 mm/s, we provide PC software that supports the lower speed. Please contact IAI for details.

See the energy efficient ROBO Cylinder Electric Actuator Lineup

Examples of Food Applications Cost Savings

ajimenez — Mon, 08 Feb 2010 06:03:11 +0000

Examples of Cost Savings with
ROBO Cylinder Electric Actuator Applications

Click to expand

7% Increase in Production Efficiency

Application – A ROBO Cylinder system that removes filler hoses from industrial beer barrels after the barrels have been filled with beer at a brewery.

Air Cylinder	ROBO Cylinder
The stopper position must be changed every time the beer barrel size is changed. The line had to be stopped 10 minutes for this change. Setup Change Time – 10 minutes Setup Change Frequency – 3 times/day Monthly Production Time Stop Time = 10 minutes x 3 times/day = 30 minutes/day = 10 hours/month Production Time = 8 hours x 20 days – 10 hours = 150 hours	Since the ROBO Cylinder allows for quick setup change using a single switch, the line no longer needs to be stopped. Setup Change Time – 0 minutes Monthly Production Time Stop Time = 0 hour Production Time = 8 hours x 20 days = 160 hours

Explanation – (160 hours – 150 hours) / 150 hours = 0.07 – Approximately 7% increase in production efficiency.

Click to expand

Reduction of Labor Cost by $4378.60

Application – A system consisting of two ROBO Cylinder axes, used for stacking two food products traveling on a line in a food processing factory.

Air Cylinder	ROBO Cylinder
Cost of Manual Operation Line Operation Time – 21 hours/day Labor Cost 9:00 – 18:00 = 8 hours = $58.87 18:00 – 1:00 = 7 hours = $77.27 1:00 – 7:00 = 6 hours = $82.79 Daily Cost – 21 hours – $218.93 Monthly Cost of Manual Operation $218.93/day x 20 days = $4378.60	Initial Cost of ROBO Cylinder System ROBO Cylinder Controller, Cables Vision Sensor PLC, etc. Total – $7727.20 Labor cost became virtually zero.

Explanation – Introduction of the ROBO Cylinder system eliminated the labor cost of $4378.60 a month required when the line was operated manually. Automation also improved quality, because on the manual line, errors occurred frequently, especially during 2nd and 3rd shifts.

(Note) Another reason that the factory adopted the ROBO Cylinder system is that they didn’t want to increase the amount of air equipment due to “unstable speed of the air cylinder system,” “difficulty finding space for extra compressors,” and the “need to save energy.”

See the energy efficient ROBO Cylinder Electric Actuator Lineup

Examples of Automobile Applications Cost Savings

ajimenez — Mon, 08 Feb 2010 06:02:25 +0000

Examples of Cost Savings with
ROBO Cylinder Electric Actuator Applications

Click to expand

Reduction of Initial Cost From $51,753.20 to $41,893.44*

Application – System inserts an inspection bar into a machined hole in an engine block to determine acceptability of machining.
The inspection bar is inserted into a machined hole using a ROBO Cylinder’s electric actuator push-motion operation. This operation is combined with a zone signal to determine “normal,” “less than specified depth” or “more than specified depth” at the position where a push-motion completion signal is output.

Air Cylinder	ROBO Cylinder
Air cylinder price: $802.15 (with length measuring function) (Inclusive of costs of brake, valve and other accessories)* Required quantity – 9 air cylinders per system Number of systems – 7 sets throughout the factory Total cost of air cylinder system $802.15 x 9 units x 7 systems = $50,535.45*	ROBO Cylinder price: $663.88 (includes the costs of brake, controller and cables)* Required quantity – 9 air cylinders per system Number of systems – 7 sets throughout the factory Total cost of air cylinder system $663.88 x 9 units x 7 systems = $41,824.44 *

* At the exchange rate of 109.74 JPY (Nov. 2007)

Explanation – The initial cost of the ROBO Cylinder electric actuator system is $41,824.44 compared to $50,535.45 required by the air cylinder system.
This resulted in cost savings of $8711.01.

The ROBO Cylinder electric actuator system also provides the following benefits:

Water-proofing – The air cylinder with length measuring function is not water-proof, but the ROBO Cylinder electric actuator series has a splash-proof type.

Improved Accuracy – While the encoder resolution is roughly the same between the air cylinder and ROBO Cylinder, the ROBO Cylinder electric actuator allows for finer position adjustment.
This improved the overall accuracy of the system.

(Note) The ROBO Cylinder electric actuator achieves a positioning accuracy of ±0.02mm with respect to the target position.

Improved Quality – With the ROBO Cylinder electric actuator, the thrust with which to push the inspection bar can be adjusted easily. As a result, work damage was eliminated.

Reduction of Initial Cost From $1,588.43 to $578.54*

Application – System press-fits a knob onto a shaft in an AT shift knob assembly process. The rod comes down quickly and then slowly pushes the knob onto the shaft. Once the knob is press-fit, the rod rises quickly. The press-fit condition is checked using a zone output signal.

Air Cylinder	ROBO Cylinder
Initial Cost Cylinder (Ø50, 150-mm stroke, with auto switch; custom specification) $191.96* Distance Measuring Sensor Contact-type displacement sensor – $395.76* Counter – $500.38* Valve, Etc. – $45.49* Other – $454.84* Sensor installation jig, counter installation box, wiring man-hours. Total $1588.43 *	Initial Cost RCP2-RMA-I-PM-4-150-P1-M-FL – $353.84* Controller RCP2-C-RMA-I-PM-0 – $151.92* Cables – $72.78* Total $578.54 *

* At the exchange rate of 109.74 JPY (Nov. 2007)

Explanation – The initial cost of the ROBO Cylinder electric actuator system is $578.54 *compared to $1588.43* required by the air cylinder system.
This resulted in cost savings of $1009.89*.

The ROBO Cylinder system also provides the following benefits:

Shorter Tact Time – The ROBO Cylinder can be moved slowly when press-fitting and quickly during approach and retreat. This resulted in a shorter tact time.

Improved Accuracy – With the ROBO Cylinder, the press-fit stroke can be set directly. This improved the accuracy of insertion depth.

Easy Changeover of Setup – Changing over to the ROBO Cylinder electric actuator set up is easier than ever.

43% Increase in Production Efficiency

Application – Clamping machine is used for machining metal automotive parts.
The work is clamped at 30N in the intitial rough-shaving stage where the work must be held securely. In the fine-machining stage after rough shaving, the push force is reduced to prevent the work from deforming.

Air Cylinder	ROBO Cylinder
With the air cylinder system, it takes 15 seconds to change the push force from 30N to 10N due to residual pressure. The work cannont be machined during this period. Machining Time (Rough shaving: 13 seconds) + (Pressure change: 15 seconds) + (Fine machining: 13 seconds) + (Installation/removal: 8 seconds) = 49 seconds Production Volume Tact time (49 seconds) = 73 pieces/hour (3,600 seconds) = 1,763 pieces/day (24 hours) = 52,890 pieces/month (30 days)	With the ROBO Cylinder system, the push force can be changed instantly by changing the position number. Machining Time (Rough shaving: 13 seconds) + (Fine machining: 13 seconds) + (Installation/Removal: 8 seconds) = 34 seconds Production Volume Tact time (34 seconds) = 105 pieces/hour (3,600 seconds) = 2,520 pieces/day (24 hours) = 75,600 pieces/month (30 days)

Air Cylinder

ROBO Cylinder

With the air cylinder system, it takes 15 seconds to change the push force from 30N to 10N due to residual pressure. The work cannont be machined during this period.

Machining Time

(Rough shaving: 13 seconds) + (Pressure change: 15 seconds) + (Fine machining: 13 seconds) + (Installation/removal: 8 seconds) = 49 seconds

Production Volume

Tact time (49 seconds) = 73 pieces/hour (3,600 seconds) = 1,763 pieces/day (24 hours) = 52,890 pieces/month (30 days)

With the ROBO Cylinder system, the push force can be changed instantly by changing the position number.

Machining Time

(Rough shaving: 13 seconds) + (Fine machining: 13 seconds) + (Installation/Removal: 8 seconds) = 34 seconds

Production Volume

Tact time (34 seconds) = 105 pieces/hour (3,600 seconds) = 2,520 pieces/day (24 hours) = 75,600 pieces/month (30 days)

Explanation – (75,600 pieces – 52,890 pieces) / 52,890 pieces = 0.429 Approximately 43% increase in production

(Note) How to change ROBO Cylinder push force

The push force can be changed even during push-motion operation by simply changing the position number to one corresponding to a desired push force, as shown in the table to the right.

Position (#)	Position (mm)	Speed (mm/s)	Acceleration (G)	Push Force (%)	Push Band (mm)
1	100	200	0.3	30	10
2	100	200	0.3	70	10

Cost Reduction of $30,912*

Application – System heats and then adheres automotive ducts (resin pipes). ROBO Cylinders are used for moving the heating plate and ducts.
The heating position, joining position and other settings must be finely adjusted to achieve proper connection.

Air Cylinder	ROBO Cylinder
With the air cylinder system, adjusting the speed and push force at the time of joining ducts is difficult. This caused adhesion problems, and the defect rate was approximately 10%. Initial Cost – $2763.96 Defect Rate – 10% Production Volume – 1,000 pieces/day = 20,000 pieces/month (20 days) = 240,000 pieces/year Unit price of part – $1.84 Annual loss of air cylinder system due to joining problems $1.84 x 240,000 pieces/year x 10% = $44,160	With the ROBO Cylinder system, the speed and push force can be adjusted easily. As a result, the defect rate dropped to 3%. Initial Cost – $2763.96 Defect Rate – 3% Production Volume – 1,000 pieces/day = 20,000 pieces/month (20 days) = 240,000 pieces/year Unit price of part – $1.84 Annual loss of air cylinder system due to joining problems $1.84 x 240,000 pieces/year x 3% = $13,248

Air Cylinder

ROBO Cylinder

With the air cylinder system, adjusting the speed and push force at the time of joining ducts is difficult.
This caused adhesion problems, and the defect rate was approximately 10%.

Initial Cost – $2763.96
Defect Rate – 10%
Production Volume – 1,000 pieces/day = 20,000 pieces/month (20 days) = 240,000 pieces/year
Unit price of part – $1.84

Annual loss of air cylinder system due to joining problems

$1.84 x 240,000 pieces/year x 10% = $44,160

With the ROBO Cylinder system, the speed and push force can be adjusted easily.
As a result, the defect rate dropped to 3%.

Initial Cost – $2763.96
Defect Rate – 3%
Production Volume – 1,000 pieces/day = 20,000 pieces/month (20 days) = 240,000 pieces/year
Unit price of part – $1.84

Annual loss of air cylinder system due to joining problems

$1.84 x 240,000 pieces/year x 3% = $13,248

* At the exchange rate of 108.74 JPY (Nov. 2007)

Explanation – While the air cylinder system generated an annual loss of $44,160* it is $30,912* with the ROBO Cylinder System.
The effective savings are $13,248*.

The initial cost is $2763.96 for both the air cylinder system and ROBO Cylinder system.
According to the manufacturer, it would have cost the manufacturer $9,220.22 to produce a servo motor system in-house.

Ensuring Operator Safety

Application – Production line positioning automotive parts (horizontal transfer).
Safety is critical because the operator’s hand could easily get caught.

Air Cylinder	ROBO Cylinder
Since actuating an emergency stop is difficult, the system will not stop even when the operator’s hand gets caught. This presented risk of injury.	The push force can be reduced by lowering the moving torque. If the operator’s hand gets caught in this condition, no injury will result because the push force is small. In the meantime, an error will generate and the system will stop.

(Note) The ROBO Cylinder can no longer guarantee the loading capacity, speed and other specifications listed in the catalog if the moving torque is lowered.
Therefore, the above function is disabled in normal conditions of use.
Please contact IAI if your system is subject to a special circumstance and this function must be enabled.

See the energy efficient ROBO Cylinder Electric Actuator Lineup

Example of Cosmetics Application Cost Saving

ajimenez — Mon, 08 Feb 2010 06:01:15 +0000

Examples of Cost Savings with
ROBO Cylinder Electric Actuator Applications

7% Increase in Production Efficiency

Application – A system that cuts rubber sheets of 1mm in thickness (using a round blade) to produce rubber caps for drug containers. A ROBO Cylinder is used for moving the cutter up and down.

Air Cylinder	ROBO Cylinder
Because of the difficulty setting speed, around 30 minutes had to be spent on adjustment every day. Low Speed: The rubber sheet elongates and cannot be cut. High Speed: Rubber breaks. If broken rubber caps are found in the receiving inspection, the whole lot will be determined “out of specification” (all caps must be scrapped). Adjustment Time: 30 minutes/day = 0.5 hours/day Monthly Production Time Stop Time = 0.5 hours/day x 20 days = 10 hours/month Production Time = 8 hours x 20 days – 10 hours = 150 hours	Speed setting becomes easy, and adjustment time is no longer required. Adjustment Time: 0 minutes Monthly Production Time Stop Time = 0 hours Production Time = 8 hours x 20 days = 160 hours

Air Cylinder

ROBO Cylinder

Because of the difficulty setting speed, around 30 minutes had to be spent on adjustment every day.

Low Speed: The rubber sheet elongates and cannot be cut.

High Speed: Rubber breaks.

If broken rubber caps are found in the receiving inspection, the whole lot will be determined “out of specification” (all caps must be scrapped).

Adjustment Time: 30 minutes/day = 0.5 hours/day

Monthly Production Time

Stop Time = 0.5 hours/day x 20 days = 10 hours/month

Production Time = 8 hours x 20 days – 10 hours = 150 hours

Speed setting becomes easy, and adjustment time is no longer required.
Adjustment Time: 0 minutes

Monthly Production Time

Stop Time = 0 hours

Production Time = 8 hours x 20 days = 160 hours

Explanation – (160 hours – 150 hours) / 150 hours = 0.07 Approximately 7% increase in production efficiency.

See the energy efficient ROBO Cylinder Electric Actuator Lineup

Robo Cylinder RCS Slim Type Specs – RCS-RA55(R) (60 Watt)

ajimenez — Mon, 08 Feb 2010 05:59:18 +0000

RCS-RA55(R) (60 Watt)

Slim Type RCS-RA55	Model	Motor Wattage	Frame Width	Max Stroke	Max Speed	Max Vertical Payload	Max Horizontal Thrust
Standard	RA55-GN	60W	65 mm 2.6″	300 mm/sec 11.8 in/sec	800 mm/sec 31.5 in/sec	11.5 kg 25.4 lbs	26 kgf 255.1 N
Single Guide	RA55-GS
Double Guide	RA55-GD
Folded Motor	RA55R

Stroke Lengths:	Stroke Lengths: 50 mm (1.9″) to 300 mm (11.8″) (50mm stroke increments)
Motor:	60W AC Servo
Encoder:	Incremental / Absolute
Repeatability:	±0.02mm (±0.0008″)
Option:	Low, Medium or High speed
Design Life:	5000 km at maximum rated speed, acceleration, payload, and moment. Reductions in any of these factors will significantly extend actuator life.
Minimum Speed:	1 mm/sec
Option:	1, 3, or 5 meter motor and encoder cables
Option:	B: Brake
Option:	A2: Cable Routing Direction Change

All speed, payload, and thrust values shown below vary based on ballscrew lead selection, either H, M, or L (high, medium, and low speeds).

