IAI PCON-CB series Instruction Manual Download Page 21

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POWER CON

PCON-CB/LC

Alert Indication

The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the

warning level, as follows, and described in the Instruction Manual for each model.

Level

Degree of Danger and Damage

Symbol

Danger

This indicates an imminently hazardous situation which, if the

product is not handled correctly, will result in death or serious

injury.

Danger

Warning

This indicates a potentially hazardous situation which, if the

product is not handled correctly, could result in death or serious

injury.

Warning

Caution

This indicates a potentially hazardous situation which, if the

product is not handled correctly, may result in minor injury or

property damage.

Caution

Notice This indicates lower possibility for the injury, but should be kept to

use this product properly.

Notice

Summary of Contents for PCON-CB series

Page 1: ...CB CFB Standard Type CGB CGFB Safety Category Complied Type PCON CB Series Controller Instruction Manual First Edition POWER CON ...

Page 2: ......

Page 3: ...gh this manual keep this Instruction Manual at hand so that the operator of this product can read it whenever necessary Important This Instruction Manual is original The product cannot be operated in any way unless expressly specified in this Instruction Manual IAI shall assume no responsibility for the outcome of any operation not specified herein Information contained in this Instruction Manual ...

Page 4: ...POWER CON PCON CB LC ...

Page 5: ...lect From PIO Control Pulse Train Operation Fieldbus Control ⅰ CC Link CC Link ME0254 ⅱ DeviceNet DeviceNet ME0256 ⅲ PROFIBUS DP PROFIBUS DP ME0258 ⅳ CompoNet CompoNet ME0220 ⅴ MECHATROLINK Ⅰ Ⅱ MECHATROLINK Ⅰ Ⅱ ME0221 ⅵ EtherNet IP EtherNet IP ME0278 ⅶ EtherCAT EtherCAT ME0273 ⅷ PROFINET IO PROFINET IO ME0333 Teaching Tool PC Software PC Software ME0155 Teaching BOX ⅰ TB 01 Touch Panel Teaching ME...

Page 6: ...Network In this chapter introduces the applicable fieldbus and manual numbers for other instruction manuals 157 Chapter 5 Collision Detection Feature In this chapter explains the setup and tuning for collision detection feature Chapter 6 Power Saving Function In this chapter explains how the power consumption can be saved 163 Chapter 7 Absolute Reset and Absolute Battery In this chapter explains t...

Page 7: ...r Simple Absolute Type 30 1 4 I O Specifications 31 1 4 1 PIO Input and Output Interface 31 1 4 2 Pulse Train Input Output Interface 32 1 5 Options 33 1 5 1 Pulse converter AK 04 33 1 6 Installation and Storage Environment 34 1 Installation Environment 34 2 Storage and Preservation Environment 34 1 7 Noise Elimination and Mounting Method 35 Chapter 2 Wiring 37 2 1 Positioner Mode PIO Control 37 2 ...

Page 8: ...ata Output ALM PM1 to 8 92 8 Brake Release BKRL 94 3 2 4 Operation with the Position No Input Operations of PIO Patterns 0 to 3 95 1 Positioning Basic PC1 to PC CSTR PM1 to PM PEND MOVE LOAD TRQS 95 2 Speed Change During the Movement 100 3 Pitch Feeding Relative Movement Incremental Feed 101 4 Pressing Operation 103 5 Tension Operation 108 6 Multi step Pressing 110 7 Teaching by PIO MODE MODES PWR...

Page 9: ...top 155 4 Error Monitor During Torque Limiting 156 5 Deviation Counter Clear Input 156 6 Torque Limit Command Input 156 7 Pulse Count Direction 156 8 Compulsory Stop Input 156 Chapter 4 Field Network 157 1 PCON CB CFB Type 157 Chapter 5 Collision Detection Feature 161 5 1 Collision Detection Judgement 161 5 2 Settings 162 5 3 Adjustment 162 Chapter 6 Power saving Function 163 6 1 Automatic Servo o...

Page 10: ...rounding 250 10 4 Maintenance 251 10 4 1 Consumed Parts 251 10 4 2 Maintenance Information 251 10 4 3 Replacement of Fan PCON CFB 252 10 5 Example of Basic Positioning Sequence PIO pattern 0 to 3 253 10 5 1 I O Assignment 253 10 5 2 Ladder Sequence 254 1 Servo ON Emergency Stop Circuit 254 2 Operation and Stop Circuit 254 3 Pause Circuit 255 4 Reset Circuit 256 5 Home Return Circuit 257 6 Decode C...

Page 11: ...duct which are provided on the 1 1 3 DVD 1 PCON CB Instruction Manual this manual 2 RC PC Software Instruction Manual ME0155 For Fieldbus Type 3 Touch Panel Teaching Instruction Manual ME0324 Field Network Setting File 4 Each Fieldbus Instruction Manual ME0254 etc File e g EDS File 5 Instruction Manual of the Actuator Download it in IAI homepage http www iai robot co jp Step 2 Check How to Operate...

Page 12: ...he figure below for heat radiation CFB screw affixed type detach the fan unit once and use the attachment holes on the top Refer to 10 4 3 Replacement of Fan Refer to 1 6 Installation and Storage Environment and 1 7 Noise Prevention and Installation 5 35 84 8 69 6 170 5 178 5 φ5 Earth Terminal Grounding resistance at 100Ω or less Copper Wire Connect to an ground cable with diameter 1 6mm 2mm 2 or ...

Page 13: ...t may generate an alarm if it hits to the mechanical end or peripherals when the servo is turned on Also in case the actuator is installed in vertical orientation turning ON and OFF the servo at the same spot may cause a slight drop by the self gravity Pay attention not to pinch your finger or damage a work piece Caution Pay attention not to pinch your finger or damage a work piece by dropping the...

Page 14: ...POWER CON PCON CB LC ...

Page 15: ...ty 3 Important safety parts of machinery Safety device etc Do not use the product outside the specifications Failure to do so may considerably shorten the life of the product Do not use it in any of the following environments 1 Location where there is any inflammable gas inflammable object or explosive 2 Place with potential exposure to radiation 3 Location with the ambient temperature or relative...

Page 16: ...d Consider the safety factor of the hook in such factors as shear strength Do not get on the load that is hung on a crane Do not leave a load hung up with a crane Do not stand under the load that is hung up with a crane 3 Storage and Preservation The storage and preservation environment conforms to the installation environment However especially give consideration to the prevention of condensation...

Page 17: ...tion or looseness Failure to do so may cause a fire electric shock or malfunction of the product Never cut and or reconnect the cables supplied with the product for the purpose of extending or shortening the cable length Failure to do so may cause the product to malfunction or cause fire 4 Installation and Start 3 Grounding The grounding operation should be performed to prevent an electric shock o...

Page 18: ...s necessary to secure safety Do not insert a finger or object in the openings in the product Failure to do so may cause an injury electric shock damage to the product or fire When releasing the brake on a vertically oriented actuator exercise precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity 5 Teaching When the work is carried out with 2 or more person...

Page 19: ...ch the terminal block or any of the various setting switches in the power ON mode Failure to do so may result in an electric shock or malfunction 7 Automatic Operation Check before starting the automatic operation or rebooting after operation stop that there is nobody in the safety protection fence Before starting automatic operation make sure that all peripheral equipment is in an automatic opera...

Page 20: ...o so may result in a damage to the product When releasing the brake on a vertically oriented actuator exercise precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity The slider or rod may get misaligned OFF the stop position if the servo is turned OFF Be careful not to get injured or damaged due to an unnecessary operation Pay attention not to lose the cove...

Page 21: ...which if the product is not handled correctly will result in death or serious injury Danger Warning This indicates a potentially hazardous situation which if the product is not handled correctly could result in death or serious injury Warning Caution This indicates a potentially hazardous situation which if the product is not handled correctly may result in minor injury or property damage Caution ...

Page 22: ... to choose from 2 For Pulse Train specification not only the 2 types pulse train control mode but also 6 types of PIO patterns are available The setup can be performed by using the parameter No 25 PIO pattern selection Refer to Chapter 3 Operation and Chapter 8 Parameter The PIO pattern is set to 0 Standard Type when the unit is delivered Set the operation pattern setting to the logic that suits t...

Page 23: ...able or Disable by using a parameter It is settable by parameter No 21 selection of servo on signal disable Refer to Chapter 8 Parameter If it is set to Enable the actuator would not operate unless turning this signal on If parameter No 21 is set to 1 SON requirement is disabled If it is set to Disable the servo becomes on and the actuator operation becomes enabled as soon as the power supply to t...

Page 24: ... long as the longer scan time at least Operation Image Also if one tries to read the signal that is being re written by the other the signal may be read wrongly Make sure to read the signal after the rewriting is complete It is recommended to have more than 2 scan periods to wait Make sure not to have the output side to change the output until the other side completes the reading Also a setting is...

Page 25: ...l before turning the servo on is the coordinates before adjustment operation 2 After the first time the servo is tuned ON after the power has been supplied the home return complete signal HEND and the limit switch output signal LS are output 3 When the first servo ON is conducted out of the soft limit range an error would not be output Soft limit monitoring starts after it is moved into the range ...

Page 26: ...etting Switch 9 SIO Connector 10 Motor Encoder Connector 11 Brake Release Switch 12 Power Supply Connector 4 PIO Connector Field Network Connector 6 LED for Power Alarm Monitoring 14 Fan Unit Desorption Lever 1 Absolute Battery Connector Not to be used 13 Fan Unit 3 Absolute Battery Status Indicator LED Not to be used 5 Controller Status Indicator LED 7 Axis Number Setting Switch 8 Operation Mode ...

Page 27: ... RD RD Either color Error occurred Either color Either color GN Battery Fully Charged Either color Either color OR Battery Charging Operation Either color Either color RD Battery Disconnected 4 PIO Connector Fieldbus Connector PIO Type is equipped with the input and output signal connectors for control and Fieldbus Type with connectors for each Fieldbus connection Refer to 2 1 2 PIO Pattern Select...

Page 28: ...a teaching tool without connection disconnection of the connection cable connector The SIO converter can specify up to 16 axes with hexadecimal numbers 0 to F The setting of the switch is read at power on of the controller Changing the setting after the power on is invalid Caution Note duplicate axis number setting which causes a communication error alarm code 30C no connection axis error to occur...

Page 29: ...xing to a control box and replacing the fan unit pull the lever up and the fan unit can be taken out When fixing put the unit back on and when replacing attach a new unit and push the lever down to affix the unit How to Detach How to Attach Warning Always set the switch to NOM in normal operation Make sure the opportunity to put the switch to RLS side is the minimum and is limited to when startup ...

Page 30: ...rolled 0 defines the home position and items in are for the home reversed type option 1 Rod Type 2 Slider Type 3 Table Type 4 Arm Type Caution There are some actuators that are not applicable to the origin reversed type Check further on the catalog or the Instruction Manual of the actuator 0 0 0 0 0 0 0 0 ...

Page 31: ...ment is not included in the actuator package Please prepare separately 6 Rotary Type 330 Rotation Specification Multiple Rotation Specification For Multiple Rotation Type with the origin reversed type the directions of and are the other way around ０ 330 Finger Attachment Note ...

Page 32: ...POWER CON PCON CB LC 18 ...

Page 33: ...ontroller Refer to How to Read the Model Plate How to Read the Model 1 Accessories 2 I O Flat Cable CB PAC PIO 1 shows the cable length Example 020 2 m 3 Power Connector FMC1 5 8 ST 3 5 Supplier Phoenix Contact 1 Recommended cable size 1 25 to 0 5mm 2 AWG16 to 20 4 Absolute Battery Option AB 7 or SEP ABU 1 For Simple Absolute Type 5 Dummy Plug DP 5 1 Only when PCON CGB CGFB 6 First Step Guide 1 Sh...

Page 34: ... 3 Instruction Manuals Related to This Product which are Contained in the Instruction Manual DVD No Name Manual No 1 PCON CB CFB Controller Instruction Manual ME0342 2 PC Software RCM 101 MW RCM 101 USB Instruction Manual ME0155 3 Touch Panel Teaching TB 01 01D 01DR Applicable for Position Controller Instruction Manual ME0324 4 Touch Panel Teaching TB 02 02D Applicable for Position Controller ELEC...

Page 35: ...Sync Type Standard PLN Pulse Train NPN Specification PN PNP Specification Source Type PLP Pulse Train PNP Specification CC CC Link Connection Type DV DeviceNet Connection Type PR PROFIBUS DP Connection Type CN CompoNet Connection Type ML MECHATROLINK Ⅰ Ⅱ Connection Type ML3 MECHATROLINK Ⅲ Connection Type EC EtherCAT Connection Type EP EtherNet IP Connection Type PRT PROFINET IO Connection Type Ide...

Page 36: ...n Modbus Protocol RTU ASCII Speed 9 6 to 230 4Kbps Control available with serial communication in the modes other than the pulse train PIO Type Signal I O dedicated for 24V DC selected from NPN PNP Input 16 points max output 16 points max Cable length MAX 10m External Interface Fieldbus Type DeviceNet CC Link PROFIBUS DP CompoNet MECHATROLINK Ⅰ Ⅱ EtherCAT EtherNet IP PROFINET IO MECHATROLINK Ⅲ Dat...

Page 37: ...less Mass Note 3 Simple Absolute Type Battery AB 7 190g or less Absolute battery case SEP ABU 140g Cooling Method Natural air cooling Forced air cooling External dimensions Screw fixed type 35W 178 5H 69 6D DIN rail fixed type 35W 185H 78 1D Screw fixed type 35W 190H 69 6D DIN rail fixed type 35W 196 5H 78 1D Surrounding Air Temperature 0 to 40 C Surrounding Humidity 85 RH or less non condensing S...

Page 38: ...Chapter 1 Specifications Check POWER CON PCON CB LC 24 1 3 Appearance 1 3 1 CB Type For Incremental Screw fixed Type 35 84 8 69 6 φ5 170 5 178 5 5 ...

Page 39: ... 1 Specifications Check POWER CON PCON CB LC 25 1 3 2 CB Type For Incremental DIN rail fixed Type M3 35 178 5 185 5 93 3 78 1 8 5 4 104 from DIN rail center 35 4 Width of 35mm DIN rail for FG cable attachment ...

Page 40: ...Chapter 1 Specifications Check POWER CON PCON CB LC 26 1 3 3 CB Type For Simple Absolute Screw fixed Type 35 84 8 69 6 φ5 5 40 5 58 170 5 178 5 ...

Page 41: ...Specifications Check POWER CON PCON CB LC 27 1 3 4 CB Type For Simple Absolute DIN rail fixed Type M3 35 178 5 185 5 58 93 3 78 1 8 5 4 104 from DIN rail center 35 4 Width of 35mm DIN rail for FG cable attachment ...

Page 42: ...ifications Check POWER CON PCON CB LC 28 1 3 5 CFB Type For Incremental Screw fixed Type 35 φ 5 5 84 8 69 6 190 170 5 7 Note When using the attachment hole on the top of the controller detach the fan unit temporarily ...

Page 43: ...Chapter 1 Specifications Check POWER CON PCON CB LC 29 1 3 6 CFB Type For Incremental DIN rail fixed Type 5 93 3 78 1 115 from DIN rail center 8 5 4 35 4 Width of 35mm DIN rail 35 190 7 196 5 ...

Page 44: ...OWER CON PCON CB LC 30 1 3 7 Absolute Battery Unit Option for Simple Absolute Type 1 DIN Rail Mounting Type 30 100 5 110 35 4 Width of 35mm DIN rail 72 2 66 2 50 from DIN rail center 2 Screw Mounting Type 122 φ5 30 15 5 130 73 5 66 2 ...

Page 45: ...X 6V DC Leakage Current MAX 2mA 1point NPN 680 5 6K P24 External Power Supply 24V DC Input Terminal Internal Power Source PCON 15 P24 N Load External Power Supply 24V DC Output Terminal Internal Power Source PCON PNP 680 5 6K N External Power Supply 24V DC Input Terminal Internal Power Source PCON 15 P24 N Load External Power Supply 24V DC Output Terminal Internal Power Source PCON I O Cable Refer...

Page 46: ...nput Output Interface Line Driver Input Specification Sends input pulse differential voltage approx 4V from the host unit that is installed with a line driver 26C31 or equivalent Host Unit Positioning Unit PCON PP PP NP NP Pulse Train Form Including active high and active low ...

Page 47: ...ut equivalent to 26C31 MAX 10mA Mass 10g or less excluding cable connector Accessories 37104 3122 000FL e CON Connector 2 Units Cover Color YW Applicable wire AWG No 24 to 26 Less than 0 14 to 0 3mm2 finished O D φ1 0 to 1 2mm Caution 1 Use the pulse converter in the surrounding temperature range between 0 C and 40 C 2 The temperature increase of about 30 C occurs during operation Accordingly neit...

Page 48: ...osed to direct sunlight Location where the product may come in contact with water oil or chemical droplets Environment that blocks the air vent Refer to 1 7 Noise Elimination and Mounting Method When using the product in any of the locations specified below provide a sufficient shield Location subject to electrostatic noise Location where high electrical or magnetic field is present Location with ...

Page 49: ...orber parallel with the coil 2 DC solenoid valves magnet switches and relays Measure Mount the windings and diodes in parallel Select a diode built in type for the DC relay Do not share the ground wire with or connect to other equipment Ground each controller Earth Terminal Grounding resistance at 100Ω or less Copper Wire Connect to an ground cable with diameter 1 6mm 2mm 2 or more Connect the gro...

Page 50: ...he control box use the attachment holes on top and bottom of the unit for the screw fixed type and use the DIN rails for the DIN rail fixed type Install in the orientation shown in the figure below for heat radiation MIN 30mm MIN 30mm MIN 30mm MIN 30mm MIN 100mm MIN 50mm MIN 100mm Ensure enough space for wiring 5 Installation of CFB Type For CFB screw fixed type detach the fan unit temporarily and...

Page 51: ...nects the PC software or touch panel teaching to the controller Inserting or removing the connector while the power is turned ON causes a controller failure Touch Panel Teaching to be purchased separately PC Software to be purchased separately Actuator Host System PLC etc Please prepare separately Power Source I O Control 24V DC Please prepare separately Emergency Stop Circuit Control Driving Powe...

Page 52: ...ber of positioning points 7 points Position command Individual number signal ON Zone signal output 1 1 point Note 2 Position zone signal output 2 1 point Note 2 PIO Pattern 5 5 Solenoid Valve Mode 2 3 point type Number of positioning points 3 points Position command Individual number signal ON Completion signal Signal equivalent to LS limit switch enabled Zone signal output 1 1 point Note 2 Positi...

Page 53: ...put IN15 SON SON SON SON 1B OUT0 PM1 ALM1 PM1 ALM1 PM1 ALM1 PM1 ALM1 2B OUT1 PM2 ALM2 PM2 ALM2 PM2 ALM2 PM2 ALM2 3B OUT2 PM4 ALM4 PM4 ALM4 PM4 ALM4 PM4 ALM4 4B OUT3 PM8 ALM8 PM8 ALM8 PM8 ALM8 PM8 ALM8 5B OUT4 PM16 PM16 PM16 PM16 6B OUT5 PM32 PM32 PM32 PM32 7B OUT6 MOVE MOVE PM64 PM64 8B OUT7 ZONE1 MODES PM128 PM128 9B OUT8 Note1 PZONE ZONE2 PZONE ZONE1 PZONE ZONE1 PM256 10B OUT9 RMDS RMDS RMDS RMD...

Page 54: ...5 SON SON 1B OUT0 PE0 LS0 2B OUT1 PE1 LS1 TRQS 3B OUT2 PE2 LS2 Note 2 4B OUT3 PE3 5B OUT4 PE4 6B OUT5 PE5 7B OUT6 PE6 8B OUT7 ZONE1 ZONE1 9B OUT8 Note1 PZONE ZONE2 PZONE ZONE2 10B OUT9 RMDS RMDS 11B OUT10 HEND HEND 12B OUT11 PEND 13B OUT12 SV SV 14B OUT13 EMGS EMGS 15B OUT14 ALM ALM 16B Output OUT15 LOAD TRQS ALML ALML 17B 18B Pulse input Refer to Section 2 2 for the details of Pulse Train Control...

Page 55: ... 2 5 3 2 6 SON Servo ON The servo remains ON while this signal is ON or OFF while this signal is OFF 3 2 3 HOME Home return The controller will perform home return operation when this signal is turned ON 3 2 3 MODE Teaching mode The operating mode will change to the teaching mode when this signal is turned ON The mode will not be switched over unless CSTR JOG and JOG are all OFF and the actuator o...

Page 56: ...nal will turn ON while the teaching mode is enabled by the input of the mode signal and will turn OFF when the mode changes to the normal mode 3 2 4 WEND Writing Complete It is OFF during the teaching mode and turns ON when the writing by PWRT Signal is complete It turns OFF when PWRT Signal turns OFF 3 2 4 PE0 to PE6 Current Position Number In the solenoid valve mode this signal will turn ON when...

Page 57: ...a touch panel teaching also becomes inactivated Image of Wiring Caution x When supplying the power by turning on off the 24V DC keep the 0V being connected and have the 24V supplied disconnected cut one side only x The rating for the emergency stop signal EMG is 24V DC and 10mA or less x Leave for 1 sec or more after shutting the power off before rebooting x Do not attempt to supply only the monit...

Page 58: ...The rating for the emergency stop signal EMG is 24V DC and 10mA or less x Leave for 1 sec or more after shutting the power off before rebooting x Do not attempt to supply only the monitor power without supplying the control power Wiring conducted at delivery Drive Cutoff Circuit External Emergency Stop Switch Teaching Tool Connection Detection Circuit Contact opens when connected PCON Touch Panel ...

Page 59: ...al EMG is 24V DC and 10mA or less x Leave for 1 sec or more after shutting the power off before rebooting x Do not attempt to supply only the monitor power without supplying the control power x The safety categories complied type CGB Type etc is not equipped with the relay to have the controller automatically identify that a teaching tool was plugged in and switch the wiring layout Those other tha...

Page 60: ...gories complied type CGB Type etc is not equipped with the relay to have the controller automatically identify that a teaching tool was plugged in and switch the wiring layout Those other than the safety categories complied type do the automatic identification and have S1 and S2 short circuited Note 2 When the motor driving source is cut off externally for a compliance with the safety category con...

Page 61: ... MPA Standard cable from 0 5 to 20m CB CA MPA Standard cable for High Thrust type from 0 5 to 20m RCP2 HS8 RA8 RA10 SA16 CB CAN MPA RB Standard cable for High Thrust type from 0 5 to 20m CB CFA MPA Standard cable for High Thrust type from 0 5 to 20m RCP4W RA RCP4 RA6 CB CFA MPA RB Standard cable for High Thrust type from 0 5 to 20m CB CFA MPA Standard cable for High Thrust type from 0 5 to 20m RCP...