Speed (ballscrew lead)		Low	Medium	High
Maximum Vertical Payload:	GN	11.5 kg 25.4 lbs	5 kg 11 lbs	2 kg 4.4 lbs
	GS	10.8 kg 23.8 lbs	4.3 kg 9.5 lbs	1.3 kg 2.9 lbs
	GD	10.8 kg 23.8 lbs	4.3 kg 9.5 lbs	1.3 kg 2.9 lbs
Maximum Horizontal Payload *:		50 kg 110.2 lbs	25 kg 55.1 lbs	12 kg 26.5 lbs
Maximum Speed:		200 mm/sec 7.9 in/sec	400 mm/sec 15.7 in/sec	800 mm/sec 31.5 in/sec
Maximum Thrust *:		26 kgf 255.1 N	13 kgf 127.5 N	6.5 kgf 63.8 N

* A linear motion guide is required for horizontal use.

Robo Cylinder RCS Slim Type Specs – RCS-RA45(R)

ajimenez — Mon, 08 Feb 2010 05:55:58 +0000

RCS-RA45(R)

Slim Type RCS-RA45	Model	Motor Wattage	Frame Width	Max Stroke	Max Speed	Max Vertical Payload	Max Horizontal Thrust
Standard	RA45-GN	30W	45 mm 1.8″	200 mm 7.9″	500 mm/sec 19.7 in/sec	8.5 kg 18.7 lbs	20.7 kgf 202.9 N
Single Guide	RA45-GS
Double Guide	RA45-GD
Folded Motor	RA45R

Stroke Lengths:	Stroke Lengths: 50 mm (1.9″) to 200 mm (7.9″) (50mm stroke increments)
Motor:	30W AC Servo
Encoder:	Incremental / Absolute
Repeatability:	±0.02mm (±0.0008″)
Option:	Low, Medium or High speed
Design Life:	5000 km at maximum rated speed, acceleration, payload, and moment. Reductions in any of these factors will significantly extend actuator life.
Minimum Speed:	1 mm/sec
Option:	1, 3, or 5 meter motor and encoder cables
Option:	B: Brake
Option:	A2: Cable Routing Direction Change

All speed, payload, and thrust values shown below vary based on ballscrew lead selection, either H, M, or L (high, medium, and low speeds).

Speed (ballscrew lead)		Low	Medium	High
Maximum Vertical Payload:	GN	8.5 kg 18.7 lbs	4 kg 8.8 lbs	1.5 kg 3.3 lbs
	GS	8 kg 17.6 lbs	3.5 kg 7.7 lbs	1 kg 2.2 lbs
	GD	8 kg 17.6 lbs	3.5 kg 7.7 lbs	1 kg 2.2 lbs
Maximum Horizontal Payload *:		30 kg 66.1 lbs	15 kg 33.1 lbs	7 kg 15.4 lbs
Maximum Speed:		125 mm/sec 4.9 in/sec	250 mm/sec 21 in/sec	500 mm/sec 19.7 in/sec
Maximum Thrust *:		20.7 kgf 202.9 N	10.4 kgf 101.9 N	5.2 kgf 51 N

* A linear motion guide is required for horizontal use.

Robo Cylinder RCS Short Type Specs – RB7535 (100 Watt)

ajimenez — Mon, 08 Feb 2010 05:50:01 +0000

RB7535 (100 Watt)

Short Type RCS-RB7535 100 Watt	Model	Motor Wattage	Frame Width	Max Stroke	Max Speed	Max Vertical Payload	Max Horizontal Thrust
Standard	RCS-RB7535-GN	100W	75 mm 3″	300 mm 11.8″	800 mm/sec 31.5 in/sec	19.5 kg 43 lbs	43.3 kgf 424.3 N
Single Guide	RCS-RB7535-GS					18.5 kg 40.8 lbs
Double Guide	RCS-RB7535-GD					17.9 kg 39.5 lbs

Stroke Lengths:	Stroke Lengths: 50 mm (1.9″) to 300 mm (11.8″) (50mm stroke increments)
Motor:	AC Servo
Encoder:	Optical Rotary Incremental
Repeatability:	±0.02mm (±0.0008″)
Option:	Low, Medium or High speed
Design Life:	5000 km at maximum rated speed, acceleration, payload, and moment. Reductions in any of these factors will significantly extend actuator life.
Minimum Speed:	1 mm/sec
Option:	1, 3, or 5 meter motor and encoder cables

All speed, payload, and thrust values shown vary based on ballscrew lead selection, either H, M, or L (high, medium, and low speeds).

Speed (ballscrew lead)		Low	Medium	High
Maximum Vertical Payload:	GN	19.5 kg 43 lbs	9 kg 19.8 lbs	3.5 kg 7.7 lbs
	GS	18.5 kg 40.8 lbs	8 kg 17.6 lbs	2.5 kg 5.5 lbs
	GD	17.9 kg 39.5 lbs	7.4 kg 16.3 lbs	1.9 kg 4.2 lbs
Maximum Horizontal Payload *:		40 kg 88.2 lbs	22 kg 48.5 lbs	10 kg 22 lbs
Maximum Speed:		200 mm/sec 7.9 in/sec	400 mm/sec 15.7 in/sec	800 mm/sec 31.5 in/sec
Maximum Thrust *:		43.3 kgf 424.3 N *	21.7 kgf 212.7 N *	10.8 kgf 105.8 N *

* A linear motion guide is required for horizontal use.

Robo Cylinder RCS Short Type Specs – RB7530 (60 Watt)

ajimenez — Mon, 08 Feb 2010 05:44:27 +0000

RB7530 (60 Watt)

Short Type RCS-RB7530 60 Watt	Model	Motor Wattage	Frame Width	Max Stroke	Max Speed	Max Vertical Payload	Max Horizontal Thrust
Standard	RCS-RB7530-GN	60W	75 mm 3″	300 mm 11.8″	600 mm/sec 23.6 in/sec	15.5 kg 34.2 lbs	34.7 kgf 340.1 N
Single Guide	RCS-RB7530-GS					14.5 kg 32 lbs
Double Guide	RCS-RB7530-GD					13.9 kg 30.6 lbs

Stroke Lengths:	Stroke Lengths: 50 mm (1.9″) to 300 mm (11.8″) (50mm stroke increments)
Motor:	AC Servo
Encoder:	Optical Rotary Incremental
Repeatability:	±0.02mm (±0.0008″)
Option:	Low, Medium or High speed
Design Life:	5000 km at maximum rated speed, acceleration, payload, and moment. Reductions in any of these factors will significantly extend actuator life.
Minimum Speed:	1 mm/sec
Option:	1, 3, or 5 meter motor and encoder cables

All speed, payload, and thrust values shown vary based on ballscrew lead selection, either H, M, or L (high, medium, and low speeds).

Speed (ballscrew lead)		Low	Medium	High
Maximum Vertical Payload:	GN	15.5 kg 34.2″	7 kg 15.4 lbs	2.5 kg 5.5 lbs
	GS	14.5 kg 32 lbs	6 kg 13.2 lbs	1.5 kg 3.3 lbs
	GD	13.9 kg 30.6 lbs	5.4 kg 11.9 lbs	0.9 kg 2 lbs
Maximum Horizontal Payload *:		40 kg 88.2 lbs	20 kg 44.1 lbs	10 kg 22 lbs
Maximum Speed:		150 mm/sec 5.9 in/sec	300 mm/sec 11.8 in/sec	600 mm/sec 23.6 in/sec
Maximum Thrust *:		34.7 kgf 340.1 N *	17.3 kgf 169.5 N *	8.7 kgf 85.3 N *

* A linear motion guide is required for horizontal use.

ISWA / ISPWA Splash-Proof Single-Axis

ajimenez — Mon, 08 Feb 2010 05:16:19 +0000

The lineup of splash-proof sliders has been extended.
You can now choose a splash-proof actuator of desired size to match your specific application.

Series Features

The new slider structure keeps water out of the internal parts. When air purge is performed, the robot conforms to IP65. (Note 1) The high-speed robot achieves a maximum speed of 1,000 mm/sec. (Note 2)
The maximum load capacity is 70 kg, so heavy loads can be transferred effortlessly. (Note 3)
The high-precision specification (ISPWA) with a C5-equivalent precision rolled screw boasts a positioning repeatability of +/-0.01 mm. The standard specification (ISWA) also ensures high accuracy equivalent to +/-0.02 mm.
Select from the three sizes of S (94 mm wide), M (125 mm wide) and L (155 mm wide).
- * (Note 1) The protection class is IP54 without air purge.
- * (Note 2) M type, 200 W/20-mm lead.
- * (Note 3) M type, 100 W/5-mm lead or 200 W/10-mm lead. L type, 200W/10-mm lead or 400W/20-mm lead.

Model

Click on image to enlarge

Usage Example

Notes On Use

The ISWA/ISPWA must always be used in a horizontal application in the specified orientation. Be sure to observe this requirement, since water will enter the housing if these robots are positioned on their side or used in a vertical application.

The protection class of each splash-proof model indicates protection against entry of water. Please contact IAI if you require protection against oil and coolant.

Be sure to implement purge air if the robot is used in a humid place (humidity of 85% or more). The purge air must be clean, dry air supplied from an air drier.

ISO 9001: 2000 / JIS Q9001: 2000 Certified

ajimenez — Mon, 08 Feb 2010 03:50:43 +0000

Through our uncompromising pursuit for “Quality,” IAI has instituted ISO 9001:2000 and JIS Q9001:2000, which is a quality management system maintained by the International Organization for Standardization and Japanese Industrial Standards. IAI has been certified for ISO 9001:2000 and JIS Q9001:2000 by an independent auditor to be in conformance with ISO 9001:2000 and JIS Q9001:2000. IAI is constantly improving to exceed customer satisfaction though our quality products and services that surpasses customer expectations.

IAI products are also RoHS compliant on applicable products.

The World Chooses IAI for Electric Linear Actuators

According to independent research done by Fuji Research Institute, IAI has 56.8% of the world market share for electric linear actuators (2006 Data). The quality and innovative products of IAI has been embraced by many around the world to deliver quality automation to their business model. As concern for energy conservation grows, the energy efficient electric actuators by IAI will be even more favorable.