Page 62: ...tion No 4 GN 1 5A PC4 PM16 5B GN 3 Completed Position No 4 Command Position No 8 BL 1 6A PC8 PM32 6B BL 3 Completed Position No 8 Command Position No 16 PL 1 7A PC16 MOVE 7B PL 3 Completed Position No 16 Command Position No 32 GY 1 8A PC32 ZONE1 8B GY 3 Completed Position No 32 Brake Control Release WT 1 9A BKRL 9B WT 3 Moving Operation Mode Changeover BK 1 10A RMOD RMDS 10B BK 3 Zone Home Return ...

Page 63: ... Mode Jog inching Changeover Jog Move 11A HOME HEND 11B Position Zone Zone 1 Pause 12A STP PEND WEND 12B Operating Mode Status Manual Mode 13A CSTR PWRT SV 13B Home Return Completion Reset 14A RES EMGS 14B Position Writing Completion Servo ON 15A SON ALM ALML 15B Servo ON Status 16A 16B Emergency Stop Status 17A N 17B Alarm 18A N 18B Light Error Alarm 19A 19B 20A 20B PCON PIO Connector BR 1 RD 1 O...

Page 64: ... PM64 PM128 6B Completed Position No 8 Command Position No 16 7A PC16 7B Completed Position No 16 Command Position No 32 Command Position No 64 Command Position No 128 8A PC32 PC64 PC128 8B Completed Position No 32 Completed Position No 64 Completed Position No 128 Brake Control Release 9A BKRL 9B Operation Mode Changeover 10A RMOD RMDS 10B Home Return 11A HOME HEND 11B Pause 12A STP PEND 12B Star...

Page 65: ...256 6B Completed Position No 8 Command Position No 16 7A PC16 7B Completed Position No 16 Command Position No 32 Command Position No 64 Command Position No 128 Command Position No 256 8A PC32 PC64 PC128 PC256 8B Completed Position No 32 Completed Position No 64 Completed Position No 128 Completed Position No 256 9A BKRL 9B 10A RMOD RMDS 10B 11A HOME HEND 11B 12A STP PEND 12B 13A CSTR SV 13B 14A RE...

Page 66: ... No 2 Current Position No 1 Current Position No 3 Current Position No 4 Current Position No 5 Current Position No 6 4A ST2 ST1 PE3 4B 5A ST3 PE4 5B 6A ST4 PE5 6B 7A ST5 PE6 7B 8A ST6 ZONE1 8B 9A BKRL 9B 10A RMOD RMDS 10B 11A HOME HEND 11B 12A STP PEND 12B 13A SV 13B 14A RES EMGS 14B 15A SON ALM 15B 16A 16B 17A N 17B 18A N 18B 19A 19B 20A 20B PCON PIO Connector BR 1 RD 1 OR 1 YW 1 GN 1 BL 1 PL 1 GY...

Page 67: ... 2 Start Signal 1 3A ST0 LS0 LS1 LS2 3B 4A ST1 4B 5A ST2 5B 6A 6B 7A 7B 8A ZONE1 8B 9A BKRL 9B 10A RMOD RMDS 10B Backward End Detection Forward End Detection Intermediate Position Detection 11A HEND 11B 12A 12B 13A SV 13B Reset 14A RES EMGS 14B Servo ON 15A SON ALM ALML 15B 16A 16B 17A N 17B 18A N 18B 19A 19B 20A 20B PCON PIO Connector Alarm Servo ON Status Emergency Stop Status Light Error Alarm ...

Page 68: ...ting or removing the connector while the power is turned ON causes a controller failure Touch Panel Teaching to be purchased separately PC Software to be purchased separately Actuator Host System PLC etc Please prepare separately Power Source I O Control 24V DC Please prepare separately Emergency Stop Circuit Control Driving Power Supply 24V DC Please prepare separately AK 04 AK 04 to be purchased...

Page 69: ...NC Not used 17A IN12 NC Not used 18A IN13 NC Not used 19A IN14 NC Not used 20A Input IN15 NC Not used 1B OUT0 PWR System Ready It turns ON when the control becomes available after the main power is supplied 3 3 2 1 2B OUT1 SV Servo ON Status This signal will remain ON while the servo is ON 3 3 2 5 3B OUT2 INP Position Complete Turned ON when the remaining moving pulses in the deviation counter ent...

Page 70: ...N12 NC Not used 18A IN13 NC Not used 19A IN14 NC Not used 20A Input IN15 NC Not used 1B OUT0 PWR System Ready It turns ON when the control becomes available after the main power is supplied 3 3 2 1 2B OUT1 SV Servo ON Status This signal will remain ON while the servo is ON 3 3 2 5 3B OUT2 INP Position Complete Turned ON when the remaining moving pulses in the deviation counter enters within the po...

Page 71: ...a touch panel teaching also becomes inactivated Image of Wiring Caution x When supplying the power by turning ON OFF the 24V DC keep the 0V being connected and have the 24V supplied disconnected cut one side only x The rating for the emergency stop signal EMG is 24V DC and 10mA or less x Leave for 1 sec or more after shutting the power off before rebooting x Do not attempt to supply only the monit...

Page 72: ...The rating for the emergency stop signal EMG is 24V DC and 10mA or less x Leave for 1 sec or more after shutting the power off before rebooting x Do not attempt to supply only the monitor power without supplying the control power Wiring conducted at delivery Drive Cutoff Circuit External Emergency Stop Switch Teaching Tool Connection Detection Circuit Contact opens when connected PCON Touch Panel ...

Page 73: ...al EMG is 24V DC and 10mA or less x Leave for 1 sec or more after shutting the power off before rebooting x Do not attempt to supply only the monitor power without supplying the control power x The safety categories complied type CGB Type etc is not equipped with the relay to have the controller automatically identify that a teaching tool was plugged in and switch the wiring layout Those other tha...

Page 74: ...gories complied type CGB Type etc is not equipped with the relay to have the controller automatically identify that a teaching tool was plugged in and switch the wiring layout Those other than the safety categories complied type do the automatic identification and have S1 and S2 short circuited Note 2 When the motor driving source is cut off externally for a compliance with the safety category con...

Page 75: ...5 to 20m CB CAN MPA RB Robot cable from 0 5 to 20m RCP4 GR type RCP5 For CB type RCP6 For CB type CB CAN MPA Standard cable from 0 5 to 20m CB CA MPA Standard cable for High Thrust type from 0 5 to 20m RCP2 HS8 RA8 RA10 SA16 CB CAN MPA RB Standard cable for High Thrust type from 0 5 to 20m CB CFA MPA Standard cable for High Thrust type from 0 5 to 20m RCP4W RA RCP4 RA6 CB CFA MPA RB Standard cable...

Page 76: ...TL 6B BL 3 PL 1 7A CSTP 7B PL 3 Deviation Counter Clear GY 1 8A DCLR 8B GY 3 Brake Control Release Compulsory Stop Torque Limit Select WT 1 9A BKRL ZONE1 ZONE2 9B WT 3 Operation Mode BK 1 10A RMOD RMDS 10B BK 3 Zone 2 Zone 1 Home Return BR 2 11A ALM1 ALM2 ALM4 ALM8 11B BR 4 RD 2 12A 12B RD 4 Operating Mode Status Emergency Stop Status OR 2 13A 13B OR 4 Home Return Completion Torque Under Control R...

Page 77: ...eset YW 2 14A EMGS 14B YW 4 Position Completion Servo ON GN 2 15A ALM 15B GN 4 BL 2 16A 16B BL 4 PL 2 17A N 17B PL 4 Alarm Code Output 1 Alarm Alarm Code Output 2 Alarm Code Output 4 Alarm Code Output 8 GY 2 18A N 18B GY 4 WT 2 19A 19B WT 4 BK 2 20A 20B BK 4 ACON DCON PIO Connector NC ALML None Light Error Alarm Output Datum Position Movement Complete PP PP NP NP Differential Pulse Supply Refer to...

Page 78: ...aution Make short circuit between the host positioning unit and the 0V on PIO connector When Host Unit is Open Collector System AK 04 to be purchased separately is required for pulse train input Caution 1 Use the same power source for the host open collector input and output AK 04 2 Have the cables as short as possible between the host unit and AK 04 0V 24V DC 0V 0V 1 2 3 4 1 2 3 4 PCON PIO Connec...

Page 79: ... 5 Enclosed in standard package Controller Side MC1 5 8 G3 5 Pin No Signal Name Contents Applicable cable diameter 1 EMG Input of emergency stop status signal KIV0 5mm2 AWG20 2 0V 3 24V Power supply input 24V DC 10 Note1 KIV1 25mm2 AWG16 4 MPO 5 MPI Motor drive power line KIV1 25mm2 AWG16 6 S2 7 S1 Teaching pendant Signal of emergency stop push button KIV0 5mm2 AWG20 8 BK Brake release power suppl...

Page 80: ...ositive side of the limit switch 8 LS Negative side of the limit switch 9 BK Positive side of the brake release 10 BK Negative side of the brake release 11 NC Not used 12 NC Not used 13 A Encoder A phase differential input 14 A Encoder A phase differential input 15 B Encoder B phase differential input 16 B Encoder B phase differential input 17 CA5V CA CB Encoder power 18 PS Encoder line driver ena...

Page 81: ...ring layout can be performed freely Model CB PAC PIO indicates the cable length L Example 020 2m No Cable Color Wiring No Cable Color Wiring 1A BR 1 1B BR 3 2A RD 1 2B RD 3 3A OR 1 3B OR 3 4A YW 1 4B YW 3 5A GN 1 5B GN 3 6A BL 1 6B BL 3 7A PL 1 7B PL 3 8A GY 1 8B GY 3 9A WT 1 9B WT 3 10A BK 1 10B BK 3 11A BR 2 11B BR 4 12A RD 2 12B RD 4 13A OR 2 13B OR 4 14A YW 2 14B YW 4 15A GN 2 15B GN 4 16A BL ...

Page 82: ...in close contact nor install them within a duct Do not install the pulse converter near other heating devices 4 If more than one pulse converters are installed set a pulse converter apart from another by 10mm or more 5 Make the wiring between the host controller PLC etc and AK 04 as short as possible Long wires make it easy to pick up noise Also make the wiring between AK 04 to this controller as ...

Page 83: ... product which are contained in the instruction manual DVD Caution If the controller is connected with a teaching tool set the operation mode setting switch to MANU If the teaching pendant is removed with the power supply being on the condition will become the transient emergency stop and the operated actuator will stop Do not disconnect the teaching pendant during the operation For CGB CGFB type ...

Page 84: ...Chapter 2 Wiring POWER CON PCON CB LC 70 ...

Page 85: ...Table of controller Actuator Position Number Start Signal Host Controller Enter a data including position velocity acceleration or deceleration etc No G 0 1 100 00 0 30 0 30 2 200 00 0 30 0 30 100 00 200 00 Acceleration Deceleration Velocity mm mm s G Position Controller Teaching Tool No G 0 1 100 00 0 30 0 30 2 200 00 0 30 0 30 100 00 200 00 Acceleration Deceleration Velocity mm mm s G Position O...

Page 86: ...in Position Table to the controller Operation Example for Parameters PIO Patterns 0 at Delivery Procedure 1 Input the position number at which positioning is desired to be performed in the binary data PC1 to PC32 from a tool such as the host controller and then turn the start signal CSTR ON Procedure 2 The actuator is placed at the proper coordinate value destination according to the positioning i...

Page 87: ...nding to the movement amount of the actuator to the controller from a tool such as the host controller positioning unit Procedure 3 The controller calculates the movement amount by multiplying the electronic gear ratio to the number of the pulse input to the controller Operation made in the movement amount from the current position The speed fluctuates in response to the speed of the pulse frequen...

Page 88: ...of a cell phone and settings of clocks and calendars Example Soft Stroke Limit Set a proper operation range for definition of the stroke end prevention of interferences with peripherals and safety Zone Output Set to require signal outputs in an arbitrary position zone within the operation zone Parameters should be set to meet the use of the controller prior to operation Once set they may not set e...

Page 89: ... Solenoid valve mode 2 Pulse train control mode Number of positioning points 64 64 256 512 7 3 Operation with the Position No Input Position No direct command operation Positioning Velocity change during the movement Pressing tension Pitch Feeding relative moving feed Home return signal input Pause 1 Jog moving signal Teaching signal input Current Position Writing Brake release signal input Moving...

Page 90: ...tion table Brake release signal input The brake option can only be released while the input is set to ON Moving signal output The output signal is set to ON while the actuator is moved Zone signal output The output signal is set to ON while the actuator is entered within the zone defined by the coordinate values set as parameters Position zone signal output The output signal is set to ON while the...

Page 91: ...the angle for the rotary actuator and lever type gripper Therefore mm deg 1 2 1 2deg mm s deg s 100 100deg s Note that the notation is mm on the screen of the teaching tool such as PC software 1 Position No The number is specified by PLC at start Caution Do not use position No 0 if available positions remains enough At the first servo ON after power ON the completed position No output is 0 even if...

Page 92: ...payload increase accel acceleration deceleration to larger than their rated values to shorten the tact time Please contact IAI for the settings in such situation Inform us of the weight shape and mounting method of the work and the installation conditions of the actuator 4 For the actuator of gripper type set the velocity acceleration and deceleration on the single finger basis Note that the relat...

Page 93: ...r mode Refer to 3 2 Operation in Positioner Mode Example of PIO pattern 5 The figure below shows the position table and the position at which each of the LS signals is turned ON If the actuator passes any of the positioning bands in the operation by another position number or manual operation in the servo off state the relevant LS signal is always turned ON No Position mm Velocity mm s Accele rati...

Page 94: ...use on the move during acceleration or deceleration It will change the speed acceleration and may cause a danger Caution on First Order Lag Filter Even if the position command or direct value command is conducted with first order lag filter being set while the actuator is operated in order to have a speed change during an operation it will not make first order lag filter control but will make trap...

Page 95: ...ervo control 5 Full servo control for a certain time and then automatically turning servo OFF 36 6 Full servo control for a certain time and then automatically turning servo OFF 37 7 Full servo control for a certain time and then automatically turning servo OFF 38 Caution y No retaining torque is provided in automatic servo OFF Pay sufficient attention to the setting because the actuator may be mo...

Page 96: ...nals Common to Patterns 0 to 5 1 Emergency Stop Status EMGS Output PIO signal EMGS Common to Patterns 0 to 5 Available Unavailable 1 The emergency stop status EMGS is turned ON when in normal condition and turned OFF when EMG terminal on 2 1 3 1 Power Supply Connector is 0V emergency stop condition or disconnected 2 It turns back ON once the emergency stop condition is released and EMG terminal go...

Page 97: ...odes selected by the RMOD signal and the corresponding output states of the RMDS signal Note 1 For the details of the link connection refer to 10 1 Way to Set Multiple Controllers with 1 Teaching Tool Selected or set to ON Unselected or set to OFF Condition Status PIO Operation Invalid Note 2 Teaching tool such as PC software PIO Operation Allowed Note 2 AUTO Switches ON front panel MANU PIO Input...

Page 98: ... Therefore making the excitation on will release the brake while making it off will lock the brake SON SV T 26ms Lock Release PEND Note 2 Brake T before detecting excitation Note1 SON signal identification 6ms Excitation detection time T1 T2 Number of retry 10 times Max Servo ON delay time T3 T after detecting excitation Note 1 SON signal identification 6ms Servo ON delay time T3 T1 Parameter No 3...

Page 99: ... home return The HOME signal is caught at the rising edge ON edge to start the home return At completion of the home return home return completion signal HEND is turned ON The home return complete signal HEND is kept on unless the memory of origin point is lost for a reason such as alarm During the home return operation positioning completion signal PEND and moving signal MOVE are set to OFF and O...

Page 100: ...everse specification the actuator moves in the reverse direction Make sure to refer to Section 8 2 16 when a change to Parameter No 22 Home return offset level is required Operation of Rotary Actuator 1 330 Rotation Specification 1 With the HOME signal being ON the actuator rotates at 20deg s in the CCW counterclockwise direction when it is viewed from the load side 2 It reverses at the mechanical...

Page 101: ...eversed rotation 9 Confirms the home sensor turns ON 10 Goes to a point exceeded the home sensor detection range on the home position side and confirms the home sensor is turned OFF 11 Based on the result gained from 6 7 9 and 10 the center of the home sensor detection range is calculated 12 Moves for the amount set in Parameter No 22 Home return offset level from the position of 11 and stops at t...

Page 102: ...nical end to end side at the home return speed 20mm s 2 The actuator is turned at the mechanical end and stopped at the home position The moving distance is the value set by Parameter No 22 Home return offset level Caution Make sure to refer to Section 8 2 16 when a change to Parameter No 22 Home return offset level is required Note 1 Finger attachment is not included in the actuator package Pleas...

Page 103: ...s turned ON at the position set by the proper parameter 2 Position zone signal PZONE The output signal is turned ON at the position set in the position table The feature can play a role as the sensor for judging whether the completion position is good or not in pressing operation setting the continuous operation zone in pitch feed or interlocking operations of other units in the setting zone 1 Zon...

Page 104: ...e negative side 1 Value set for positive side value set for negative side The output signal is set to ON in the range and OFF out of the range 2 Value set for positive side value set for negative side The output signal is set to OFF in the range and ON out of the range Example of Line Axis Example of rotary actuator of multi rotation specification in index mode Caution 1 Since this signal becomes ...

Page 105: ...ote 1 to be released The action is taken at the rising edge ON edge 3 The alarm reset should be done after the cause of the alarm is confirmed and removed If alarm reset and restart are repeated many times without removal of the cause a severe failure such as motor burnout may occur Note 1 Check the 9 4 Alarm List for details of alarms Caution Reset signal RES has two features or alarm reset under...

Page 106: ...teaching 091 PWRT signal detected during movement 092 PWRT signal detected before completion of home return 093 z z z 3 Move command during servo OFF 080 Position Command in Incomplete Home Return 082 Absolute position move command when home return is not yet completed 083 Movement Command during Home Return Operation 084 Position No error during movement 085 Move command while pulse train input i...

Page 107: ...lete home return 0D5 Deviation Overflow 0D8 Software stroke limit exceeded 0D9 Pressing motion range over error 0DC z z z 12 Servo error 0C1 Motor power source voltage excessive 0D2 z z 13 Encoder receipt error 0E5 Encoder count error 0E6 A and B phase Wire Breaking 0E8 External output power error 0DE Absolute encoder error detection 1 0ED Absolute encoder error detection 2 0EE Absolute encoder er...

Page 108: ... front panel of the controller 1 Direct teaching This operation is intended to get coordinate values to the position by moving the slider and or the rod by hand Warning 1 Take sufficient care to release the brake Inappropriate brake release may cause people to be injured and or the actuator the work and or the machine to be damaged 2 After the brake is released always make the brake applied again ...

Page 109: ...PEND MOVE LOAD TRQS Input Output PIO signal PC1 to PC CSTR PM1 to PM PEND MOVE LOAD TRQS PIO pattern 0 PC1 to 32 PM1 to 32 PIO pattern 1 PC1 to 32 PM1 to 32 PIO pattern 2 PC1 to 128 PM1 to 128 PIO pattern 3 PC1 to 256 PM1 to 256 Available Unavailable Note For incremental type operation without home return leads the operation based on the data of the specified position No after automatic home retur...

Page 110: ...completed position number is not output and the positioning complete signal is not turned ON at the completion of positioning 3 When the positioning is completed the positioning complete position numbers are output from complete position No PM1 to PM with binary data and also positioning complete signal PEND is turned ON 4 Moving signal MOVE is turned ON as soon as the operation is started and tur...

Page 111: ...op complete position number PEND is turned OFF once but moving signal MOVE is not turned ON Therefore use PEND to turn CSTR OFF 4 MOVE turns on at the same time as PEND turns OFF and turns OFF when a movement command is finished or PEND is turned ON Therefore when the positioning band setting is wide the signal may turn OFF even in the actuator operation and may turn off prior to PEND if the posit...

Page 112: ...lection is made valid the actuator can be moved only in a single direction Operation Examples Position No Position 1 0 2 90 3 180 4 270 Enter position data assuming 1 1mm Example 1 2 is assumed as 1 2 For operation in the order of positions 1 2 3 4 1 the actuator is moved differently whether the shortcut selection is valid or invalid y When shortcut selection is invalid y When shortcut selection i...

Page 113: ...2 is executed Similarly positioning is repeated in the order of position No 3 1 2 3 4 Because the normal positioning always gives position data specified last the highest priority the actuator can be rotated continuously 3 If the speeds in position No 1 to 4 are set to be the same the actuator can be rotated at the same speed Then the actuator is stopped at the positioning set in position No 4 The...

Page 114: ...position to the target position The value is set to 100mm in the example Thus for position No 2 positioning complete signal PEND is turned ON at the position before the target position by 100mm 2 Set the positioning to the target position at the second speed in position No 3 3 Start position No 2 Then start position No 3 successively when PEND in position No 2 is turned ON In normal positioning po...

Page 115: ...ition set in the position table indicates the pitch Set the pitch relative moving distance incremental moving distance in column Position 3 If the operation command is issued the actuator moves from the current stop position by Position in the position table To perform continuous movement repeat the operation Any accumulation error does not occur because the home position coordinate value 0 is spe...

Page 116: ...ly during pause the actuator moves continuously by the distance based on the number of starts In such a case cancel the remaining moving distance by turning reset signal RES to ON in the pause state or take interlock so that the start signal is not turned ON during pause 5 At software limit stroke end in pitch feed the actuator is decelerated to be stopped and positioning complete output PEND is o...

Page 117: ...s pressing operation distance 2 The actuator moves at the setting speed and rating torque to the position of the coordinate set in Position in the similar way as normal positioning Then the operation changes to pressing The moving distance in pressing is the value set in Positioning width The pressing is performed with the torque current limit value set in percent in Pressing of PIO patterns 0 to ...

Page 118: ... is set to 0 during movement of the actuator T1 6ms Note 1 PM1 to PM 0 Note 2 PM1 to PM 0 Note 2 Operation of actuator Not turned ON for miss pressing Command position No PC1 to PC PLC Controller Completed position PM1 to PM Controller PLC Start signal CSTR PLC Controller Positioning Completion Signal PEND Controller PLC Moving Signal MOVE Controller PLC Approach operation Pressing operation Posit...

Page 119: ... If the actuator is moved backward before the approach position alarm code 0DC Pressing motion range over error occurs to stop the actuator In movement of the work in the pressing direction PEND is turned OFF if the load current becomes lower than the current limit pressing Miss pressing occurs when the actuator moves by the pressing moving distance set in Positioning width 4 Do not make control o...