X-SEL Error Codes & Descriptions

ajimenez — Mon, 08 Feb 2010 02:40:26 +0000

X-SEL: includes X-SEL, IX-XSEL, SSEL, PSEL, ASEL, TT Controllers

Error	Cause	Description
802	SCIF Receiving ER Status(The IAI protocol is received. )	Interference. Check for noise, disconnected equipment, and improper communication setting. When the communication is established when PC/TP is mis-connected with user opening SIO-CH1, it is generated.
803	Reception Time-out Status(The IAI protocol is received. )	The interval after the initial byte of data is received is too long. Also, there could be a disconnection of the communications cable or a possibility of disconnected equipment, too.
804	SCIF Overrun Status(SEL is received. )	Check for noise, disconnected equipment, and improper communication setting.
805	SCIF Receiving ER Status(SEL is received. )	Check for noise, disconnected equipment, and improper communication setting.
806	SCIF Other Factor Reception ER Status(SEL is received. )	Interference. Please deal same as Error No.804,805.
807	Shutdown Relay ER Status	The motor(s) are still energized although the system is in shutdown status. It is possible that the relay has welded shut
808	Slave Parameter Write During OFF Status	Power was turned OFF during slave parameter write. (Only when the backup battery is used, is it possible to detect. )
809	Data Flash ROM Write During OFF Status	Power supply was turned OFF during data flash ROM write. (Only when the backup battery is used, it is possible to detect it. )
80A	Enhancing SIO Overrun Status(SEL is received. )	Check for noise, disconnected equipment, and improper communication setting
80B	Enhancing SIO Parity ER Status(SEL is received. )	Check for noise, disconnected equipment, and improper communication setting
80C	Enhancing SIO Framing ER Status(SEL is received. )	Check for noise, disconnected equipment, and improper communication setting.
80D	Enhancing SIO Other Factor Reception ER status(SEL is received. )	Interference. Please deal same as Error No.80A, 80B, and 80C
80E	Enhancing SIO Reception Buffer Overflow Status(SEL is received. )	The reception buffer overflowed. More excessive data than the outside is received
900	Empty Step Shortage Error	An empty step to preserve the step data is insufficient. Please secure an empty step necessary for preservation
901	Step No. Error	Invalid Step No
902	Symbol Definition Table No. Error	Invalid Symbol definition table No
903	Point No. Error	Invalid Point No
904	Variable No. Error	Invalid Variable No
905	Flag No. Error	Invalid Flag No
906	I/O Port Flag No. Error	Invalid I/O port flag No
930	Coordinate System No. Error	Invalid Coordinate system No. – only new SCARA.
931	Coordinate System Type Error	Invalid coordinate system type – only new SCARA.
932	Coordinate System Definition Data Number Specification Error	The specification of the number of coordinate system definition data is invalid. – Only a new scalar :.
933	Axis No. Error	Invalid Axis No. – only new SCARA.
934	SCARA ABS Reset Special Movement Operation Type Error	SCARA ABS reset special movement operation type is invalid – only new SCARA.
935	PositioningOperation Type Error	The positioning operation type is invalid – only new SCARA.
936	Interference Check Zone No. Error	Interference check zone No. is invalid – only new SCARA.
937	Interference Check Zone Specification Invalid Error	When the interference check zone invades, the error type is invalid. – only new SCARA.
801	SCIF Overrun Status(The IAI protocol is received. )	Check for noise, disconnected equipment, and improper communication setting.
ECB	Communication Error (PC)	Loss of communication possibly due to loss of power.
938	Interference Check Zone Data Number Specification Error	The specification of the number of interference check zone data is invalid. – only new SCARA
939	Interference Check Zone Invasion Detection(message level specification)	The interference check zone invasion was detected. (message level specification)- only new SCARA
93A	Rotary Axis CP Jog Prohibition Error Outside Range of Motion(Tool XY offset, exist, and. )	Please move in range of motion with each axis Jog. – Only a new scalar :.
A01	Low System Memory Backup Battery Warning	The voltage of the system memory backup battery is low. Please exchange the battery. (voltage level in which data can be backed up)
A02	Low System Memory Backup Battery Warning	The voltage of the system memory backup battery is low. Please exchange the battery (voltage level at which data cannot be backed up).
A03	Low Absolute Encoder Data Backup Battery	The voltage of the absolute encoder data battery is low. Please check for battery connection or exchange. Chattering contact in the brake connection can also be a culprit.
A04	System Mode Error During Core Section Update	When the system mode was not a core part update mode, the update command was received. Please confirm the presence of the chip resistance for the core part update mode on substrate setting when you update the core part. (for maintenance)
A05	Motorola, Inc. S Record Format Error	The update program file is invalid. Please confirm the file.
A06	Motorola, Inc. S Checksum Error	The update program file is invalid. Please confirm the file.
A07	Motorola, Inc. S Loading Address Error	The update program file is invalid. Please confirm the file.
A08	Over Motorola, Inc. S Writing Address Error	The update program file is invalid. Please confirm the file.
A09	Flash ROM Timing Limit Excess Error(write)	Flash ROM write has timed out
A0A	Flash ROM Timing Limit Excess Error(erase)	Flash ROM erase has timed out
A0B	Flash ROM Verify Error	Flash ROM write/erase is invalid
A0C	Flash ROM ACK Time-out	The write is erase/invalid of flash ROM.
A0D	The First Sector No. Specification Error	Flash ROM erase Error
A0E	Sector Number Specification Error	Flash ROM erase Error
A0F	Offset Address Error at Writing Destination(odd number address)	The write is invalid of flash ROM.
A10	Writing Source Data Buffer Address Error(odd number address)	The write is invalid of flash ROM.
A11	Core Part Code Sector Block ID Invalid Error	The core part program written in flash ROM is invalid now.
A12	Core Part Code Sector Block ID Deletion Frequency Exaggerated	The deletion frequency of flash ROM exceeds a permissible frequency.
A13	Flash ROM Write Demand Error when Erase Incompleteness is Ended	Flash ROM writing command had been received before flash ROM erase command was received when updating it. Please confirm Appdatop ? log ram file, and update it again.
A14	Busy Status Release Time-out Error when EEPROM	Busy state release waiting time-out after writing of EEPROM
A15	Mount, target, EEPROM, write in. Demand Error	With the unit with CPU of the driver etc. Mount, one, EEPROM, write in, demand, provide.
A16	Mount, target, EEPROM, read. Demand Error	It was a unit with CPU of the driver etc. , and reading was demanded for the one of the unmounting.
A17	Sum Check Error(The IAI protocol is received. )	Checksum in reception is invalid.
A18	Header Error(The IAI protocol is received. )	The header in reception is invalid.
A19	Message Addressing Error (During IAI Protocol receiving)	The receiving address is invalid.
A1A	ID Error(The IAI protocol is received. )	ID in reception is invalid.
A1C	Conversion Error	Transmitted data does not agree to protocol or illegal data is included. Please confirm transmission.
A1D	Start Mode Error	Program start not permitted in present mode (MANU/AUTO).
A1E	Start Condition Failure Error	Program start was given while writing Flash ROM or during E-STOP or Open Safety Gate.
A1F	Axis Multiple Use Error(SIO)	Axis already in use
A20	Servo Use write Acquisition Error(SIO)	There is not becoming empty in the servo use right.
A21	Error to have acquired servo use right(SIO)	The servo use right has already been acquired.
A22	Servo use right unacquisition Error(SIO)	It failed in the continuance acquisition of the servo use right.
A23	Low ABS Encoder Backup Battery Warning(main analysis)	The voltage of the absolute encoder data battery is low. Please check for battery connection or exchange.
A25	Step Number Specification Error	Step number specification is invalid.
A26	Program Number Specification Error	Program number specification is invalid.
A27	Program Unregistration Error	A pertinent program is not registered
A28	Error which cannot be reorganized while executing program	The program area reorganization operation was done while executing the program. Please end all programs previously executing it
A29	Error not to be able to edit program while executing it	The edit operation was done to the program under execution. Please end the execution of the program
A2A	Defined Program is not Running	The specified program is not running
A2B	Illegal Program Execution in AUTO Mode	Program execution from the software is prohibited in AUTO mode
A2C	Program No. Error	Invalid Program No
A2D	Program Restart Error	The restart was demanded for a program which was not running
A2E	Program Temporary Stop Error	The temporary stop was demanded for a program which was not running
A2F	Breakpoint Error	Step No. specified for a breakpoint is invalid
A30	Breakpoint Setting Number Specification Error	The set number of breakpoints exceeds the limit value
A31	Parameter Change Number Error	The number of parameter changes is invalid
A32	Parameter Type Error	Invalid parameter type
A33	Parameter No. Error	Invalid parameter No
A34	Card Parameter Buffer Read Error	The card parameter buffer is read and it is invalid
A35	Card Parameter Buffer Write Error	The card parameter buffer is written and it is invalid
A36	Parameter Change Rejection Error During Movement	Parameters cannot be changed while an axis is in motion
A37	Card Manufacturing and Function Information Change Rejection Error	The card manufacturing and the function information change are prohibited
A38	Parameter Change Rejection Error at Servo ON	Parameters cannot be changed while the servo is on
A39	Deferred Collection Card Parameter Change Error	The change of the parameter of the card which had not been recognized when resetting it was tried
A3A	Device No. Error	Device No. is invalid
A3C	Memory Initialization Type Specification Error	Abnormality is found in the specification of the memory initialization type
A3D	Unit Type Error	The unit type is invalid
A3E	SEL Write Data Type Specification Error	Abnormality is found in the specification of the SEL write data type
A3F	Flash ROM Write Rejection Error when Program is Being Executed	Writing Flash ROM while executing a program is prohibited
A40	Flash ROM write inside data change rejection Error	The data change writing flash ROM is prohibited
A41	Multiple Flash ROM Write Instruction Rejection Error	Flash ROM writing instruction was received again while writing flash ROM
A42	Inside Flash ROM Write Direct Monitor Prohibition Error	A direct monitor writing flash ROM is prohibited
A43	P0 and P3 Area Direct Monitor Prohibition Error	A direct monitor to P0 and the P3 area is prohibited
A44	Point Data Number Specification Error	Invalid specification of the number of point data
A45	Specification of Number of Symbol Records Error	Invalid specification of the number of symbol records
A46	Variable Data Number Specification Error	Invalid specification of the number of variable data
A48	One Error Details Inquiry Type Error	Type 1 of the Error details inquiry is invalid
A49	Two Error Details Inquiry Type Errors	Type 2 of the Error details inquiry is invalid
A4A	Monitor Data Type Error	The data type of the monitor data inquiry is invalid
A4B	Specification of Number of Monitor Records Error	Invalid specification of the number of records of monitor data inquiries
A4C	Monitor Operation Special Command Register Busy Error	Driver special command ACK became a time-out by the monitor operation
A4E	Parameter Register Busy Error When Slave Command is Issued	Driver special command ACK became a time-out because of the slave command issue
A4F	Software Reset Rejection Error while In-Motion	Software reset (SIO) operating (middle the servo use when the program is being executed) is prohibited
A50	Driving Source Restoration Demand Rejection Error	Driving source interception factor (Error, dead man SW, safety gate, and emergency stop, etc.) has not been released
A51	Temporary Stop of Motion Release Request Rejection Error	The stop factor has not been released at temporary stop of all operation
A53	Rejection Error when Servo is In-Use.	The processing not permitted was tried while using the servo
A54	Function Unsupport Rejection Error	It is a unsupport function
A55	Function Use Rejection Error Only for Manufacturer	The processing not opened except the manufacturer was tried
A56	Data Failure Rejection Error	Data is invalid
A57	Program Multiple Start Error	Illegal execution of a program which is already running
A58	BCD Failure Warning	The data being written to variable 99 is not a valid BCD number
A59	IN/OUT Instruction Port Flag Invalidity Warning	It is possible that the number of input and output ports exceeds 32. Check I/O Parameters 2-9 for proper settings
A5B	Character String -> Numerical Value Conversion Invalidity Warning	Specified values of the number of characters when converting it are invalid or there is a character into which the numerical value cannot be converted
A5C	SCPY Instruction Copy Character Number Invalidity Warning	Specified values of the number of characters when copying it are invalid
A5D	SIO Channel Opening Error in Non-AUTO mode	The user SIO channel can only be opened in AUTO mode
A5E	Specification of Number of I/O Port Flags Error	Invalid specification of the number of I/O port flags
A5F	Field Bus Error(LERROR-ON)	LERROR-ON was detected
A60	Field Bus Error(LERROR-BLINK)	LERROR-blink was detected
A61	Field Bus Error(HERROR-ON)	HERROR-ON was detected
A62	Field Bus Error(HERROR-BLINK)	HERROR-blink was detected
A63	Field Bus Not Ready	The field bus lady cannot confirm it
A64	SCIF Overrunning Error(At the SIO bridge. )	Check for noise, disconnected equipment, and improper communication setting
A65	SCIF Receiving Error(At the SIO bridge. )	Check for noise, disconnected equipment, and improper communication setting
A66	SCI Overrunning Error(At the SIO bridge. )	Check for noise, disconnected equipment, and improper communication setting
A67	SCI Framing Error (At the SIO bridge. )	Check for noise, disconnected equipment, and improper communication setting
A68	SCI Parity Error(At the SIO bridge. )	Check for noise, disconnected equipment, and improper communication setting
A69	Data Change Rejection Error while Running	Program data cannot be changed while program is running
A6A	Software Reset During Flash ROM Write	Controller was reset through I/O while writing flash ROM. Write again
A6B	Field Bus Error(FBRS link Error)	The FBRS link Error was detected
A6C	Program Start in AUTO Mode Error	While Other Parameter #45 is set to 0, a program cannot be started serially in AUTO mode. Change Other Parameter #45 to 1
A6D	P0, P3, and FROM area Direct Write Prohibition Error	P0, P3, and a direct write to the FROM area are prohibited
A6E	Write Inside Rejection Error	The processing not permitted in the slave parameter write in data flash ROM write was tried
B00	SCHA Setting Error	The ending character set using SCHA is invalid
B01	TPCD Setting Error	Set value must be either 0 or 1
B02	SLEN Setting Error	The setting of SLEN is out of range
B03	Homing Method Error	Homing Method specified in Specific Axis Parameter #10 is invalid for that particular axis
B04	1 Shot Pulse Output Simultaneous Use Error	BTPN and the BTPF timer simultaneous number of operation in one program exceed upper bound (16)
B05	Over Travel Error During Homing	Possibly bad limit switch/creep sensor
B06	Multiple OPEN Error	Attempted to OPEN a channel which was already opened in another program
B07	SIO channel Usage Error	Attempted to use a channel which has not been opened (OPEN command)
B08	Multiple WRIT Error	The WRIT instruction was executed at the same time by two or more tasks for the same channel
B09	SIO RS485 WRIT?READ Simultaneous Error	The WRIT instruction and the READ instruction were executed at the same time
B0A	Usage of Unassigned SIO Channel	It tried to use the channel that normally cracked and was not applied. Please confirm I/O parameter No.100-111 and the state of the I/O slot
B10	Z-phase Search Time-out Error	Z-phase cannot be detected. Check encoder connections or possibly defective encoder
B11	HOME Limit Switch Time-out Error	The escape from the starting point sensor cannot be confirmed. Please confirm the restraint, wiring, and the starting point sensor etc. of operation
B12	SEL Command Return Code Storage Variable No. Error	SEL command return code storage variable No. is invalid. Please confirm “Other parameter No.24 READ instruction return code storage local variable No.” etc
B13	Backup SRAM Data Checksum Error	Backup SRAM data is destroyed. Please confirm the battery
B14	Flash ROM8Mbit Version Unsupport Function Error	It tried to use a function not supported under flash ROM8Mbit substrate environment. (HT connection specification etc.)
B15	Input Port Debugging Filter Type Error	The input port debugging filter type setting value is invalid
B16	SEL Operand Specification Error	Invalid SEL instruction word operand specification
B17	Parameter Register Busy Error when Slave Command is Issued	Driver special command ACK became a time-out because of the slave command issue
B18	Device No. Error	Device No. is invalid
B19	Unit Type Error	The unit type is invalid
B1A	ABS Reset Specification Error	The ABS reset specification is illegal. It specifies more than two axes the axis excluding the specification simultaneously and the ABS encoder
C03	Unregistered Program Specification Error	The specified program is not registered
C04	Program Entry Point Undetected Error	Execution was demanded for program No. in which the program step was not registered
C05	Program First Step BGSR Error	The first command in a program cannot be BGSR
C06	Executable Step Undetected Error	In the program being executed, there are no executable steps
C07	Subroutine Undefined Error	The subroutine which was called is not defined
C08	Multiple Subroutine Defined Error	The subroutine is defined in same subroutine No. by two or more places
C0A	Multiple Tag Define Error	Tag is defined in same tag No. by two or more places
C0B	Tag Undefined Error	The tag specified for a jump destination of the GOTO command is not defined
C0C	DW, IF, IS, and SL Pair End Mismatch Error	The syntax of the branch instruction is invalid. Correspondence with the branch instruction which appeared last time is invalid at EDIF, EDDO, and EDSL. Please confirm the IF?IS instruction, the correspondence of EDIF, the correspondence of the DO instruc
C0D	DW, IF, IS, and SL Pair End Shortage Error	Neither EDIF, EDDO nor EDSL are found. Please confirm the IF?IS instruction, the correspondence of EDIF, the correspondence of the DO instruction and EDDO, the SLCT instructions, and the correspondences of EDSL
C0E	BGSR Pair End Shortage Error	EDSR corresponding to BGSR is insufficient or BGSR corresponding to EDSR is insufficient. Please confirm the correspondence of BGSR and EDSR
C0F	DO, IF, and Over IS Nest Steps Number Error	The frequency of the nest of the DO instruction and the IF?IS instruction exceeds the limit value. The limit is 15 nested statements. Also, check for exiting with a GOTO command before the end of statement
C10	Over SLCT Nest Steps Number Error	The frequency of the nest of the SLCT exceeds the limit value. The limit is 15 nested statements. Also, check for exiting with a GOTO command before the end of statement