Page 120: ...the condition shown below during pressing PEND is turned ON at satisfaction of the condition if the work is not stopped Accumulated time in which current reaches pressing value accumulated time in which current is less than pressing value 255 ms Parameter No 6 Current Time Pressing Operation start Approach end Pressing start 200ms 20ms 75ms 295ms 200ms 75ms 20ms 255ms Pressing complete PEND output...

Page 121: ...rent exceeds the value set as the threshold of the position data in the pressing operation range except for approach operation range and in the range set as the position zone in the position data for the duration of judgment time Note 1 or longer It will not turn off even if the load has been removed and the current has dropped It retains on until the next movement command or till the servo gets t...

Page 122: ...own above 1 Position No 2 indicates the settings of tension operation The settings of Position and Positioning width show the tension start position and the tension quantity respectively Attach minus sign to the tension quantity Specify the upper limit of the torque required for tension in percent limited current value in Pressing The speed acceleration and deceleration are the conditions of posit...

Page 123: ...tension operation from a coordinate less than 30mm 80 50 located before the end position 30mm changes to the pressing operation from the current position to the tension end position Note that the tension operation after positioning to the position of 80mm does not take place 3 The work is pulled also after completion of the tension The work is drawn back or pulled further if the work is moved When...

Page 124: ...ssing pressure can only be changed in the pressing state The method of controlling multi step pressing is the same as that described in 4 Pressing operation 1 Set the weak pressing 30 in position No 2 and perform the pressing operation 2 If pressing complete signal PEND is turned ON start the pressing operation with pressing pressure 50 greater than the first pressure set in position No 3 The posi...

Page 125: ...hether the jog operation 1 or inching operation 2 is performed by the jog input signal JISL signal OFF Jog operation JISL signal ON Inching operation 2 There are two jog input signals or JOG for operation in the positive direction and JOG for operation in the negative direction 1 Jog operation The actuator is moved while the jog input signal is set to ON JOG While JOG is set to ON the actuator is ...

Page 126: ...he values set in the parameters below are written as the speed acceleration deceleration positioning width acceleration deceleration mode and stop mode Other data is set to 0 Velocity Parameter No 8 Default speed Acceleration Parameter No 9 Default acceleration deceleration Deceleration Parameter No 9 Default acceleration deceleration Positioning width Parameter No 10 Default positioning width in ...

Page 127: ...3 Turning PWRT signal OFF before turning WEND signal ON disturbs the proper data writing 4 Writing processing with position table screen remaining open on a teaching tool such as PC software cannot lead the data on the screen to be updated To update and confirm writing data take the following actions 1 PC software Left click the button 2 Teaching Pendant Change to user adjustment screen input 4 in...

Page 128: ...n is the value set in the position table 4 Turning reset signal RES ON during pause STP being OFF allows the remaining movement to be cancelled to interrupt the operation Caution 1 At occurrence of an alarm in the release level Note 1 RES can reset the alarm Cancel the remaining moving distance after confirmation that alarm signal ALM being ON in normal state and OFF at occurrence of an alarm is s...

Page 129: ... PE2 PEND 3 ST3 PE3 PEND 4 ST4 PE4 PEND 5 ST5 PE5 PEND 6 ST6 PE6 PEND Note Speed change is not allowed during movement For incremental type if start signal ST is issued without home return the home return operation is automatically done before the operation based on the data of the specified position number When this specification is not desired interlock by home return complete signal HEND is req...

Page 130: ...tion after completion of positioning both the PE and PEND signals remain ON except the pitch feed operation 2 Both the PE and PEND signals are set to ON in the positioning width zone Accordingly they may be turned ON under operation of the actuator if a large positioning width is set 3 Interlock should be taken so that two or more ST signals are set to ON simultaneously 1 Entering the ST signal of...

Page 131: ...1 The method of controlling pitch feed is the same as that described in 1 Positioning except the setting of the position table Repeat the positioning of a specific position No 2 For pitch feed the position set in the position table indicates the pitch Set the pitch relative moving distance incremental moving distance in column Position 3 If the operation command is issued the actuator moves from t...

Page 132: ... positioning being operated 2 Entering the ST signal of another position with the ST signal of the current position remaining ON after the completion of positioning allows the positioning to the other position to be executed 5 If Parameter No 27 Move command type is set to 0 factory setting turning ST OFF during positioning caused the operation to be interrupted 6 Note that when Parameter No 27 Mo...

Page 133: ...or moves at the setting speed and rating torque to the position of the coordinate set in Position in the similar way as normal positioning The operation is executed with the value set in Positioning Band for the amount of movement in the pressing operation and the torque current limit set in in Pressing for the pressing operation as the upper limit 3 The control method is the same as that in 1 Pos...

Page 134: ...ng is completed The work may moves backward or forward If the actuator is moved backward before the approach position alarm code 0DC Pressing motion range over error occurs to stop the actuator In movement of the work in the pressing direction PEND is turned OFF if the load current becomes lower than the current limit pressing Miss pressing occurs when the actuator moves by the pressing moving dis...

Page 135: ...the condition shown below during pressing PEND is turned ON at satisfaction of the condition if the work is not stopped Accumulated time in which current reaches pressing value accumulated time in which current is less than pressing value 255 ms Parameter No 6 Current Time Pressing Operation start Approach end Pressing start 200ms 20ms 75ms 295ms 200ms 75ms 20ms 255ms Pressing complete PEND output...

Page 136: ...rent exceeds the value set as the threshold of the position data in the pressing operation range except for approach operation range and in the range set as the position zone in the position data for the duration of judgment time Note 1 or longer It will not turn off even if the load has been removed and the current has dropped It retains on until the next movement command or till the servo gets t...

Page 137: ...n No 2 indicates the settings of tension operation The settings of Position and Positioning width show the tension start position and the tension quantity respectively Attach negative sign to the tension quantity Specify the upper limit of the torque required for tension in percent limited current value in Pressing The speed acceleration and deceleration are the conditions of positioning to the co...

Page 138: ...nsion ready position should be the tension start position or forward If not the moving direction varies depending on the start position to be dangerous The tension operation from a coordinate less than 30mm 80 50 located before the end position 30mm changes to the pressing operation from the current position to the tension end position Note that the tension operation after positioning to the posit...

Page 139: ...ti step pressing is the same as that described in 3 Pressing operation 1 Set the weak pressing 30 in position No 2 and perform the pressing operation 2 If pressing complete signal PEND is turned ON start the pressing operation with pressing pressure 50 greater than the first pressure set in position No 3 In this particular operation turn ON ST3 after completion of ST2 and turn OFF ST2 when PEND is...

Page 140: ...lock in case where an object is invaded into the moving direction of the actuator being moved 1 If pause signal STP is turned off during operation of the actuator the actuator is decelerated to a stop The deceleration is defined by the value set in the position table 2 During pause current position No PE and positioning complete signal PEND are not turned ON 3 If pause signal STP is returned to ON...

Page 141: ... Use the control method for interlock in case where an object is invaded into the moving direction of the actuator being moved 1 If the ST signal is turned OFF during movement the actuator is paused The deceleration is the value set in the position table 2 Turning the ST signal OFF causes the positioning to be interrupted and deemed complete signal PEND to be turned ON 3 If the ST signal is turned...

Page 142: ...ctuator hits an obstacle or the stroke end and become unable to move and the current of the motor exceeds the home return current limit value After the home return is fully prepared turn the ST0 signal ON to start the home return At the completion of the home return home return complete signal HEND is turned ON Turn the ST0 signal OFF if HEND is turned ON HEND remains ON unless the home is lost du...

Page 143: ...se specification the actuator moves in the reverse direction Make sure to refer to Section 8 2 16 when a change to Parameter No 22 Home return offset level is required Operation of Rotary Actuator 1 330 Rotation Specification 1 With the HOME signal being ON the actuator rotates at 20deg s in the CCW counterclockwise direction when it is viewed from the load side 2 It reverses at the mechanical sto...

Page 144: ...reversed rotation 9 Confirms the home sensor turns ON 10 Goes to a point exceeded the home sensor detection range on the home position side and confirms the home sensor is turned OFF 11 Based on the result gained from 6 7 9 and 10 the center of the home sensor detection range is calculated 12 Moves for the amount set in Parameter No 22 Home return offset level from the position of 11 and stops at ...

Page 145: ...anical end to end side at the home return speed 20mm s 2 The actuator is turned at the mechanical end and stopped at the home position The moving distance is the value set by Parameter No 22 Home return offset level Caution Make sure to refer to Section 8 2 16 when a change to Parameter No 22 Home return offset level is required Note 1 Finger attachment is not included in the actuator package Plea...

Page 146: ...ator passes any of the positioning widths in the operation by another position number or manual operation in the servo OFF state the relevant LS signal is always turned ON Caution LS signal would not be output if the positioning width is set less than the minimum resolution Home 0mm 70mm 150mm LS0 is ON 0 5mm LS1 is ON 70 10mm LS2 is ON 150 5mm No Position mm Velocity mm s Accele ration G Decele r...

Page 147: ... signal remain ON until the actuator reaches the target position 2 At the completion of positioning position detection output LS of the specified position is turned ON 3 Position detection output LS is turned ON if the remaining moving distance enters into the positioning width LS is set to ON if the current position is located within the positioning width zone or OFF if the current position is lo...

Page 148: ... of the actuator if a large positioning width is set 3 Interlock should be taken so that two or more ST signals are set to ON simultaneously If two or more ST signals are input simultaneously they will be executed according to the following priorities ST0 ST1 ST2 4 LS signal would not be output if the positioning width is set less than the minimum resolution Start signal ST1 PLC Controller Turned ...

Page 149: ...t set the positioning to the target position at the first speed in position No 1 In the positioning width set the distance from the speed change position to the target position The value is set to 100mm in the example Thus for position No 1 position sensing signal LS1 is turned ON at the position before the target position by 100mm 2 Set the positioning to the target position at the second speed i...

Page 150: ...er Position sensing Output LS0 Controller PLC Start signal ST1 PLC Controller Position sensing Output LS1 Controller PLC Position sensing Output LS2 Controller PLC Target position of position No 0 and No 1 Start signal ST2 PLC Controller Set of positioning width of position No 1 to shift change start position Operation of actuator Stop at position No 2 Moving at speed of Position No 1 Moving at sp...

Page 151: ...e an object is invaded into the moving direction of the actuator being moved 1 If the ST signal is turned OFF during movement the actuator is decelerated to a stop The deceleration is the value set in the position table 2 If the ST signal is turned ON again the remaining movement is continued The acceleration is the value set in the position table Before operation Positioning complete state Operat...

Page 152: ...city not at the rated pressing velocity could end up with pressing force different from that shown in Push Force and Current Limiting Value in Appendix in Chapter 10 Also operation in velocity higher than the rated pressing velocity could cause an error or malfunction Main Functions Function Name Name 1 Dedicated home return signal When this function signal is used home return can be performed wit...

Page 153: ...er can be controlled after main power on It is turned ON once the initialization terminates normally after main power on and PCON can be controlled regardless of alarm and servo status Even in the alarm condition when the PCON can control the system it is turned ON 2 Emergency Stop Status EMGS Output PIO signal EMGS 1 The emergency stop status EMGS is turned ON when in normal condition and turned ...

Page 154: ...OD signal and the corresponding output states of the RMDS signal Note 1 For the details of the link connection refer to 10 1 Way to Set Multiple Controllers with 1 Teaching Tool Selected or set to ON Unselected or set to OFF Condition Status PIO Operation Invalid Note 2 Teaching tool such as PC software PIO Operation Allowed Note 2 AUTO Switches on front panel MANU PIO Input RMOD PIO Output RMDS P...

Page 155: ... with the maximam torque After the stop the servo OFF occurs to enter the motor into the free running state The brake option is of release in excitation type Therefore making the excitation on will release the brake while making it off will lock the brake SON SV T 26ms Lock Release INP Brake T before detecting excitation Note 1 SON signal identification 6ms Excitation detection time T1 T2 Number o...

Page 156: ...1 The HOME signal is given priority over any pulse train command Even when the actuator is moving with a pulse train command it will start home return once the HOME signal is turned ON 2 The HOME signal is processed only at the leading edge ON edge of the signal 3 If the SON signal is turned OFF or an alarm is detected during home return the home return operation will stop If the servo is turned O...

Page 157: ...verse specification the actuator moves in the reverse direction Make sure to refer to Section 8 2 16 when a change to Parameter No 22 Home return offset level is required Operation of Rotary Actuator 1 330 Rotation Specification 1 With the HOME signal being ON the actuator rotates at 20deg s in the CCW counterclockwise direction when it is viewed from the load side 2 It reverses at the mechanical ...

Page 158: ...reversed rotation 9 Confirms the home sensor turns ON 10 Goes to a point exceeded the home sensor detection range on the home position side and confirms the home sensor is turned OFF 11 Based on the result gained from 6 7 9 and 10 the center of the home sensor detection range is calculated 12 Moves for the amount set in Parameter No 22 Home return offset level from the position of 11 and stops at ...

Page 159: ...datum position is conducted Once the movement to the datum position is complete output REND datum position movement complete signal turns ON Note2 For the absolute type actuators with no home return operation conducted have the position management of the host controller conducted at this point Set it in Parameter No 167 only for the absolute type actuators Note 1 Movement to the datum position is ...

Page 160: ...of the zone and that for the minus side 1 Value set for plus side value set for minus side The output signal is set to ON in the range and OFF out of the range 2 Value set for plus side value set for minus side The output signal is set to OFF in the range and ON out of the range For Straight Slide Actuators Operation of rotary actuator of multi rotation specification in index mode Caution 1 These ...

Page 161: ...can read the binary code of alarm signal ALM as the strobe signal to check the alarm information ON z OFF ALM ALM8 ALM4 ALM2 ALM1 Binary Code Description Alarm code is shown in z z z z Normal z z z z 1 Collision detection 0DF z z z z 2 Software reset during servo ON 090 Position No error in teaching 091 PWRT signal detection during movement 092 PWRT signal detection in incomplete home return 093 D...

Page 162: ...e low signal It is ON when the power is applied to the controller and turns OFF when the signal is output 11 Brake Forcible Release BKRL Output PIO signal BKRL The brake can be released while BKRL signal is turned ON For the actuator equipped with a brake the brake can be controlled by turning the servo ON OFF however a release of the brake may be necessary in the case of installing the unit to a ...

Page 163: ...not exceed the rated acceleration deceleration of the applicable actuator Refer to the actuator s catalog or the appendix in this Instruction Manual for the rated acceleration deceleration of each actuator The rotating direction of the motor is defined so that the counterclockwise direction as viewed from the end of the load shaft represents the forward direction PP PP NP NP PP PP NP NP PP PP NP N...

Page 164: ...l INP This signal will turn ON when the remaining travel pulses accumulated pulses on the deviation counter enters the positioning width When the servo is ON this signal turns ON when the accumulated pulses on the deviation counter are within the number of pulses set in Parameter No 10 Default positioning width This signal is OFF while the servo is OFF Caution 1 This signal will turn ON when the s...

Page 165: ...the maximum torque the moment the signal changes thus causing the actuator to move suddenly or run uncontrollably After turning TLR signal ON perform an operation in the reversed way to confirm TLR signal turns OFF If the condition is difficult for the reversed movement turn the servo OFF or clear the deviation counter by turning DCLR ON 4 Deviation Counter Clear DCLR Input PIO signal DCLR This is...

Page 166: ... Initial Value For reference Electronic Gear Numerator CNUM 1 to 4096 200 Electronic Gear Denominator CDEN 1 to 4096 15 Determine the movement amount and calculate value for the electronic gear setting by following the formula below Linear Axis Unit Travel Distance Min Travel Distance Unit 1 0 1 0 01mm etc pulse Rotary Axis Unit Travel Distance Min Travel Distance Unit 1 0 1 0 01deg etc pulse Elec...

Page 167: ...9deg Unit Travel Distance Travel distance per command pulse Do not set the minimum movement unit out of the encoder resolution ability If this setting is conducted the actuator would not start moving until enough command pulse is stored in the encoder resolution error Pay attention not to exceed the specification limit when setting the velocity acceleration and deceleration The pressing operation ...

Page 168: ...n amount and the command symbol shows the rotation direction A B Phase Pulse Train A B Phase Pulse Train The A B Phase 4 fold Pulse with the phase difference of 90 shows the commands for the rotation amount and direction Command Pulse Train Mode Input Terminal In Normal Rotation In Reverse Rotation Negative Logic Positive Logic Setting Value of Parameter No 63 2 1 0 2 1 0 2 Command Pulse Mode Inpu...

Page 169: ...e requires approximately 3 times longer than the set value after the command pulse input stop If the set value is 100ms the stabilizing time would be approximately 300ms Pulse Train Velocity 2 Torque Limit No Name Symbol Unit Input Range Initial Value 57 Torque Limit TQLM 0 to 70 70 Set a desired torque limit used in the torque limit input signal TL which is an external input signal Set a desired ...

Page 170: ... Input No Name Symbol Unit Input Range Initial Value 61 Torque limit command input TL 0 to 1 0 Torque control of the motor with the value set in Parameter No 57 Torque Control Value can be performed with PIO TL Signal ON from the host system In this parameter a choice can be made from using make activated TL Signal Torque Limiting Signal and not using make inactivated the signal Setting 0 Disable ...

Page 171: ...ROLINK Ⅰ Ⅱ Refer to the other ME0221 Note1 MECHATROLINK Ⅲ Refer to the other ME0317 Note1 EtherCAT Refer to the other ME0273 Note1 EtherNet IP Refer to the other ME0278 Note1 PROFINET IO Control of the actuator is available with I O communication using the control signals same as those for PIO or the numerical data communication Refer to the other ME0333 Note1 RS485 Actuator is controlled with usi...

Page 172: ...B LC 158 Reference Wiring Layout of Fieldbus for Fieldbus type Follow the instruction manual of the master unit and PLC consists of each fieldbus for the details of how to perform connections 1 DeviceNet Type 2 CC Link Type 3 PROFIBUS DP Type ...

Page 173: ...Chapter 4 Field Network POWER CON PCON CB LC 159 4 CompoNet Type 5 EtherNet IP Type 6 MECHATROLINK Ⅰ Ⅱ Type ...

Page 174: ...Chapter 4 Field Network POWER CON PCON CB LC 160 7 EtherCAT Type 8 PROFINET IO Type ...

Page 175: ...ergency It does not mean to compensate in any unexpected damage The setup of this feature is necessary to be adjusted to an expected collision and the optimum value differs depending on the system Well confirm the status before use 5 1 Collision Detection Judgement Judgment is made as a collision when the current position is in the range of the position zone for longer than the time set in the par...

Page 176: ...a pause Movement from a stop in the position zone range Message level Note 1 In this setting it can avoid a mistake to detect the current during acceleration 2 Setting of Detection Current Setting is made by inputting 0 0 to 100 100 in Threshold cell in the position table Detection is not conducted if set to 0 3 Setting of Adjustment time Setting can be established in the parameters Setting of par...

Page 177: ... control Setting Status PIO Pattern 0 to 4 PIO Pattern 5 Standby after home return is complete Positioning to the target point is not done Power saving function executed with the values set in Parameter No 53 Stop Mode of the position number is invalid Standby with the servo turned ON after the power is supplied Positioning to the target point is not done Power saving function executed with the va...

Page 178: ...tically turning servo off 6 Full servo control for a certain time value set in Parameter No 37 and then automatically turning servo off 7 Full servo control for a certain time value set in Parameter No 38 and then automatically turning servo off 3 Status of positioning complete signal in selection of automatic servo OFF Automatic servo off causes the actuator to be in other than the positioning co...

Page 179: ...E ON PM1 to 0 PE OFF PM1 to 0 PE OFF Positioning Completion Signal PEND OFF ON OFF OFF Servo OFF Delay Time ParameterNo 36to38 For Parameter No 39 1 Operation of actuator Positioning operation Automatic servo OFF standby Servo OFF Positioning operation Servo Condition ON ON OFF ON Completed Position No Output Current position number output PM1 to 0 PE OFF PM1 to Output PE ON PM1 to 0 Output PE ON ...

Page 180: ... 2 Current at stop gets fluctuated depending on if there is position deviation or not Position Deviation 0 Current at stop decreases by certain amount Position Deviation 0 Current at stop increases by certain amount Fluctuation of current at stop is implemented in the following range Lower Limit Setting value 1 for each actuator Upper Limit Parameter value 2 1 It is approximately 15 of the rated c...

Page 181: ...ute reset is performed by using a teaching tool such as PC software or PIO Each of the absolute reset procedures is described below 1 Absolute Reset Procedure from Teaching Tool 1 Connect the controller with the actuator Refer to Chapters 1 and 2 2 For simple absolute type connect the absolute battery Enclosed battery if starting up for the first time new battery if replacing to the absolute batte...

Page 182: ...tery POWER CON PCON CB LC 168 2 For Teaching Pendant TB 02 TB 03 Press Alarm reset Press Trial Operation on the Menu 1 screen Press Jog inching on Test run screen Touch Servo to turn the servo ON and touch Homing in Jog inching screen 1 2 3 4 ...

Page 183: ...e Battery POWER CON PCON CB LC 169 3 For Teaching Pendant TB 01 Press Reset Alm Press Trial Operation on the Menu 1 screen Press Jog_Inching on Trial Operation screen Touch SV OFF to turn the servo ON and touch HOME in Jog screen 1 2 3 4 ...

Page 184: ...of the alarm is not removed an alarm will be present again ALM signal OFF Check the condition including other alarm causes 3 Turn ON the pause signal STP 4 Turn the servo on signal SON ON 5 Wait until the servo on status SV turns ON 6 Turn the home return signal HOME ST0 signal in case of PIO pattern 5 ON with ON edge The home return operation is started 7 When the homing completion signal HEND is...

Page 185: ...fety Circuit Condition 24V DC PIO Power Input Brake Power Input Control Power Input Motor Power Input Alarm reset Emergency stop actuated or cancelled Status of power supply to the motor drive source Note 1 Note 2 Alarm Signal ALM Alarm Code Output PM8 to PM1 ALM LED Pause Signal STP Servo ON Signal SON Servo ON Status SV Positioning Completion Signal PEND Home Return Signal HOME Home Return Compl...

Page 186: ...ce for battery replacing timing Note 1 Approx 3 years It varies significantly by the effects of the usage condition Note 1 Replace the battery regularly 7 2 2 Absolute Battery Charge Please have the battery charged for more than 72 hours before using for the first time or after replacing with a new one The battery gets charged while the controller is supplied with 24V power It is possible to retai...

Page 187: ... encoder revolution is 400 PRM Total charge amount 8 h 3 3 h 5 day 132 h Total discharge amount 16 h 5 day 48 h 128 h It is not necessary to have a continuous full charge if starting on Monday 4 hour charge is stored every week The upper limit is the reference value for the retaining duration after fully charged 7 2 3 Absolute Battery Voltage Drop Detection Error detection Alarm Output ALM Note 1 ...