C11	Over Error of Frequency of Subroutine Nest	The frequency of the nest of subroutines exceeds the limit value. The limit is 15 nested subroutines. Also, check for exiting with a GOTO command before the end of the subroutine
C12	DO, IF, and IS Nest Steps Number Error Under	The position of EDIF or EDDO is invalid. Please do not confirm whether diverge the correspondence of the IF?IS instruction, the correspondence of EDIF, the DO instruction, and EDDO and in syntaxes (outside the syntax in the GOTO instruction)
C13	SLCT Nest Steps Number Error under	The position of EDSL is invalid. Please do not confirm whether diverge the correspondence of SLCT and EDSL and in syntaxes (outside the syntax in the GOTO instruction)
C14	Error of Frequency of Subroutine Nest Under	The position of EDSR is invalid. Please do not confirm whether diverge the correspondence of BGSR and EDSR and in syntaxes (outside the syntax in the GOTO instruction)
C15	Error of the Next Step Instruction Code of SLCT	Which must be the next program step of SLCT of WHEQ, WHNE, WHGT, WHGE, WHLT, WHLE, WSEQ, WSNE, OTHE, and EDSL?
C16	Create Stack Failure	It failed in the initialization of the input condition state storage stack
C17	Enhancing Condition Code Error	The program step is invalid. The code of the enhancing condition is invalid
C18	Enhancing Condition LD Simultaneous Processing Numerical Excessive Error	The number of simultaneous processings of LD exceeds the limit value
C19	Enhancing Condition LD Shortage Detection Error 1	When O is used enhancing condition A, LD is insufficient
C1A	Enhancing Condition LD Shortage Detection Error 2	When OB is used enhancing condition AB, LD is insufficient
C1C	Unused LD Detection Error	It tried to execute the command without the use of the input condition that LD was used and saved two or more times with enhancing condition AB or OB
C1F	Input Condition CND Shortage Detection Error	There is no necessary input condition when the enhancing condition is used
C21	Input Condition Use Error at Input Condition Prohibition Command	An input condition cannot be used on the specified command
C22	Positional Command Illegal Error at Input Condition Prohibition Command	There must not be input condition prohibition command on the way of the nest of the input condition
C23	Operand Invalid Error	The program step is invalid. Necessary operand data is invalid
C24	Operand Type Error	The program step is invalid. The data type of the operand is invalid
C25	Actuator Control Declaration Error	A set value of the actuator control declaration instruction is invalid
C26	Over Set Range Error of Time of Timer	Invalid setting for the timer
C27	Over Set Range Error of Time-out Time at WAIT	Invalid setting of the time-out time
C28	Tick Frequency Setting Range Error	Invalid setting of the Tick frequency
C29	HOME Limit Switch Time-out Error	When DIV was ordered, 0 was specified for a divisor
C2A	Range Error when SQR is Ordered	The operand value of the SQR instruction is invalid. Operand must be greater than zero.
C2B	BCD Mark Digit Number Range Error	Specified values of the number of BCD mark digits are invalid. Please specify the value from 1 to 8
C2C	Program No. Error	Program No. is invalid
C2D	Step No. Error	Step No. is invalid
C2E	Empty Step Shortage Error	An empty step to preserve the step data is insufficient. Please secure an empty step necessary for preservation
C2F	Axis No. Error	Axis No. is invalid
C30	Axis Pattern Error	The axis pattern is invalid
C32	Operation Axis Addition Error when Command is Being Executed	It moved a continuous point or the operation axis of the point data was added while processing the Ots movement calculation
C33	Base Axis No. Error	Base axis No. is invalid
C34	Zone No. Error	Zone No. is invalid. – Only X-SEL :
C35	Point No. Error	Point No. is invalid
C36	I/O port Flag No. Error	I/O port flag No. is invalid
C37	Flag No. Error	Flag No. is invalid
C38	Tag No. Error	Tag No. is invalid
C39	Subroutine No. Error	Subroutine No. is invalid
C3A	Open User Serial Channel No. Error	Invalid User SIO Channel specified. Verify settings in I/O Parameter Nos. 100-111
C3B	Parameter No. Error	Parameter No. is invalid
C3C	Variable No. Error	Variable No. is invalid
C3D	String No. Error	String No. is invalid
C3E	String Variable Data Number Specification Error	String length goes beyond range of columns (1 ~ 999)
C40	Delimiter Non Detection Error in String Variable	The delimiter in the string variable cannot be detected
C41	String Variable Copy Size Over Error	The size of the string variable copy is too large
C42	Character Number Error when String is Processed	The character string length when the string is processed is not defined. Please execute the string processing instruction after it defines it by the SLEN instruction
C43	Character String Length Error when String is Processed	The character string length when the string is processed is invalid. Please confirm the value of the character string length defined by the SLEN instruction
C46	Source Symbol Storage Table Empty Area Shortage Error	An empty area to store the source symbol is insufficient. Please confirm the source symbol use frequency
C47	Symbol Retrieval Error	The definition of the symbol used in the program step is not found
C48	Error SIO Continuous Switching Error	SIO transmission is not corresponding to the format or includes illegal data
C49	Error During Tasks Other Than SEL-SIO	SIO is being used by other interpreter tasks
C4A	SCIF Non-Open Error	It is not opened by the task that cereal of the user open channel 1 tried to use. Please open the channel previously by the OPEN instruction
C4B	Delimiter Error	The ending character is not defined. Please set the ending character before OPEN using the SCHA command
C4E	Illegal OPEN of SIO Channel 1	User SIO Channel 1 was opened illegally. If I/O Parameter #90 is set to 2, channel 1 cannot be used for user SIO, only IAI Protocol applies
C4F	SEL Program Source Symbol Sum Check Error	Flash ROM data is destroyed
C50	Symbol Definition Table Sum Check Error	Flash ROM data is destroyed
C51	Point Data Sum Check Error	Flash ROM data is destroyed
C52	Backup SRAM Data Destruction Error	Backup SRAM data is destroyed. Please confirm the battery
C53	Flash ROM SEL Global Data Error List Invalid Error	SEL global data Error list in flash ROM is invalid
C54	Flash ROM SEL Global Data Error List Overlap Error	SEL global data Error list in flash ROM overlaps
C55	SEL Global Data Error List Flash ROM Erase No. Over Error	Flash ROM erase limit has been exceeded
C56	Timing Limit Over Error(flash ROM erase)	Erase is invalid of flash ROM
C57	Flash ROM Verifying Error(flash ROM erase)	Erase is invalid of flash ROM
C58	Flash ROM ACK Time-out Error(flash ROM erase)	Erase is invalid of flash ROM
C59	Front Sector No. Designation Error(flash ROM erase)	Erase is invalid of flash ROM
C5A	Front Sector No. Designation Error(flash ROM erase)	Erase is invalid of flash ROM
C5B	Timing Limit Over Error(flash ROM write)	The write is invalid of flash ROM
C5C	Flash ROM Verifying Error(flash ROM write)	The write is invalid of flash ROM
C5D	Flash ROM ACK Time-out Error(flash ROM write)	The write is invalid of flash ROM
C5E	Writing Destination Offset Address Error(flash ROM write)	The write is invalid of flash ROM
C5F	Writing Source Data Buffer Address Error(flash ROM write)	The write is invalid of flash ROM
C60	Error Without SEL Global Data Error Restructuring Area	There is no erase settlement SEL global data error restructuring area
C61	SEL Data Flash ROM Erase No. Over Error	Flash ROM has been overwritten too many times
C62	Movement Command Error at Servo OFF	The execution of the movement command was attempted while servo OFF
C63	Servo Movement Condition Error	It is not in the condition in which the servo can work
C64	Servo Irregular Addition and Subtraction Velocity Error	The internal servo addition and subtraction velocity is invalid
C65	Servo ON/OFF Logic Error	Servo ON/OFF logic between the main drivers is invalid
C66	Multiple Axes Usage Error	The use right acquisition of the axis which had already been used was tried
C67	Servo Usage Acquisition Error	There is not becoming empty in the servo user management area
C68	Servo Usage Acquisition Complete Error	The servo use right has already been acquired
C69	Servo Usage Non-Acquisition Error	The servo use right unacquisition user tried the continuance use acquisition
C6A	Push Movement Flag Logic Error	Internal logic of the push processing is invalid
C6B	Deflection Overflow Error	Operation is mechanically impeded. Check to see if the actuator mounting bolts are contacting inside the axes, or if the slider attachment is contacting any surrounding mechanical parts. Check brake functionality. Inspect mounting bolts along base. Check for binding in the system
C6C	Movement Error During ABS Data Acquiring	Axis was detected to be moving upon power up. Reset controller
C6D	MAX Axis Over Error	It became axis specification which exceeded the axis which was able to be mounted since the axis shifted by the base instruction
C6E	Servo OFF Axis Usage Error	Movement command was given while servo off
C6F	Homing Incomplete Error	The homing procedure is not complete
C70	ABS Coordinate Non Confirmation Error	Absolute coordinates have not been fixed. Cycle power
C71	Synchronized Axis Command Error	The command was issued to a synchronized following axis. – Only X-SEL :
C72	Overrun Error	The overrunning sensor operated
C73	Target Value Data Soft Limit Over Error	The commanded position exceeds the software limit. IX SCARA: check if robot is in opposite arm of commanded move. Robot is shutdown in Left arm mode then restarted but first commands are to a position reached by Right arm mode. Move robot while powered off or provide a recovery routine (PTPE command to allow controller to choose arm mode)
C74	Actual Position Soft Limit Over Error	Actual position is out of range. Most likely in negative position after ABS reset procedure. Manually move slider in to positive territory and do “Error Reset”
C75	Motion Data Packet Forming Logic Error	The motion data packet generation logic is invalid
C76	Movement Point No. Over Error	The number of packets generated simultaneously is too abundant
C77	Handling Packet Overflow Error	The servo handling packet overflowed
C78	Motion Data Packet Overflow Error	The servo motion data packet overflowed
C79	Pole Sense Movement Error	It is not possible to operate at the pole sense
C7A	Servo Non-Support Function Error	It tried to use the function not supported
C7B	Fraction Pulse Slide Error	An internal calculation of the servo is invalid
C7C	Fraction Pulse Processing Logic Error	An internal calculation of the servo is invalid
C7D	Insufficient Pulse within Packet Error	An internal calculation of the servo is invalid
C7E	Quadratic Equation Resolution Error	Abnormality was detected while calculating the second order equation solution
C7F	No Valid Designated Axis Error	A movement command was given without any axes specified
C80	Servo Packet Computation Error	An internal calculation of the servo is invalid
C81	Operation Volume Logic Error During Servo ON	The servo processing logic is invalid
C82	Servo Direct Command Type Error	The servo processing logic is invalid
C83	Servo Computation Method Type Error	The type of the method of calculating the servo is invalid
C84	Servo OFF Error During Axis Usage	Servo OFF did the axis using it (Be processing it)
C85	No Driver Error	Attempted to use an axis for which no driver is installed
C86	Driver ready OFF Error	Movement of an axis was attempted while driver ready off
C87	SEL Non Support Function Error	It tried to use the SEL unsupport function
C88	Velocity Designation Error	Speed specification is either invalid or missing from program
C89	Acceleration/Deceleration Designation Error	Acc/Dec specified is invalid
C8B	CIRCLE and ARCH Computation Logic Failure	The circular arc processing logic is invalid
C8D	CIRCLE and ARCH Computation Error	The position data where the circular arc was not able to move was specified. Please confirm the position data
C8E	Point Erase Error During Command Execution	The final point data was deleted while processing the continuous point movement calculation
C8F	Axis Movement Type Error	The axis movement type is invalid. Check Specific Axis Parameter #1 to ensure proper setting
C90	Spline Computation Logic Failure	The spline processing logic is invalid
C91	Push Multiple Axes Designation Error	A push movement was specified for more than one axis
C92	Push Approach Distance and Velocity Designation Error	The specification of the push approach distance and the speed is invalid
C93	System Output Operation Error	The user tried the operation of the system output (I/O parameter output function selection specification port and zone of the parameter (each axis) output port (Only X-SEL :), etc.)
C94	PIO Program No. ErrorLikely due to wrong input bit pattern used.	Program No. specified from PIO is invalid. Likely wrong bit pattern. Cause: For example, if calling Program 11 via BCD by turning on PRG_1+PRG_2+PRG_8 (Input Bit 7, 8 & 10) this error will occur. Solution: Call Program 11 via BCD, use PROG_10 + PRG_1 (Input Bit 11 & 7). NOTE that the PSEL/ASEL/SSEL units use a BINARY pattern as default, not BCD like the rest
C95	AUTO Program No. Error	Other parameter No.1 “Auto Start Program No.” is invalid
C96	Program Start During “Termination of Movement and Program” Error.	The start of the program from “I/O processing program at the Termination of Movement and Program.” is prohibited. (Only before Ver.0.33 of the main application program. )”
C97	I/O Processing Program Error During “Termination of Movement and Program”	“I/O Processing Program No. at the “Termination of Movement and Program” is invalid
C98	I/O Processing Program Error During “Temporary Stop of Movement and Program”	“I/O Processing Program No. “During a Temporary Stop of All Movement” is invalid
C99	Homing Sensor Non-Detection Error	The home sensor cannot be detected. Please confirm wiring and the sensor
C9A	Creep Sensor Non-Detection Error	The creep sensor cannot be detected. Please confirm wiring and the sensor
C9B	Z-phase Detection Error	Z-phase cannot be detected. Please confirm wiring and the encoder
C9C	Positional Z-phase Defective Error	Z-phase position is defective. It is necessary to readjust the Z-phase position. Possibly bad encoder or distorted mechanical stop
C9D	Card parameter Write Error	The card parameter write is invalid
C9E	Servo Calculation Overflow Error	An internal calculation of the servo is invalid
CA1	The ABS Encoder Backup Battery Voltage is Abnormal. (driver analysis)	Please perform the absolute reset procedure after confirming the ABS encoder backup battery is connected, exchanging, and confirming the encoder cable connection
CA2	The ABS Encoder Backup Battery Voltage is Abnormal. (main analysis)	Please perform the absolute reset procedure after confirming the ABS encoder backup battery is connected, exchanging, and confirming the encoder cable connection
CA3	Slave Setting Data Input Out of Range Error	Set data to the slave is outside the latitude
CA4	Slave Error Response	The error response is returned from the slave
CA5	Stop Deflection Overflow Error	Movement may have occurred during stopping due to external force or operation may have been restricted during deceleration. This error may also generate when jog operation is restricted (due to contact with an obstacle, contact with a mechanical end before home return, etc.) or when wiring error, faulty encoder or faulty motor is detected during deceleration
CA6	Palletize No. Invalid	A specified value of palletize No. is invalid
CA7	Palletize Cross Check Even Number Column Setting Invalid.	Set values of the even number row number of plover settings of palletize are invalid
CA8	The Palletize Pitch Setting Value is Invalid.	A set value of palletize pitch is invalid
CA9	Palletize Axis Direction Place Point No. Setting Value is Invalid	Set values of the number X?Y axially of palletize are invalid
CAA	Palletize PASE and PAPS Undeclared Error	Neither palletize setting command, PASE or PAPS, is given. Please set either
CAB	Palletize Position No. is Invalid.	A specified value of palletize positional No. is invalid
CAC	Palletize Positional No. Setting Over	A specified value of palletize positional No. exceeds the range of positional No. calculated by present palletize setting
CAD	Palletize XYZ Same Axes Setting Error	Any of the X?Y?Z axis for palletize was specified with the same axis
CAE	Insufficient Point Data Valid Axis No. for Palletize Three-Point Teaching	In the point data for the palletize three point teaching, the number of effective axes is insufficient. The axis which composes palletize XY plane cannot be specified
CAF	Excessive Point Data Valid Axis No. for Palletize Three-Point Teaching	In the point data for the palletize three point teaching, the number of effective axes is excessive. The axis which composes palletize XY plane cannot be specified
CB0	Mismatch Point Data Valid Axes for Palletize Three-Point Teaching	The effective axis pattern of the point data for the palletize three point teaching is not corresponding
CB1	Offset Setting Error During Palletize Three Point Teaching	The plover setting offset cannot be set when the base point is the same as X axis terminal when the Palletize three point teaching is set (It is not 0)
CB2	BGPA and EDPA Pair and Mismatch Error	The BGPA and EDPA syntaxes are invalid. EDPA was declared when BGPA is undeclared or BGPA is declared without declaring EDPA after BGPA is declared
CB4	Palletize Z Axis Non Deceleration Error	Please declare Z axis by PCHZ or ACHZ
CB5	BGPA Non Deceleration Error During Palletize Setting	Do not set Palletize without declaring BGPA. Please declare BGPA
CB6	Palletize Point Error	invalidity (There is things except no Z axis element) is found in Palletizepoint
CB7	ARCH Trigger Non Declaration Error	Please declare the arch trigger by PTRG or ATRG
CB8	Three-Point Teaching Non Setting Error During Palletize Angle Acquisition	After the teaching is set of the Palletize three points, the Palletize angle cannot be acquired
CB9	Axes X and Y Non Specification Error During Palletize Angle Acquisition	Because the XY axis cannot be specified because there are a lot of effective axes of the point data of three point teaching, the angle calculation cannot be done
CBA	Base Axis and /Y Axes Mismatch Error During Palletize Angle Acquisition	The angle calculation cannot be done because there are not two axes which compose the XY axis set by three point teaching
CBB	Base point and X axis terminal XY element same Error when Palletize angle is acquired	Because the arc tangent cannot calculate when the effective axis data which composes the XY axis of the base point and X axis terminal of three point teaching is the same, the angle calculation cannot be done
CBC	Palletize Motion Computation Error	An error occurred in the palletize motion trapezoidal calculation
CBD	Divisor 0 Error During MOD Command	When MOD was ordered, 0 was specified for a divisor
CBE	Target Value Data Boundary Over Error	The target position or the movement tracks exceed the positioning boundary of the infinite stroke mode. – only X-SEL
CBF	Positioning Distance Over Flow Error	The positioning distance is too large. If the controller is of absolute encoder specification and the system has just been moved or ‘Error No. C74, Actual-position soft limit over error’ has also generated, the controller may be experiencing a servo-packet calculation overflow caused by abnormal current position resulting from an unsuccessful absolute reset. Perform an absolute reset again by following the operation manual. (Simply selecting ‘Encoder error reset’ on the absolute reset screen will not allow the controller to recognize the correct position. Always perform an absolute reset by strictly following the specified procedure.)
CC0	Axis mode Error	The axis mode is invalid
CC1	Velocity Change Condition Error	The speed change was tried to the axis (S motion use operation axis etc.) which was not able to change the speed
CC2	Driver Parameter List No. Error	Driver parameter list No. is invalid
CC3	Angle Error	The angle is invalid
CC4	SEL Data Error	The SEL data is invalid
CC5	Positioning Boundary Escape Error	The execution of the command not permitted outside the positioning boundary was tried
CC6	First Driver Error Detection	The first driver Error was detected. Please check cabling
CC7	Palletize Movement Z Axis Pattern Non Detection Error	When palletize moves, Z axis element is not found in the axis pattern
CC8	ARCH Top Z Axis Pattern Non Detection Error	Most significant point Z axis element is not found in the axis pattern at the arch motion
CC9	ARCH Trigger Z Axis Pattern Non Detection Error	Z axis element is not found in the arch trigger declaration point data axis pattern
CCA	ARCH Top and End Point Reverse Error	The relation of coordinates of the most significant point and the terminal is reversed at the arch motion
CCB	ARCH Start Point Trigger Reverse Error	The relation of coordinates of the starting point and the starting point art trigger is reversed at the arch motion
CCC	ARCH End Point Trigger Reverse Error	The relation of coordinates of the terminal and the terminal art trigger is reversed at the arch motion
CCD	Drive Source Shut Off Axis Usage Error	The use of the axis to which driving source was intercepted was tried
CCE	Axis usage Error	The use of the Error generation axis was tried. The axis is in error and cannot be activated. Remove cause of error before proceeding
CCF	Palletize Base Point Valid Axis Mismatch Error	At palletize, the X?Y(?Z) axis set by PASE?PCHZ is not effective in the axis pattern of the base point point data set by PAST
D01	Enocder EEPROM Write Time-out Error	There is a trouble in the communication with the encoder breakdown or the encoder
D02	Encoder EEPROM Read Time-out Error	There is a trouble in the communication with the encoder breakdown or the encoder
D03	Encoder Count Error	It is presumed an encoder breakdown or a defective state of the encoder
D04	Encoder One Rotation Reset Error	The encoder breakdown or the encoder rotates
D05	Encoder EEPROM Write Acceptance Error	There is a trouble in the communication with the encoder breakdown or the encoder
D06	Encoder Reception Data Error	There is a trouble in the communication with the encoder breakdown or the encoder
D07	Driver Logic Error	It is in a state that driver CPU board cannot work normally. Possible causes: Damage the Driver CPU Board Electrical noise Bug of the firmware Solution: Check for electrical noise sources on the power line (if unavoidable then maybe use a UPS to condition the power line). Install electrical noise filters on the incoming power to the controller (typically iron powder clamp filters but sometimes a filter module). Confirm that the system is grounded. If still unable to resolve then contact IAI Tech Support to return for repair
D08	Encoder CRC Error	There is a trouble in the communication with the encoder breakdown or the encoder
D09	Driver Excess Speed Error	The rotation speed of the motor exceeded the upper bound
D0A	Driver Overload Error	The input electric power to the motor exceeded the upper bound. Most likely something is prohibiting the motion of the axis. If the axis has a brake, make sure it is releasing properly
D0B	Driver EEPROM Data Error	Data write to EEPROM is prohibited
D0C	Encoder EEPROM Data Error	There is an error I in the EEPROM
D0E	Axis Sensor Error(P0E2)	Axis sensor invalidity generation
D0F	Power Stage Temperature Error(P0E1)	The power stage board exceeded the upper bound temperature
D10	Intelligent Power Module (IPM) Error(P0E0)	The trouble occurred in the motor drive circuit. Most likely the driver board is damaged. Measure the relative resistance of the U,V,W motor phases. Also confirm that the numbered wires are inserted in order on the green motor connector
D11	Driver Allocation Error	It is in the state that driver CPU board cannot work normally
D12	Encoder Disconnection Error	The encoder cable has been disconnected
D13	FPGA Watch Dog Timer	There is a trouble in the interface between main CPU
D14	Electric Current Loop Under Run Error	There is a trouble in the interface between main CPU
D15	Driver CPU Down Status Error	Driver CPU board invalidity generation
D17	Main CPU Alarm Status Error	There is a trouble in the interface between main CPU
D18	Velocity Loop Under Run Error	There is a trouble in the interface between main CPU
D19	Encoder Reception Time-out Error	There is no communication between controller and encoder. Please check cabling and connection. Possibly defective encoder or encoder connection on controller plugged in backwards. Faulty commmunication cable may also cause ths
D1A	Driver Command Error	CPU bus command invalidity generation
D1B	Serial Bus Reception Error	There is a trouble in the interface between main CPU
D1C	Encoder Over Speed Error	The rotation speed of the motor exceeded the upper bound. Encoder data is corrupted. SCARA — vibration or motion of arm during shipment may have caused the encoder value to become corrupted. Execute Absolute Reset Procedure
D1D	Encoder Full ABS Status Error	The rotation speed of the motor exceeded the upper bound
D1E	Encoder Counter Overflow Error	The multi rotation counter of the encoder exceeded the upper bound
D1F	Encoder Multiple Rotation Error	It is presumed an encoder breakdown or a defective state of the encoder
D20	Driver Error	(Refer to Error No. CA1. )
D22	Encoder Multiple Rotation Reset Error	The encoder breakdown or the encoder rotates
D23	Encoder Alarm Reset Error	Encoder breakdown”
D24	Encoder ID Error	There is a trouble in the communication with the encoder breakdown or the encoder
D25	Encoder Composition Mismatch Error	Composition information on the encoder is outside the function information range
D26	Motor Composition Mismatch Error	Composition information on the motor is outside the function information range
D50	Field Bus Error(FBMIRQ time-out)	The FBMIRQ time-out was detected
D51	Field Bus Error(FBMIRQ reset)	The FBMIRQ reset Error was detected
D52	Field Bus Error(FBMBSY)	FBMBSY was detected
D53	Field Bus Error(BSYERR)	BSYERR was detected
D54	Window Lock Error(LERR)	LERR was detected
D55	Field Bus Error(Min busy)	Min busy Error was detected
D56	Field Bus Error(MinACK time-out)	The Min ACK time-out was detected
D57	Field Bus Error(MoutSTB time-out)	The Mout STB time-out was detected
D58	Field Bus Error(INIT time-out)	The INIT time-out was detected
D59	Field Bus Error(DPRAM write lead)	The DPRAM write lead Error was detected
D5A	Field Bus Error(TOGGLE time-out)	The TOGGLE time-out was detected
D5B	Field Bus Error(access write retry over)	Access write retry over error was detected
D5C	Field Bus Error(Error of access right open)	The Error of the access right open was detected
D5D	Field Bus Error(FBRS link Error)	Device is not connected to bus. To temporarily ignore this Error as well as the above FieldBus Errors, change I/O Parameter “Extended I/O Error Monitor” to 0 for the corresponding slot. (nos. 11-13). DeviceNet needs it own dedicated 24VDC (+/-1%) supply separate from PLC I/O, etc. Supply should have current limit protection and fusing at each cable segment. Needs to rise in <250ms to within 5% of rated output.
D60	Enhancing SIO 2?4CH insulation power supply is invalid.	Enhancing SIO insulation invalid power supply was detected
D61	Enhancing SIO 1?3CH insulation power supply is invalid.	Enhancing SIO insulation invalid power supply was detected. Likely damaged expansion slot serial card. Contact IAI to order a new card
D62	The clock oscillation is invalid for enhancing SIO baud rate generator.	Enhancing SIO clock invalid oscillation was detected
D63	Enhancing SIO UART Paging Error	Enhancing SIO paging Error was detected
D64	Expansion SIO Assignment Error	Expansion SIO Slot Card is not addressed properly. Check I/O Parameters to ensure proper settings
D68	Uninstalled Remote Mode Control Support Board	Hardware which supports the remote mode control is not installed though remote mode control (AUTO/MANU) is specified by I/O parameter No.79
D69	Terminal stand overcurrent or supply power supply is invalid with the outside.	The terminal stand supply power supply with the terminal stand overcurrent or the outside with the outside is invalid
D80	SCARA Non Support Function Error	It tried to use the SCARA unsupport function. – only new SCARA
D81	Parameter Error When Effective Target Data is Calculated	- Only a new scalar
E01	DMA Address Error	It is DMA forwarding Error
E02	SCIF Transmission Buffer Overflow Error	The SCIF transmission buffer overflowed.
E03	SCI Transmission Buffer Overflow Error	The SCI transmission buffer overflowed.
E04	SCIF Reception Buffer Overflow Error	The SCIF reception buffer overflowed. More excessive data than the outside is received.
E05	SCI Reception Buffer Overflow Error	The SCI reception buffer overflowed. More excessive data than the slave is received.
E06	Reception Time-out Error(slave communication)	The response from the slave cannot be recognized.
E07	SCI Overrun Error(slave communication)	Interference. Please confirm the noise, the circuit trouble, and the slave card.
E08	SCI Framing Error(slave communication)	Interference. Please confirm the noise, the short, and the circuit trouble and the slave card.
E09	SCI Parity Error(slave communication)	Interference. Please confirm the noise, the short, and the circuit trouble and the slave card.
E0A	SCI CRC Error(slave communication)	CRC is invalid.
E10	SCIF Communication Mode Error	The communication mode is invalid.
E11	SCI Communication Mode Error	The communication mode is invalid.
E12	SIO Bridge SCIF Transmission Queue Over Flow Error	It is a transmission cue overflow.
E13	SIO Bridge SCI Transmission Queue Over Flow Error	It is a transmission cue overflow.
E14	SCI Receive Data Register Full Wait Time Out Error	Interference. Please confirm the noise, the short, and the circuit trouble and the slave card.
E15	SCI Overrun Error	Interference. Please confirm the noise, the short, and the circuit trouble and the slave card.
E16	Program End Confirmation Time-out Error	The program cannot be ended.
E17	I/O Processing Program Start Logic Error	The I/O processing program start logic is invalid.
E18	Task ID Error	Task ID is invalid.
E19	WAIT Factor Error	The WAIT factor is invalid.
E1A	WAIT Logic Error	The WAIT logic is invalid.
E1B	Point Data Valid Address Error	A point data effective address is not set.
E1C	Source Data Error	The source data is invalid.
E1D	Non Operation Output No. Error	No operation output No. is invalid. There is a possibility that numerical values (0 is acceptable) other than output port No. are input to I/O parameter No.70-73.
E1E	Zone Parameter Error	The ZONE parameter setting(s) in Specific Axis Parameters Nos. 88,91,94, and 97 cannot be set to system I/O signals such as those set with I/O Parameters Nos. 30-45. – only X-SEL.
E1F	I/O Assignment Parameter Error	When numerical values other than the multiple of eight are input to I/O parameter No.14-17 when numerical values other than numerical values (-1 is acceptable) other than I/O port No. and I/O head port No.+ multiples of eight are input to I/O parameter No
E20	I/O Multiple Assignment Error	I/O assignments overlap. Check I/O Parameters Nos. 2-9 and 14-17 to ensure no duplicate settings.
E21	I/O Assignment No. Over Error	Check I/O parameters Nos. 2-9, 14-17 for I/O assignments not corresponding to actual hardware.
E22	Header Error(slave communication)	The header in reception from the slave card is invalid.
E23	Card ID Error(slave communication)	Card ID in reception from the slave card is invalid.
E24	Response Type Error(slave communication)	The response type in reception from the slave card is invalid.
E25	Command Type Error(slave communication)	The command type which tries to be transmitted is invalid.
E26	Target Type Error	The target type is invalid. Check the dip switch settings to be sure 1-4 are off. (On the XSEL-J type, the switches are above the MANU/AUTO switch and on the XSEL-K type the switches are located underneath the display cover.)
E27	Target Non Equipped Error	The target (slave cards such as the driver card, I/O cards, and encoders) is unmounted.
E29	EEPROM Error(EWEN/EWDS impropriety)	It is invalid. (At the write. )
E2A	Different Read and Compare During EEPROM Write Error	It is invalid. (At the write. )
E2B	Response Failure During EEPROM Information Acquisition	Slave, EEPROM, information, acquisition, command, transmit. An invalid response was received.
E2C	MAX Reception Size Over During EEPROM Information Acquisition	Slave, EEPROM, information, acquisition, command, transmit. The reception size exceeds the limit value.
E2D	Reception Data Check Sum Error During EEPROM Information Acquisition	Slave, EEPROM, information, acquisition, command, transmit. The checksum of receive data is invalid.
E2E	Necessary Power Stage Not Equipped Error	A necessary power stage is not mounted for an effective axis.
E2F	Necessary Regenerative Resistance Not Equipped Error	Necessary regenerative resistance is not mounted for an effective axis.
E30	Necessary Motor Drive Source Not Equipped Error	A necessary motor drive power supply is not mounted for an effective axis.
E31	Standard I/O Slot Card Error	Standard I/O unit is not mounted.
E32	Control Power Supply Not Equipped Error	The control power supply unit is not mounted.
E33	Slave Response Logic Error	The slave response logic is invalid.
E34	Outside of Slave Block Number Range	The slave block number is outside the range.
E37	Slave Data Setting Prohibition	The slave data setting is being prohibited.
E38	Slave EEPROM Failure.	Slave EEPROM failed.
E39	Encoder EEPROM Non Equipped Error	EEPROM on encoder board is not detected.
E3A	ABS Encoder Error	ABS encoder is specified illegally. Check Specific Axis Parameter #38 to ensure proper setting. 0: INC; 1: ABS
E3C	Undefined Slave Command Error Code Detection	The undefined slave command Error code was detected.
E3D	SEL Program Point Parameter Flash ROM Status Error	Data is not normally written in flash ROM or it is data written in an old version without interchangeability.
E3E	Parameter Sum Check Error	Flash ROM data is destroyed.
E3F	Gain Parameter Error	Check Specific Axis Parameter #60 to ensure proper setting.
E40	Rotating Axis Parameter Error	Check Specific Axis Parameters No.67, 66, 38, 37, and 1 to ensure proper setting.
E41	Insufficient Servo Motion Data Packet Error	It is servo motion data packet shortage.
E42	Servo Job Error	The servo job is invalid.
E45	Servo Undefined Command Detection Error	An undefined command was detected in the servo processing.
E46	MAX Reception Size Over During ABS Data Acquisition	The reception size at the ABS data acquisition is too large.
E47	No Normal Response during ABS Data Acquisition	There is no normal response at the ABS data acquisition.
E49	Encoder Multiple Rotation Error	The encoder multi rotation Error was detected.
E4A	Encoder Multiple Rotation Counter Over Flow Error	The encoder multi rotation counter overflow Error was detected.
E4B	Encoder Count Error	The encoder count Error was detected.
E4C	Encoder Overspeed Error	The encoder overspeed Error was detected.
E4D	Driver Z-phase Detection Logic Error	Z-phase detection completion status was notified by the driver though it was not in Z-phase detection operation mode.
E4E	Z-phase N. Related Parameter	Please confirm parameter No.23, 38, and 37, etc. according to the axis.
E4F	Synchronized Parameter Error	Please confirm parameter No.65, 39, and all axis parameter No.1, etc. according to the axis. – Only X-SEL :.
E50	Driver Special Command ACK Time-out Error	ACK to a driver special command cannot be detected.
E51	Drive Part Error(DRVESR)	It is an Error because of the driver notification.
E52	Encoder Error(DRVESR)	It is an Error because of the driver notification.
E53	Driver CPU Error(DRVESR)	It is an Error because of the driver notification.
E54	Servo Control Error(DRVESR)	It is an Error because of the driver notification.
E55	Command Error(DRVESR)	It is an Error because of the driver notification.
E56	Linear Motor Temperature Error	It is an Error because of the driver notification.
E58	Servo ON/OFF Time-out Error	Servo ON/OFF confirmation cannot be taken.
E59	Brake ON/OFF Time-out Error	Brake ON/OFF confirmation cannot be taken.
E5A	Pole Sense Error	The motor magnetic pole cannot be detected.
E5B	Detection OFF Error at Pole Sense Complete	Motor magnetic pole detection status bit (Psenex) is turned off although the pole sense was completed.
E5C	Reserve Servo Job Error at Stop	The servo job is invalid.
E5D	Servo Packet Error	The servo packet is invalid.
E5E	Servo Usage Management Arrangement No. Error	invalidity is found in servo use right management array No.
E5F	Length Conversion Parameter Error	Check Specific Axis Parameters No.47, 50, 51, 42, and 1 to ensure proper setting.
E60	MAX Slave Reception Size Over Error	The slave reception size is too large.
E61	No Normal Response to Slave Reception Error	A normal response from the slave cannot be received.
E62	Transmission Source Slave CPU Type Error	Transmission former slave CPU type is invalid.
E63	Message Buffer Information Type Error	The message buffer information type is invalid.
E64	Power Reserve Detection Failure	A preliminary invalid system power supply was detected.
E65	Regenerative Resistance Temperature Error	The regenerative resistance temperature Error was detected.
E66	AC Power Over Voltage Error	The AC power supply overvoltage Error was detected.
E67	Motor Power Over Voltage Error	The motor power supply overvoltage Error was detected.
E68	Reset Requiring Recovery Type Emergency Stop Status (Not an Error)	Please turn on the power supply again after releasing the emergency stop.
E69	24V I/O Power Error	Make sure 24VDC +/- 10% is supplied for the I/O. Beyond this will generate the error. Can override by changing I/O parameter 10 from 1 to 2 (ignores I/O power errors – ok for short term) or to 0 (turns card off.)
E6A	Reset Requiring Recovery Type Safety Gate Open Status (Not an Error)	Please cycle power once the safety gate has been closed.
E6B	Undetermined Shut Down Factor Error	The shutdown factor is irregular. Check enable jumper/switch. On the J-Type controller, be sure that the rotary switch is set to 0.
E6C	DO Output Power Error	The DO output current is abnormal.
E6D	Shut Down Relay Error	There is a possibility of the shutdown relay welding shut. Also could be firmware bug on J-type controller. Later versions of firmware corrected this problem. XSEL KE/KET/Q (Global spec) controllers need to have motor power applied as soon as the “Ready” output turns on. Monitor this output and turn on the contacts for the motor power via a relay. As a condition limited to X-SEL-P type controllers of standard single-phase specification, a ‘drive-source cutoff relay error (E6D)’ may generate if the power is turned off and then turned on again (reconnected) too quickly. This error indicates that the internal relay has fused, and its occurrence has to do with the specific circuit configuration of the above controller type. Although the specific wait time varies depending on the input voltage and number of external regenerative resistors connected, as a general guide wait for at least 40 seconds before reconnecting the power.