Page 188: ...connector and replace with a new battery 1 For the Type to Attach Battery to Controller Side Removal Attachment Pull the connector to remove the battery Attach the fastener enclosed in the new battery to the side surface of the new battery Join the 2 pieces of the fastener one on the controller and the other on the battery to affix the battery Plug in connector to absolute battery connector ...

Page 189: ...nnector first and then remove the absolute battery unit cover retaining screws 2 places to detach the cover At this time pull out the battery cables from the opening on the cover 2 Take out the battery Follow the reversed steps to put the battery back ON Absolute Battery Unit Cover Retaining Screws Two Locations Absolute Battery Connector ...

Page 190: ...Chapter 7 Absolute Reset and Absolute Battery POWER CON PCON CB LC 176 ...

Page 191: ...hange to the parameters will be activated after they are edited written to the flash FeRAM then either software reset or reboot of the power It will not be active only with writing on the teaching tool Warning Parameter setting has great influences on operations of the controller Incorrect parameter setting may not only cause malfunction or failure of the controller to occur but also people and as...

Page 192: ...eriod PSWT msec 0 to 9999 255 8 2 4 7 C Servo gain number PLGO 0 to 31 In accordance with actuator Note2 8 2 5 8 3 8 B Default velocity VCMD mm s deg s 1 to Actuator s max speed Rated actuator speed Note2 8 2 6 9 B Default acceleration deceleration ACMD G 0 01 to actuator s max acceleration deceleration Rated actuator s acceleration deceleration Note2 8 2 7 10 B Default positioning width INP mm de...

Page 193: ...1 INP 0 8 2 30 40 C Home return input disable FPIO 0 Enabling 1 Disabling 0 8 2 31 41 C Operating mode input disable FPIO 0 Enabling 1 Disabling 0 8 2 32 42 C Enable function FPIO 0 Enabling 1 Disabling 1 8 2 33 43 B Home position check sensor input polarity HMC 0 to 2 In accordance with actuator Note2 8 2 34 45 B Silent interval magnification SIVM times 0 to 10 0 8 2 35 46 B Velocity override OVR...

Page 194: ... accordance with actuator Note2 8 2 60 83 B Absolute unit ETYP 0 Incremental 1 Absolute Type Simple Battery less In accordance with specification at order accepted 8 2 61 84 A Fieldbus operation mode Note4 FMOD 0 to 4 Separate volume Separate volume 85 A Fieldbus node address Note4 NADR 0 to 65535 Separate volume Separate volume 86 A Fieldbus baud rate Note4 FBRS 0 to 4 Separate volume Separate vo...

Page 195: ... velocity loop proportional gain BUPC 1 to 10000 200 8 2 86 154 B BU velocity loop integral gain BUIC 1 to 100000 4000 8 2 87 155 A Absolute battery retention time AIP 0 20 days 1 15 days 2 10 days 3 5 days 0 8 2 88 156 B Torque check Light malfunction output select SLAL 0 Torque check effective 1 Light malfunction effective 0 8 2 89 159 B FB half direct mode speed unit Note 4 FBVS 0 Units of 1mm ...

Page 196: ...99 to 9999 99 Actual stroke on side 24 Zone Boundary 2 ZNL2 mm deg 9999 99 to 9999 99 Actual stroke on side These parameters are used set the zone in which zone signal ZONE1 or ZONE2 turns ON in a mode other than PIO patterns 1 to 3 The minimum setting unit is 0 01mm deg If a specific value is set to both zone setting and zone setting the zone signal is not output A setting sample is shown below E...

Page 197: ...ameter No 4 negative side 0 3 Approx 0 3mm Approx 0 3mm Soft limits set in the parameter Effective stroke Allowable jogging inching range after home return 0 2mm 0 2mm The operational range for jog and inching after the home return is 0 2mm less than the set value Alarm Code 0D9 Soft Limit Over Error will be generated when the set value exceeded the value 0 when shipped out set in Parameter No 88 ...

Page 198: ...ccordance with actuator The servo gain is also called position loop gain or position control system proportional gain The parameter defines the response when a position control loop is used Increasing the set value improves the tracking performance with respect to the position command However increasing the parameter value excessively increases the chances of overshooting When the set value is too...

Page 199: ...onvenient to set the acceleration deceleration often used 8 Default positioning width in position Parameter No 10 No Name Symbol Unit Input Range Default factory setting 10 Default positioning width INP mm deg 0 01 Note 1 to 999 99 0 10 When a target position is set in an unregistered position table the setting in this parameter is automatically written in the applicable position number When the r...

Page 200: ... required setting the parameter to 1 allows the actuator to be operated without wiring of the pause signal input Set Value Description 0 Enable Use the input signal 1 Disable Does not use the input signal 12 SIO communication speed Parameter No 16 No Name Symbol Unit Input Range Default factory setting 16 SIO communication speed BRSL bps 9600 to 230400 38400 Set the SIO baud rate for the startup S...

Page 201: ...nit Input Range Default factory setting 22 Home return offset level OFST mm deg 0 00 to 9999 99 In accordance with actuator In this setting can set the distance from the mechanical end to the home position An adjustment is available for the following cases 1 Want to match the actuator home position and the mechanical origin of the system 2 Want to set a new home after reversing the factory set hom...

Page 202: ...point mode 256 point type Number of positioning points 256 Position command Binary code Position zone signal output 1 point Note PIO pattern 3 3 512 point mode 512 point type Number of positioning points 512 Position command Binary code Zone signal output None PIO pattern 4 4 Solenoid valve mode 1 7 point type Number of positioning points 7 Position command Individual No signal ON Zone signal outp...

Page 203: ...the input methods for the start signal ST0 to ST6 or ST0 to ST2 if PIO Pattern 5 when PIO Pattern 4 Solenoid Valve Mode 1 7 point type and PIO Pattern 5 Solenoid Valve Mode 2 3 point type Set Value Input method Description 0 Level The actuator starts moving when the input signal turns ON When the signal turns OFF during movement the actuator will decelerate to a stop and complete its operation 1 E...

Page 204: ... accordance with actuator Excitation detection Note starts when the servo is turned ON for the first time after the power is supplied Define the detection direction at this time Even though it is generally unnecessary to change this setting changing the setting of this parameter may be effective when excitation error is generated or abnormal operation is confirmed Please contact us in the case a c...

Page 205: ...tegrated gain When the set value is high over shoot When the set value is low Velocity Time 25 Velocity loop integral gain Parameter No 32 No Name Symbol Unit Input Range Default factory setting 32 Velocity loop integral gain VLPT 1 to 217270 In accordance with actuator Any machine produces friction This parameter is intended to cope with deviation generated by external causes including friction I...

Page 206: ... The setting is done considering the actuator type when the product is delivered Refer to 10 6 List of Specifications of Connectable Actuators If a change to the setting is required make sure to have the setting below the maximum pressing velocity of the actuator Setting it fast may disrupt to obtain the specified pressing force Also when setting at a low velocity take 5mm s as the minimum Velocit...

Page 207: ...on whether the servo is ON after the positioning is complete or the servo is OFF Setting Signal Type During Servo ON positioning complete During Servo OFF 0 PEND It will not turn OFF even if the current position is out of the range of the positioning width Turns OFF in any case 1 INP Turns ON when the current position is in the positioning width and OFF when out of it Pulse train control mode Note...

Page 208: ... input polarity HMC 0 Sensor not used 1 a contact 2 b contact 0 Set the input signal polarity of the home position check sensor option Since the home position check sensor is installed just below the mechanical end if the actuator reverses without reaching the mechanical end because of a reason such as interference an alarm will be generated because it will be identified as off the position and ca...

Page 209: ...ld network type Set the appropriate value considering how the system is to be used Note 1 The maximum speed is limited to 250mm s 38 PIO inch distance PIO inch distance 2 Parameter No 48 No 49 No Name Symbol Unit Input Range Default factory setting 48 PIO inch distance IOID mm 0 01 to 1 00 Note 1 0 1 49 PIO inch distance 2 IOD2 mm 0 01 to 1 00 Note 1 0 1 When the selected PIO pattern is 1 Teaching...

Page 210: ...ult stop mode Parameter No 53 No Name Symbol Unit Input Range Default factory setting 53 Default stop mode CTLF 0 to 7 0 Does not use This parameter defines the power saving function Refer to Chapter 5 Power saving Function 43 Position command primary filter time constant Parameter No 55 No Name Symbol Unit Input Range Default factory setting 55 Position command primary filter time constant PLPF m...

Page 211: ... swing width 0 5 Dashed line shown in the image below 10 Sine curve swing width 0 1 Solid line shown in the image below Velocity Time Setting 10 Setting 50 Setting 100 0 within 2 seconds Caution 3 Caution 1 If the S motion is specified in acceleration deceleration mode executing position command or direct value command while the actuator is moving causes an actuator to move along the trapezoid pat...

Page 212: ...eter Settings Required for Advanced Operations 50 Pulse count direction Parameter No 62 This parameter is exclusively used for the pulse train control mode Refer to 3 3 5 Parameter Settings Required for Advanced Operations 51 Command pulse input mode Parameter No 63 This parameter is exclusively used for the pulse train control mode Refer to 3 3 4 Settings of Basic Parameters Required for Operatio...

Page 213: ...esponse of the servo control system Thus improper adjustment may cause the control system to be unstable and further vibrations and or noises to occur On the other hand since this parameter only changes the speed command value and does not relate with the servo loop it neither makes the control system unstable nor generate continuous vibrations and or noises However excessive setting may generate ...

Page 214: ...tting 79 Rotary axis mode selection ATYP 0 Normal Mode 1 Index Mode In accordance with actuator This parameter defines the mode of the rotational axis When the axis operation type Parameter No 78 is set to Rotary Axis and the index mode is selected the current value indication is fixed to 0 to 359 99 When the index mode is selected the shortcut control is enabled Set Value Description 0 Normal Mod...

Page 215: ...ication at order accepted Set to 1 if simple absolute type or battery less absolute type and 0 if others Reference Set to 0 when using the battery less absolute in incremental 62 Fieldbus operation mode Parameter No 84 This parameter is exclusively used for the controller of field network specification Check the applicable instruction manual number in Chapter 4 Field Network and refer to each inst...

Page 216: ...e at stopping due to miss pressing FSTP 0 Current limiting value at stop 1 Current limit value during pressing 0 This parameter defines the restricted current value at stopping due to miss pressing This restricted current value locks the servo till the next moving command Parameter No 91 Description 0 Current limitation value while in operation stop setting value in the current limiting value at p...

Page 217: ... 112 Monitoring mode FMNT 0 Does not use 1 Monitor function 1 2 Monitor function 2 3 Monitor function 3 1 The controller can be connected with PC software to monitor the servo This parameter allows you to select a monitoring mode function servo monitor Check the Instruction Manual of the RC PC software for details Set Value Description 0 Unused 1 Sets the 4CH record mode 2 Sets the 8CH record mode...

Page 218: ... is the parameter dedicated for Fieldbus EtherNet IP Refer to Ether Net IP Instruction Manual ME0278 provided separately 77 Overload level ratio Parameter No 143 No Name Symbol Unit Input Range Default factory setting 143 Overload level ratio OLWL 50 to 100 100 Do not change the default value 78 Gain scheduling upper limit multiplying ratio Parameter No 144 No Name Symbol Unit Input Range Default ...