E6E	Power Stage Rated (W) Mismatch Error	The power stage where ratings capacity (W) is improper is mounted.
E6F	Power Stage Rated (V) Mismatch Error	The power stage where voltage rating (V) is improper is mounted.
E70	Motor Drive Power Rated (V) Mismatch Error	The motor drive power supply where voltage rating (V) is improper is mounted.
E71	Fuctional Information Does Not Support Encoder Composing Information	The encoder outside the support range is mounted for the driver unit.
E72	Fuctional Information Does Not Support Motor Composing Information	The motor outside the support range is mounted for the driver unit.
E73	Encoder Resolution Error	In the parameter of the system according to the axis and the mounted encoder, the encoder resolution does not correspond to actual hardware. Check Specific Axis Parameter #42 to ensure correct setting.
E74	Encoder Division Rate Error	In the parameter of the system according to the axis and the mounted encoder, the rate of the encoder dividing frequency does not correspond to actual hardware. Check Specific Axis Parameter #43 to ensure correct setting.
E75	Encoder Linear/Rotary Type Adjustment Error	In the system parameters according to the axis and the mounted encoder, the encoder linear/rotary type does not correspond to actual hardware. Check Specific Axis Parameter #37 0: Rotary 1: Linear. Linear is for use only on Linear Servo Motor actuator
E76	Encoder ABS/INC Type Mismatch Error	In the system parameters according to the axis and the mounted encoder, encoder ABS/INC type does not correspond to actual hardware. Check Specific Axis Parameter #38 0: INC 1: ABS, otherwise contact IAI for further information.
E77	Magnetic Pole Sensor Attachment Designation Mismatch Error	In the system parameters according to the axis and the mounted encoder, Hall Effect sensor specification does not correspond to actual hardware. Check Specific Axis Parameter #39 0: Not Attached 1: Attached, otherwise contact IAI for further information.
E78	Brake Attachment Designation Mismatch Error	In the system parameters the brake installation specification does not correspond to the actual hardware. Check Specific Axis Parameter #34 0: Brake Not Attached 1: Brake Attached. Also check that encoder cabling is correct. Also check that Encoder Parameter #14 is the same value as Driver Parameter #29; otherwise contact IAI for further information.
E79	Response Failure During EEPROM Data Setting Slave Command Transmission	When setting slave command was transmitted, an invalid response was received.
E7A	MAX Reception Size Over Error During EEPROM Data Setting Slave Command Transmission	When setting slave command is transmitted, the reception size exceeds the limit value.
E7B	Motor Drive Power Electric Current Time-out Error	The motor drive power supply cannot be energized.
E7C	Registry Drive Test Error	The register lead write is invalid.
E7D	Straight Movement Axis Parameter Error	Please confirm parameter No.38, 68, and 1, etc. according to the axis.
E7E	Parameter Error	The parameter is invalid.
E7F	Stroke Parameter Error	Please confirm parameter No.7, 8, and 1, etc. according to the axis.
E80	Non Support Card Error	The card not supported is installed in the I/O slot.
E81	Standard I/O Slot Card Detection Error	The I/O Slot #1 card cannot be detected. Verify the card is mounted properly in the controller.
E82	Card Mismatch Error	There is a problem in the combination or the position where the I/O slot card is installed.
E83	I/O Slot Card Error	The I/O slot card is invalid.
E84	Encoder Resolution Error	Please confirm parameter No.47 according to the axis, 50, 51, 44, 42, 43, 1, and 37, etc.
E85	Undetermined Driver Ready OFF Factor Error	Driver Ready OFF factor is irregular.
E86	Field Bus Error(FBVCCER)	Field bus Error (FBVCCER) was detected.
E87	Field Bus Error(FBPOWER)	Field bus Error (FBPOWER) was detected.
E88	Power Supply System Error	A power supply system error was detected. This is usually caused by cycling power too quickly. Power down for five seconds before powering on again. Also can be caused by improper power supplied to the controller.
E89	SCIF Opening Error in Non-AUTO mode(The servo is being used. )	Serial channel one OPEN (PC software and port of the TP using combinedly) from the SEL program is prohibited excluding the AUTO mode while using the servo. (For safety. )
E8A	SEL Program Flash ROM Status Error	Data is not normally written in flash ROM or it is data written in an old version without interchangeability. Using cartesian firmware on SCARA or vise versa. Upload correct core and application firmware.
E8B	Symbol Definition Table Flash ROM Status Error	Data is not normally written in flash ROM or it is data written in an old version without interchangeability.
E8C	Point Data Flash ROM Status Error	Data is not normally written in flash ROM or it is data written in an old version without interchangeability.
E8D	Parameter Flash ROM Status Error	Data is not normally written in flash ROM or it is data written in an old version without interchangeability.
FF0~F00	Shutdown Error(For the hi_sysdwn() definition. )
F03~F58	Shutdown Error(OS call Error)	The shutdown Error (OS call Error) was detected.
F60	System Down Level Error Call Procedure Error	The system down level error call procedure mistake was detected.
F61	Interpreter Task End Task ID Error	Interpreter task end task ID Error was detected.
F62	Power Reserve Detection Failure	A preliminary invalid system power supply was detected.
F63	Regenerative Resistance Temperature Error	The regenerative resistance temperature Error was detected.
F64	AC Power Over Voltage Error	The AC power supply overvoltage Error was detected.
F65	Motor Power Over Voltage Error	The motor power supply overvoltage Error was detected.
F66	Servo Control Under Run Error	Communication error between main CPU and the Driver. Cause: 1) Noise between main CPU and driver PCB; 2) Failure on the main CPU or driver PCB Remedy: Cycle power to attempt to clear F66. If persistent, then likely failure on CPU/driver PCB. Contact IAI Tech Support.
F67	FROM Write Pass Range Error	The writing operation other than 32 bit long word access were detected at the time of writing in flash ROM.
F68	FROM Write Protect Error	The writing operation to flash ROM area where writing was protected was detected.
F69	Boot Watch Dog Error	The boot watchdog detection of FPGA was generated. There is a possibility that the core part program does not operate normally.
F6A~FA0	Undefined Exception and Interruption Error	The exception and the interrupt not defined were generated.
FB0	TMU0 Interruption Error	The TMU0 interruption Error was detected.
FB1	Application Program Part Code SDRAM Copy Error(sum check)	After copying the FROM->SDRAM program, four byte check sum of the equivalent section is not corresponding.
FB2	No Installation Flash ROM Adjustment(application program part)	Flash ROM type assumed with software does not adjust to mounting wear flash ROM type. Please confirm the combination of software and hardware.
B7C	Target tracks error in “C”ircular “P”ath operation limitation.	The location you are trying to reach is out of operation limitation.
B7D	Target tracks error which cannot physically achieved.	The actuator is trying to travel to a point outside its physical ability.
EC6	Sum check Error.	Problem in the serial communication interface. Check baud rate.
ACF	Check Power Supply	Check power supplied to controller. If the last digit of the controllerís model number is ‘-1′, the power specification is 100V. If the last digit is ‘-2′, the power specification is 200V.
A5A	Number to Character string change failure warning.	Number to Character string change failure warning.
B80	Specified prohibition axis error	Error occurred when try to execute a prohibited motion/command. Ex) HOME on an IX SCARA through Serial Communication.
B82	Multiple axis specification error when jog operates.	Multiple axes declared when trying to perform a JOG function.
ED0	Service Port Number Error	Discovered by Walter Goedicke(Father of the ED0)on November 19, 2003. Please contact him for further details.
E4	Low Battery Error	The voltage to the battery has dropped below a certain value which then causes this error to be displayed.
dSF	1) Nothing connected to TP in MANU mode 2) Use of non-IAI RS232 cable 3) Deadman switch on Teach Pendant (special option type) not made	1) Connect the teach pendant or PC cable to the TP port while in MANU mode 2) Use IAI RS232 cable with e-stop only 3) Squeeze the deadman switch slightly so that the contact is made (it is designed this way)
208	Time Data Error	The time data is invalid. Check the data.
200	Encoder parameter data version mismatch warning	The version of encoder parameter data is not supported by this controller. Update the encoder parameters.
203	Drive-source cutoff relay DET (MELT) error	The drive-source cutoff relay may have fused.
206	Updating system mode error (IAI Protocol)	An update command was received other than in the update mode.
207	Update file name error (IAI protocol)	The name of the update program file selected in the update mode is invalid. Select the correct file and repeat the updating procedure from the beginning.
209	Unsupported control constant table ID error	The control constant table ID is not supported. Check the data.
20A	Control constant table change/query error	The message of the control constant table change/query command contains an error. Check the message that has been sent.
20B	Control constant table write data type specification error	The specified control constant table write data type is invalid. Check the message that has been sent.
20C	Control constant table management information mismatch	The management information regarding the control constant table is invalid. Confirm that the control constant table is supported by the controller.
20D	Flash busy reset timeout error	Error erasing/writing the flash ROM
20E	Motorola S-byte count error	The update program file is invalid. Check the file.
20F	Updating target specification error (Received by the	The system application received an updating target specification command. To update the program, restart the controller and repeat the updating procedure from the beginning.
400	Mounted-SIO unopen error (S)	An attempt was made to use a channel that is not open.
401	Mounted-SIO in-use error	An attempt was made to open a channel that has already been opened by other task.
402	Mounted-SIO unopen error (M)	An attempt was made to use a channel not opened by the applicable task.
403	Mounted-SIO duplicate WRIT execution error	WRIT commands were executed simultaneously by multiple tasks for the same channel.
404	Mounted-SIO unused channel selection error	An attempt was made to use a channel specified as ‘not used’ by a parameter. Check I/O parameter Nos. 201, 213, etc.
406	Flash busy reset timeout	Error erasing/writing the flash ROM
407	Control constant table management information mismatch	The management information regarding the control constant table is invalid. If this error occurs when the controller is started, the control constant table may need to be updated.
408	Control constant table ID error	The control constant table ID is invalid.
409	Encoder control constant error (power-source voltage	An encoder control constant relating to power-source voltage control is invalid. The encoder power-source voltage cannot be adjusted (the encoder power will be supplied without voltage adjustment).
40A	Encoder power-source voltage calculation error	The encoder power-source voltage cannot be adjusted (the encoder power will be supplied without voltage adjustment). Check the ‘motor/encoder configuration information’ in driver parameter No. 26 and encoder parameter No. 11.
40B	Speed control parameter calculation error	Check driver parameter Nos. 38, 39, 40, 43, 44, 45, etc.
603	Drive-source cutoff relay DET (MELT) error	The drive-source cutoff relay may have fused.
604	Power-supply board CPU ready OFF error	A ready status of the power-supply board cannot be confirmed.
605	Forced discharge error	Abnormal forced discharge. The drive-source cutoff relay may be abnormal. The power must be reconnected.
606	Regenerative discharge error	Abnormal regenerative discharge. The power must be reconnected.
607	Motor power-source voltage low error	Low voltage was detected in the motor power circuit.
608	Power-supply board FRCDCSTR-ON timeout error	Power-supply board FRCDCSTR-ON could not be confirmed within the specified time.
609	Power-supply board RBONSTR-ON timeout error	Power-supply board RBONSTR-ON could not be confirmed within the specified time.
60A	Power-supply board RBONSTR-OFF timeout error	Power-supply board RBONSTR-OFF could not be confirmed within the specified time.
60B	Power-supply board FRCDCSTR-OFF timeout error	Power-supply board FRCDCSTR-OFF could not be confirmed within the specified time.
60C	Power-system overheat error	An overheated power-supply board, regenerative resistor, etc., was detected. The power must be reconnected.
60D	Slave board CPU ready OFF error (other than power supply)	A ready status of the driver board, etc. (other than power-supply board) cannot be confirmed.
60E	Dynamic brake ON/OFF timeout error	Dynamic brake ON/OFF cannot be confirmed within the specified time.
60F	Power-supply board synchronous send timing error 1	A communication failure occurred between the power-supply board and FPGA (main).
610	Power-supply board synchronous send timing error 2 (CPCLKER)	A communication failure occurred between the power-supply board and FPGA (main).
611	Power-supply board synchronous communication LRC error	A communication failure occurred between the power-supply board and FPGA (main).
612	Power-supply board synchronous communication timeout error	A communication failure occurred between the power-supply board and FPGA (main).
613	Driver synchronous communication driver read error	A communication failure occurred between the driver board and FPGA (main).
614	Driver synchronous communication LRC error	A communication failure occurred between the driver board and FPGA (main).
615	Driver synchronous communication toggle error	A communication failure occurred between the driver board and FPGA (main).
61A	Mounted-SIO watchdog timer error	The mounted-SIO CPU system is abnormal.
61B	Mounted-SIO parameter data error	There is an invalid mounted-SIO parameter. Check I/O parameter Nos. 201 to 224.
61C	Mounted-SIO parameter transfer format error	The mounted-SIO parameter transfer format is invalid.
61D	Mounted-SIO other slave error	An error occurred in the mounted-SIO CPU. Record or save the detailed information of the error list.
61E	Mounted-SIO F-send/receive queue overflow error (M)	An overflow was detected in the FIFO (FPGA) for main CPU-mounted-SIO communication.
61F	Mounted-SIO control command PUT disable error	FIFO (FPGA)-FULL was detected at mounted-SIO control command PUT.
620	Mounted-SIO control command completion timeout error	Completion of the mounted-SIO control command cannot be confirmed after the specified time.
621	Mounted-SIO logic error	A logic error in mounted-SIO control.
622	Mounted-SIO undefined control command receive error	An undefined control command was received from the mounted-SIO.
623	Driver error detail code acquisition error	A driver error occurred, but an error detail code could not be acquired.
624	Undefined driver error	A driver error occurred.
625	Driver-side detection synchronous communication error	A communication failure occurred between the driver board and FPGA (main).
626	Driver IPM15V voltage low error	A low voltage was detected in the driver IPM15V circuit.
627	Driver current detection A/D offset over error	A driver current detection A/D offset error was detected.
628	Driver error	(Driver error for future expansion)
629	Driver Error	(Driver error for future expansion)
62A	Driver error	(Driver error for future expansion)
62B	Driver error	(Driver error for future expansion)
62C	Driver error	(Driver error for future expansion)
62D	Driver error	(Driver error for future expansion)
62E	Driver error	(Driver error for future expansion)
62F	Driver error	(Driver error for future expansion)
630	Updating system code error (Application detection)	The updating system code is invalid.
631	Updating unit code error (Application detection)	The updating unit code is invalid.
632	Updating device number error (Application detection)	The updating device number is invalid.
633	Feedback pulse synchronization error (Detected in the	Abnormal feedback pulse synchronization (detected in the speed loop).
634	Feedback pulse synchronization error (Detected in the	Abnormal feedback pulse synchronization (detected in the position loop).
635	Deadman/enable switch requiring reset recovery open	Reset the deadman/enable switch, and then reconnect the power.
636	Serial encoder command busy error	The system was busy when the serial encoder command was issued.
637	Serial encoder command timeout error	Completion of the serial encoder command cannot be confirmed after the specified time.
638	Speed control parameter setting command busy error	The system was busy when the speed control parameter setting command was issued.
639	Speed control parameter setting command timeout error	Completion of the speed control parameter setting command cannot be confirmed after the specified time.
63A	ABZ encoder logic error	An encoder phase-A/B electrical level pattern error was detected. The power must be reconnected.
63B	Encoder/motor control constant table flash ROM status	Data is not written correctly to the flash ROM, or the data is of an old, incompatible version.
63C	Encoder/motor control constant table checksum error	The flash ROM data is corrupted.
63D	ABZ encoder specification error	An ABZ encoder cannot be installed for this axis. Check the ‘motor/encoder configuration information’ in driver parameter No. 26 and encoder parameter No. 11.
63E	ABZ encoder magnetic-pole sensor signal logic error	Check if the encoder cable is connected.
63F	Encoder control constant error	The encoder control constant is invalid.
640	Motor control constant error	The motor control constant is invalid.
641	Encoder power-source voltage control parameter error	Check driver parameter Nos. 32, 33, etc.
642	Speed loop parameter error	Check driver parameter Nos. 43, 44, 45, etc.
643	Encoder resolution division error	Check ‘Axis-specific parameter No. 43: Encoder division ratio.’
644	Encoder/motor combination mismatch error (encoder resolution)	Check driver parameter No. 26, encoder parameter No. 11.
645	DAC transfer completion check timeout error when encoder power	A timeout occurred during DAC transfer when the encoder power was supplied.
646	Encoder EEPROM read busy error	The encoder is faulty or an encoder communication failure occurred.
647	Encoder EEPROM write address mismatch error	The encoder is faulty or an encoder communication failure occurred.
648	Encoder EEPROM read address mismatch error	The encoder is faulty or an encoder communication failure occurred.
649	Undefined serial encoder installation error	Installation of serial encoder is not defined. Check the ‘motor/encoder configuration information’ in driver parameter No. 26 and encoder parameter No. 11.
64A	Undefined serial encoder command error	The serial encoder command is not defined.
64B	Serial encoder command packet error	The serial encoder command packet is invalid.
64C	1-revolution data reset error at servo ON (serial encoder command)	A 1-revolution data reset was commanded when the servo was ON. Turn OFF the servo.
64D	Encoder reset command timeout error (serial encoder command)	An encoder communication failure.
64E	ABS data query command timeout error (serial encoder command)	An encoder communication failure.
64F	Encoder error reset error at servo ON (serial encoder command)	Turn OFF the servo before resetting an encoder error.
650	Encoder receive timeout error (during initialization communication)	An encoder communication failure.
651	Speed control interruption control job error	The speed control interruption error job is invalid.
652	Serial encoder command control job error	The serial encoder command control job is invalid.
653	Encoder control job logic error	The encoder control job logic is invalid.
655	Encoder receive timeout error at serial encoder command issuance	An encoder communication failure.
656	Torque limit logic error	The torque limit logic is invalid.
657	Torque limit parameter error	Check driver parameter Nos. 38, 39, 40, etc.
658	Movement error during ABZ encoder counter initialization	Axis movement was detected while initializing the ABZ encoder counter following power on. The power may have been turned on or a software reset executed while the actuator was moving due to external force such as reactive force of a self-supported cable or while the installation location was vibrating.
65A	Unsupported encoder ID error	The encoder is not supported. No encoder control constant record is available that corresponds to the encoder ID. Check the installed encoder.
65B	Unsupported encoder error (main information)	The encoder is not supported. No encoder control constant record is available that corresponds to the encoder ID, or the record is invalid. Check the ‘motor/encoder configuration information’ in driver parameter No. 26 and encoder parameter No. 11.
65C	Unsupported motor error (main information)	The motor is not supported. No motor control constant record is available that corresponds to the motor ID, or the record is invalid. Check the ‘motor/encoder configuration information’ in driver parameter No. 26 and encoder parameter No. 11.
65D	Unsupported motor error (driver information)	The motor is not supported. The motor ID bit number is outside the range of maximum supported motor ID number when the driver parameter, Use motor control data in driver flash ROMî is specified. Check the motor/encoder configuration informationî in driver parameter No. 26 and encoder parameter No. 11.
65E	Current detection circuit type mismatch error	The motor control constant, “Current detection circuit specification” does not match the driver parameter, Installation type word 1, current detection circuit type. Check the motor/encoder configuration information in driver parameter No. 26 and encoder parameter No. 11.
65F	Main/driver motor control data mismatch error	A motor control constant does not match the corresponding driver parameter (rated speed, maximum speed, rated current, maximum current number of pole pairs, linear motor lead, linear motor specification). Check the motor/encoder configuration information in driver parameter No. 26 and encoder parameter No. 11.
660	Maximum motor speed mismatch error	The axis-specific parameter, “Maximum motor speed” does not match the motor control constant, “Maximum speed.” Check the “motor/encoder configuration information” in driver parameter No. 26 and encoder parameter No. 11.
661	Encoder/motor combination mismatch error (linear/rotary	The linear/rotary type does not match between the encoder and motor. Check the ‘motor/encoder configuration information’ in driver parameter No. 26 and encoder parameter No. 11.
662	Mechanical angle 360-degree pulse count calculation error	The calculated pulse count based on 360 mechanical angle degrees is invalid. (The calculated value is “0″, or in the case of a linear encoder, the calculated value has fraction.)
663	Software DB specification error	The value in the driver parameter, ‘Software DB specification’ is invalid.
664	Current control band number specification error	The value in the driver parameter, ‘Current control band number’ is invalid.
665	Driver/encoder communication line channel number	All-axis parameter No. 101 or 102, “Driver/encoder communication line channel setting” is invalid (invalid value, duplicate specifications).
666	Driver initialization communication type specification error	All-axis parameter No. 103 or 104, ‘Driver initialization communication type setting’ is invalid (invalid value, duplicate specifications, mismatch).
667	Invalid driver initialization communication line specification error at	Initialization communication line channel number is not specified for a valid axis. Check all-axis parameter No. 1, “Valid axis pattern,” Nos. 101 and 102, “Driver/encoder communication line channel setting” and Nos. 103 and 104, “Driver initialization communication type setting.”
668	Driver target information initialization error	The initialization sequence of driver target information did not complete successfully. Check the installed driver board. Check all-axis parameter Nos. 101, 102, 103 and 104, or driver parameter No. 26, encoder parameter No. 11.
669	Encoder target information initialization error	The initialization sequence of encoder target information did not complete successfully. Check the installed encoder. Check all-axis parameter Nos. 101, 102, 103 and 104, or driver parameter No. 26, encoder parameter No. 11.
66A	Power-system target information initialization error	The initialization sequence of power-system target information did not complete successfully. Check the installed power-supply board. Check the power-supply board parameters.
66B	Slave communication error response error	An error response was received during slave communication.
66C	SCI LRC error (slave communication)	The message LRC of slave communication is invalid.
66D	Slave communication target ID error	The target ID of slave communication is invalid.
66E	Slave communication block number error	The block number of slave communication is invalid.
66F	Target specification error due to no axis number	The specified target of slave communication (driver or encoder) is invalid (no axis number is assigned for the target ID, or an internal driver board axis is specified).
670	Target board type error	The target board type is invalid.
671	Encoder control data error	The encoder control data is invalid or cannot be acquired. Take the same actions specified for error Nos. 65A, 65B and 669.
672	Motor control data error	The motor control data is invalid or cannot be acquired. Take the same actions as specified for error Nos. 65C, 65D, 668 and 669.
81A	Mounted-SIO overrun status (SEL reception)	Communication failure. Check for noise, connected equipment and communication setting.
81B	Mounted-SIO parity ER status (SEL reception)	Communication failure. Check for noise, shorted/disconnected communication cable, connected equipment and communication setting.
81C	Mounted-SIO framing ER status (SEL reception)	Communication failure. Check for noise, shorted/disconnected communication cable, connected equipment and communication setting.
81D	Mounted-SIO S-receive queue overflow status (SEL reception)	The receive queue in the mounted-SIO CPU overflowed. Excessive data was received from outside.
81E	Mounted-SIO M-receive temporary queue overflow status	The temporary receive queue in the main CPU overflowed. Excessive data was received from outside.
81F	Mounted-SIO M-receive buffer overflow status (SEL	The receive buffer overflowed. Excessive data was received from outside.
820	DRV status 820 (TO_SELECTEDDATA)	(This is not an error, but maintenance information.)
D67	Motor/encoder configuration information mismatch error	Check that the actuators are plugged into the correct axis connections. Larger wattage is usually lower Axis #. The ‘motor/encoder configuration information’ (motor ID# & encoder ID#) in driver parameter No. 25 do not match the ‘motor/encoder configuration information’ (motor ID# & encoder ID#) in encoder parameter No. 11. Check the parameter values, encoder cable connection, etc.
FB8	Undefined NMI error	An undefined NMI interruption occurred.
A70	SCIF overrun error	Communication error. Check for noise, connected equipment and communication setting. (When updating the application, connect to a PC and use IAI’s update tool.)
A71	SCIF framing error	Communication error. Check for noise, shorted/disconnected communication cable, connected equipment and communication setting. (When updating the application, connect to a PC and use IAIís update tool.)
A72	SCIF parity error	Communication error. Check for noise, shorted/disconnected communication cable, connected equipment and communication setting. (When updating the application, connect to a PC and use IAIís update tool.)
A73	IAI protocol header error	Communication protocol error. Check for noise and connected equipment. (When updating the application, connect to a PC and use IAI’s update tool.)
A74	IAI protocol terminal ID error	Communication protocol error. Check for noise and connected equipment. (When updating the application, connect to a PC and use IAI’s update tool.)
A75	IAI protocol command ID error	Communication protocol error. Check for noise and connected equipment. (When updating the application, connect to a PC and use IAI’s update tool.)
A76	IAI protocol checksum error	Communication protocol error. Check for noise and connected equipment. (When updating the application, connect to a PC and use IAI’s update tool.)
A77	Motorola S record type error	The update program file is invalid. Check the file.
A78	Motorola S checksum error	The update program file is invalid. Check the file.
A79	Motorola S load address error	The update program file is invalid. Check the file.
A7A	Motorola S write address over error	The update program file is invalid. Check the file.
A7B	Flash timing limit over error (Write)	Error writing the flash ROM (When updating)
A7C	Flash timing limit over error (Erase)	Error erasing the flash ROM (When updating)
A7D	Flash verify error	Error erasing/writing the flash ROM (When updating)
A7E	Flash ACK timeout	Error erasing/writing the flash ROM (When updating)
A7F	Head sector number specification error	Error erasing the flash ROM (When updating)
A80	Sector count specification error	Error erasing the flash ROM (When updating)
A81	Write-destination offset address error (Odd-numbered	The address written during flash ROM write (when updating) is invalid. Check the update program file.
A82	Write-source data buffer address error (Odd-numbered	Error writing the flash ROM (When updating)
A83	Invalid code sector block ID error	The flash ROM is new, or the program currently written to the flash ROM is invalid because the last update was aborted. The ROM can be updated without problem.
A84	Code sector block ID erase count over	The number of times the flash ROM was erased exceeded the allowable count.
A85	FROM write request error before erase is complete	When updating, a flash-ROM write command was received before a flash-ROM erase command. Confirm that the update program file is valid and then perform update again.
A86	Absolute-encoder backup battery voltage-low warning (Driver	The voltage of the absolute-data backup battery is low. Check the battery connection or replace the battery.
A87	Motorola S-byte count error (Core detection)	The update program file is invalid. Check the file.
A88	Message conversion error (Core detection)	The received message does not conform to the message format or contains invalid data. Check the message sent from the host communication device.
A89	Updating target non-specification error (Core detection)	During update, an update command was received before the updating target was specified properly. Check if an appropriate updating PC tool is used and the target specification and other settings in the updating PC tool are correct.
A8A	Updating system code error (Core detection)	The system code in the message received with the updating target specification command does not match the controller system. Check the target specification and other settings in the updating PC tool.
A8B	Updating unit code error (Core detection)	The unit code in the message received with the updating target specification command does not match any updatable unit in the controller. Check the target specification and other settings in the updating PC tool.
A8C	Updating device number error (Core detection)	The specified device number in the message received with the updating target specification command is not appropriate. Check the target specification and other settings in the updating PC tool.
A8D	Flash busy reset timeout (Core detection)	Error erasing/writing the flash ROM
CD0	Drive error (Driver detection)	Error notification from the driver
CD1	Encoder error (Driver detection)	Error notification from the driver
CD2	Driver CPU error (Driver detection)	Error notification from the driver
CD3	Servo control error (Driver detection)	Error notification from the driver
CD4	Command error (Driver detection)	Error notification from the driver
CD5	Motor temperature error (Driver detection)	Error notification from the driver
E90	Core code flash-ROM status error	The core program is invalid. Contact the manufacturer.
E91	Application code flash-ROM status error	The application program is invalid. Contact the manufacturer.
E92	Core code sum error	The core program is invalid. Contact the manufacturer.
E93	Application code sum error	The application program is invalid. Contact the manufacturer.
E94	Timing limit over error (Flash erase)	Error erasing the flash ROM
E95	Flash verify error (Flash erase)	Error erasing the flash ROM
E96	Flash ACK timeout (Flash erase)	Error erasing the flash ROM
E97	Head sector number specification error (Flash erase)	Error erasing the flash ROM
E98	Sector count specification error (Flash erase)	Error erasing the flash ROM
E99	Timing limit over error (Flash write)	Error writing the flash ROM
E9A	Flash verify error (Flash write)	Error writing the flash ROM
E9B	Flash ACK timeout (Flash write)	Error writing the flash ROM
E9C	Write-destination offset address error (Flash write)	Error writing the flash ROM
E9D	Write-source data buffer address error (Flash write)	Error writing the flash ROM
E9E	Watchdog reset occurrence error	A WDT (watchdog timer) was manually reset (error detection).
E9F	Exception occurrence error while BL = 1 (NMI)	An exception occurred while the block bit in the CPU status register was ‘1′. (NMI)
EA0	Exception occurrence error while BL = 1 (Other than NMI)	An exception occurred while the block bit in the CPU status register was ‘1′. (Other than NMI)
EA1	Bit exception reset due to command/data TLB duplication	This reset occurs when there are multiple TLB entries corresponding to the virtual address.
EA2	Undefined exception/interruption error	An undefined exception/interruption occurred.
EA3	AC-power cutoff detection error	An AC-power cutoff was detected.
EA4	Abnormal standby power detection error	Abnormal standby power was detected.
EA5	Regenerative resistance temperature error	A regenerative resistance temperature error was detected. Reduce acceleration, velocity or payload or increase delay times. Insufficient regen units connected, please add more units (refer to charts in catalog or manual).
EA6	AC-power overvoltage error	An AC-power overvoltage error was detected.
EA7	Motor-power overvoltage error	A motor-power overvoltage error was detected.
EA8	FROM-write bus width error	A write operation other than 32-bit long word access was detected while writing the flash ROM.
EA9	FROM write protect error	Write operation to a write-protected flash ROM area (FRMWE bit in DEVCTR = 1) was detected.
EAA	SDRAM write/read test error	The SDRAM is faulty. Contact the manufacturer.
EAB	Application-update SCIF send-queue overflow error	An overflow occurred in the send queue.
EAC	Servo control underrun error	A servo control underrun error was detected.
EAD	Boot error	A FPGA boot watchdog was detected. The core program may not be running properly.
EAE	Application-update SCIF receive-queue overflow error	Excessive data is received from outside. (Confirm that a PC and IAIís update tool are used to update the application.)
EAF	Installed flash ROM type mismatch (Core)	The flash ROM type anticipated in the software does not match the flash ROM type actually installed. Check the combination of software and hardware.
EB0	Undefined NMI error (Core)	An undefined NMI interruption occurred.
210	Program-related data change/run command rejection error in	Change of program-related data or running of programs is prohibited in the positioner mode.
680	Magnetic-pole detection parameter error	Invalid parameter used for magnetic-pole detection. Check driver parameter Nos. 49, 50, etc.
682	I/O function specification error	Wrong I/O function specification. Check I/O parameter Nos. 30 through 61 and 251 through 282.
683	Axis operation error in system semi-locked (encoder stopped)	An attempt was made to operate an axis by turning on the servo, executing an absolute reset, etc., when the system was in semi-locked status (encoder was stopped).
690	Motor overcurrent error	Excessive current flew through the motor.
913	Multiple-program simultaneous start inhibition error	Simultaneously starting of multiple programs is inhibited.
914	Absolute-data backup battery voltage error	Check the connection of the absolute-data backup battery and replace the battery if necessary, and also check the connection of the encoder cable, and then perform an absolute reset.
dCF	DC power cutoff	For 24VDC systems (PSEL/ASEL): Momentary power failure has occurred or the voltage has dropped.
B91	Main overspeed requirement error	An excessive speed is required. This error may also occur when passing near the singular point (where arms 1 and 2 form a straight line) during CP operation. Program CP operation by avoiding movements near the singular point. This error may be prevented by lowering the specified speed.
684	Expansion Data Access Error	Old SEL PC software used with new controller. Sept 2007 SSEL controller memory expanded, needs to use PC Interface Software v7.06 or greater. Contact IAI Tech Support for further assistance.
EC9 (PC)	Receive Overrun	Close IAI SEL software and re-open to establish communication. May need to cycle power to the controller and/or computer.
EC7	Receive Buffer Overflow. (PC)	The receive buffer (PC) overflowed. Perform ‘Reconnection.’
EC8	Receive Buffer Overflow Error (PC) (OS)	The receive buffer overflowed. Perform ‘Reconnection.’
ECA	Framing Error (PC)	Framing error occurred. Perform ‘Reconnection.’
ECC	Unsupported controller connection error	The connected controller is not supported. Contact IAI to determine software rev and controller combination. May need update.
ECD	Ethernet Receive Timeout Error (PC)	Communication error. Check the HUB, cable connection, short, noise, etc.
ECE	Disconnection Error (PC)	Communication error. Check the HUB, cable connection, short, noise, etc.
ECF	Socket Error (PC)	Communication error. The cable may be removed or disconnected.
ED1	Cannot connect so many sockets (PC)	This error occurs when 64 or more controllers are connected.

IAI America, Inc.

ROBO Cylinder PC Software Version 7

Teaching Pendant CON-PT

Features:

The CON-PT is compatible with all ROBO Cylinder SEP and CON controllers

Mini ROBO Cylinder

Features:

1. Space-saving

2. Shaped and handled easily like air cylinders

3. Wide variations

4. Quality and Innovation

Save Energy with Green Automation

Energy Cost Comparison

RCP3/RCA2 Table Type Actuators

IK Series Multi-Axes Cartesian System

Boost Productivity and ROI!

Features:

1. Wide Variation

2. Motor Options

3. Easy Assembly

4. High Functionality

5. Quality and Innovation

RCL-SA Micro Servo Slider Actuator

Features:

1. Space Saving, Ultra Compact Linear Servo Slider

2. High-Speed Operation Through the Linear Motor Method

3. Smooth, Quiet Operation

4. Built-in Encoder Supports Multiple Positioning Points

5. Choice of Controllers for Different Applications

ZR Unit – High Speed Vertical / Rotation Electric Actuator

Features and Benefits:

1. Add the ZR Unit to a 2-axes System to Create a High Speed 4-axes System

2. High Speed Rotation

3. A Lineup of 2 Sizes to Fit Your Application

4. Quality and Innovation

PSEL-C-ABU Absolute Controller

Features:

1. The simple absolute eliminates the need for a home return. The unit works immediately when connected to a power source.

2. The controller can interpolate 2 axes. The proprietary SEL language enables easy programming of difficult operations.

3. Encoder data can be saved for a maximum of 20 days.

4. Quality and Innovation

RCP2/RCA-SRA Short Body Type Actuators

Features:

1. Significantly Shortened Length

2. Choose Between Pulse/Servo Motor

3. Guides Can Be Selected

4. Flexible Installation

5. Quality and Innovation

Product Overview

IX SCARA

ROBO Cylinder

Linear Actuators

Table Top

Controllers

Teaching Pendant

Examples of Cost Savings with ROBO Cylinder Electric Actuator Applications

List of Industry Applications and Benefits using ROBO Cylinder Linear Electric Actuators

To learn more about how IAI can help your business go green:

See the energy efficient ROBO Cylinder Electric Actuator Lineup

Examples of Electronic Parts Application Cost Savings

Examples of Cost Savings with ROBO Cylinder Electric Actuator Applications

Reduction of Initial Cost From $1,108.47 to $750.91*

Reduction of Initial Cost From $2,400 to $931.04*

Reduction of running costs by $20,000 a year*

8% Increase in Production Efficiency*

Reduction of Loss by $6,700 a Year*

See the energy efficient ROBO Cylinder Electric Actuator Lineup

Examples of Food Applications Cost Savings

Examples of Cost Savings with ROBO Cylinder Electric Actuator Applications

7% Increase in Production Efficiency

Reduction of Labor Cost by $4378.60

See the energy efficient ROBO Cylinder Electric Actuator Lineup

Examples of Automobile Applications Cost Savings

Examples of Cost Savings with ROBO Cylinder Electric Actuator Applications

Reduction of Initial Cost From $51,753.20 to $41,893.44*

Reduction of Initial Cost From $1,588.43 to $578.54*

43% Increase in Production Efficiency

Cost Reduction of $30,912*

Ensuring Operator Safety

See the energy efficient ROBO Cylinder Electric Actuator Lineup

The CON-PT is compatible with all
ROBO Cylinder SEP and CON controllers

1. Add the ZR Unit to a 2-axes System
to Create a High Speed 4-axes System

1. The simple absolute eliminates the need for a home return.
The unit works immediately when connected to a power source.

List of Industry Applications and Benefits using
ROBO Cylinder Linear Electric Actuators

See the energy efficient
ROBO Cylinder Electric Actuator Lineup

Examples of Cost Savings with
ROBO Cylinder Electric Actuator Applications

Examples of Cost Savings with
ROBO Cylinder Electric Actuator Applications

Examples of Cost Savings with
ROBO Cylinder Electric Actuator Applications

Examples of Cost Savings with
ROBO Cylinder Electric Actuator Applications