Page 219: ... Total movement count threshold Parameter No 147 No Name Symbol Unit Input Range Default factory setting 147 Total movement count threshold TMCT Times 0 to 999999999 0 Disabling A light error alarm is generated when the total movement count exceeds the value set to this parameter The judgment would not be made if the value is set to 0 82 Total operated distance threshold Parameter No 148 No Name S...

Page 220: ...t Note1 Note 1 High output applicable actuator RCP4 RCP5 RCP6 Series 86 BU velocity loop proportional gain Parameter No 153 No Name Symbol Unit Input Range Default factory setting 153 BU velocity loop proportional gain BUPC 1 to 10000 200 When the high thrust setting Parameter No 152 is set effective this parameter setting becomes effective for Velocity Loop Proportional Gain Refer to the 8 2 24 V...

Page 221: ...ion output select Parameter No 156 No Name Symbol Unit Input Range Default factory setting 156 Torque check Light malfunction output select SLAL 0 Load judge output or torque level status signal output 1 Message level alarm output 0 Load judge output LOAD or torque level status signal TRQS output can be changed to the alarm ALML output that is message level 90 Selecting the Use of velocity loop pr...

Page 222: ...Example of use When drive cutoff is constructed externally 93 Startup Current Limit Extension Feature Parameter No 166 No Name Symbol Unit Input Range Default factory setting 166 Startup current limit extension feature FBVS 0 Disable 1 Enable 0 Drive control is made to the operation that causes an impact force at the start of movement when moving to the target position from the stop state Effect i...

Page 223: ... is conducted in the range set that the position zone is set Refer to the Chapter 5 Collision Detection Feature Setting value Operation status Alarm level 0 Detection not to be conducted 1 Detection is conducted in position zone setting range 3 Note 1 Detection is conducted in position zone setting range but is not conducted in the following conditions In this setting it can avoid a mistake to det...

Page 224: ... of parameter No 31 Velocity loop proportional gain by about approximately 20 of the default Prior to the setting adjust parameter No 7 Servo gain number 2 Vibration is generated at acceleration deceleration The cause of the problem is excessive acceleration deceleration setting or vulnerable structure of the unit on which the actuator is installed If possible reinforce the unit itself first Decre...

Page 225: ... loop proportional gain adjusted by referring to the way to adjust stated in No 1 to 3 in the previous page Reference The most important factor is to select the actuator motor The servo is extremely sensitive to the inertia of the load If the inertia moment of the load is too large in comparison with the inertia moment of the servo motor itself the motor is highly affected by the load This may cau...

Page 226: ...Chapter 8 Parameter POWER CON PCON CB LC 212 ...

Page 227: ...continuity check turn OFF the power to prevent electric shocks and disconnect the cables of measuring instruments to prevent accidental power connection due to sneak current path 9 Check the I O signals Using the host controller PLC etc or a teaching tool such as PC software check the presence of inconsistency in I O signal conditions 10 Check the noise elimination measures grounding installation ...

Page 228: ... is supplied and the wiring is in the right condition Refer to 2 3 1 Wiring Layout of Power Supply Connector 2 1 Check the PIO power voltage When a large load is applied to one power source there is a risk of power voltage drop or a shutdown of the output 2 Are the PIO cable connectors inserted to the mating connectors securely Check the input signals on the I O monitor of the teaching tool such a...

Page 229: ...switch on the front panel is on MANU side 4 The pins of 24V DC power for PIO are connected inversely 1 Check the PIO power voltage If a single power supply is connected with large load the power supply voltage may drop or the output may be shut down depending on power units 2 Are the PIO cable connectors inserted to the mating connectors securely Check the input signals on the I O monitor of the t...

Page 230: ... the controller the actuator does not move PIO signal processing or parameter setting is incorrect 1 Servo OFF condition 2 The pause signal is OFF 3 The pulse train type a parameter is selected incorrectly 4 The positive negative logic of pulse train a parameter is selected inversely 5 The unit moving distance per pulse which is a setting condition of electronic gear ratio a parameter is too small...

Page 231: ...eleased on the teaching tool Cable treatment or mode selection 1 Emergency stop condition 2 Servo OFF condition 3 In pause 1 Supply 24V DC to EMG terminal of the power connector Warning If the process of 1 is conducted put back the setting as soon as the adjustment work is finished Starting the operation without putting it back may cause a serious accident since the emergency stop is set invalid 2...

Page 232: ...ings of acceleration deceleration Overshoot during deceleration to stop The load inertia is large Decrease the setting of deceleration Positioning of poor precision Uneven speed during movement Acceleration deceleration not smooth bad speed response Trace of poor precision Refer to 8 3 Servo Adjustment Note When the pulse train operation mode is selected first adjust pulse train commands In the ca...

Page 233: ...k if the acceleration deceleration set in the host controller exceed the rating acceleration deceleration of the actuator 3 Noise can be misread as the pulse if it jumps into the pulse train Take proper measures against noise Refer to 1 7 Noise Elimination and Mounting Method Check the cable connection between the controller and AK 04 if AK 04 is used Cable length 50mm or shorter recommended as sh...

Page 234: ...ssible cause Check Treatment Vibrations of load 1 Acceleration deceleration is set too high 2 The installation structure and or the installed load are easily affected by acceleration deceleration 1 Decrease the settings of acceleration deceleration In the case of Pulse Train Control Mode Situation Possible cause Check Treatment Vibrations of actuator or load Acceleration deceleration is set too hi...

Page 235: ...se timeout error is being issued in the host system In any other cases increase or decrease the value at will to change the send receive timing If the operation is performed properly the transmission cycle of the host is too fast Always check the response of PCON before next transmission 4 Review the wiring again Check if termination resistances are connected to network terminals with correct valu...

Page 236: ...OFF after deceleration to stop Software reset or power reconnection by teaching tool Home return is required for any actuators of other than simple absolute specification Note 1 An output will be made to PIO OUT15 when Parameter No 156 Torque Check Light Malfunction Output is set to 1 and the controller is in either of the following conditions When satisfying the conditions to generate the message...

Page 237: ...volution of the fan has dropped Treatment Consider replacement of the fan 04D FAN total drive time exceeded Cause The total driving time of the fan on the controller over 2years Treatment The life of the fan should be 3years reference Consider replacement 04E Exceeded movement count threshold Cause The total number of the operation times exceeded the value set in Parameter No 147 Total Movement Co...

Page 238: ...train input is effective Cause Actuator operation was commanded via serial communication in pulse train mode Treatment Stop the actuator operation command via serial communication in pulse train mode 090 Software reset during servo ON Cause A software reset command was issued when the servo was ON Treatment Issue a software reset command after confirming that the servo is OFF SV signal is 0 091 Po...

Page 239: ...he Position field exceeded the Parameter No 3 and 4 Soft limit set value 3 A target position was specified in the Position field by relative coordinate in the solenoid valve mode 2 of PIO pattern 5 Treatment 1 Set the target position 2 Change the target position value to the one within the soft limit set value 3 The target position cannot be set by relative coordinate incremental feed 0A3 Position...

Page 240: ...tion starts when the servo is turned ON for the first time after the power is supplied The detection is not finished after a certain time set to Parameter No 29 being passed 1 Connection error or wire breakage of motor encoder cables 2 Brake is not released when equipped with a brake 3 Load to the motor is high due to external force 4 Power was turned on while touching to the mechanical end 5 The ...

Page 241: ... occurred before detecting the servo error Treatment Even though this would not occur in normal operation check if there is any abnormality in the parts assembly condition Also check if there is a possibility that an external force may be applied in the direction of the actuator movement 0C1 Operation release Servo error Cause It indicates 2 seconds has passed without making a move since a move co...

Page 242: ...d peripheral components Treatment Replacement of PC board or adjustment of offset is required Please contact IAI 0CC Cold start Control power source voltage error Cause The control power voltage dropped less than the voltage drop threshold 120 of 24V DC 28 8V 1 The voltage of 24V DC power supply is high 2 A faulty part inside the controller 3 During acceleration deceleration and servo on that use ...

Page 243: ...ropped or the actuator stopped due to the effect of external force or overload 2 The excited phase detection operation following the power on is unstable Treatment 1 This error occurs when the actuator cannot be operated as it is commanded Check the load conditions such as if the work is touching to the surrounding object or brake is properly released and remove the cause 2 Overload can be concern...

Page 244: ...data was not received in normal condition from the encoder side to the controller applicable part to Simple Absolute 1 Cable breakage of encoder cable or connector connection failure If the detail code in the error list of the teaching tool is 0002H 2 Effect of noise If the detail code in the error list of the teaching tool is 0001H 3 Malfunction of component communication part inside the actuator...

Page 245: ...ile the controller is reading or saving the absolute data Treatment Avoid a condition that gives vibration to the actuator 0EE Operation release Absolute encoder error detection 2 Cause The position data cannot be detected properly in the Simple Absolute applicable type encoder 1 When the power is supplied for the first time to Simple Absolute applicable type before executing absolute reset 2 Volt...

Page 246: ...emory and the data to be written are matched There was a mismatch detected in this process Cause Faulty nonvolatile memory Treatment When the error is caused even when the power is re input please contact IAI 0F6 Nonvolatile memory write timeout There is no response in the specified time duration during the data writing to the non volatile memory Cause Faulty nonvolatile memory Treatment When the ...

Page 247: ...tead of the e CON cable attached to the controller link cable a terminal block may be used In this configuration disconnect the e CON connector from the controller link cable 10 1 1 Connecting Example Caution Supply 0V to the SIO converter and each controller from the same power source Touch Panel Teaching To be prepared by customer Cable included in PC software RCB CV MW CB RCA SIO CB SEL USB030 ...

Page 248: ...te 1 Apply a 2 pair shielded cable When connecting a cable other than recommended to A and B make sure to use a hard cored cable equivalent to the vinyl cable KIV dedicated for control devices with the sheath outer diameter from 1 35 to 1 60mm Using cables with outer diameter out of the specification may cause poor contact to occur Caution When cables with outer diameter out of the specification a...

Page 249: ...om Use the parallel plier from the direction of grip it while checking the condition of press welding to make sure the press is in right angle and press it until it becomes completely flat to the housing If the inserting is not enough it may not be able to attach to the socket or may cause a contact failure 4 After finishing the press welding pull the cable lightly to confirm that won t come out C...

Page 250: ...G1 and EMG2 When applying the emergency stop switch of the teaching pendant to the emergency stop of the system obtain the signal from here 24V Positive side of the 24V DC power supply Power supply for the teaching pendant and conversion circuit 0V Negative side of the 24V DC power supply FG Frame ground Note 0V is connected to the pin No 7 GND on the communication connector for the controller Con...

Page 251: ...ion port with the PC RS232C It is used when the operation is conducted with using SIO communication 4 Mini DIN 8 pin connector This connector is connected to PC software teaching pendant 5 PORT Switch The PORT switch is used to exchange enable disable of connector 4 Set the switch to ON if connector 4 is used or OFF if not used The switchover of valid invalid on the teaching pendant is held at the...

Page 252: ... 10 1 6 Communications Cable 1 Controller Link Cable CB RCB CTL002 10 1 7 External Dimension Leg Element Bottom Side Leg Element Top Side Controller Side Mini DIN Connector YW OR BL 200mm e CON Connector 3 1473562 4 Housing Color OR Signal Signal ...

Page 253: ...Configuration In the case it is necessary to construct a system complying with Safe Category ISO12100 1 use the following touch panel teaching Model TB 02D TB 01D R or CON PGAS Also TP adapter Model RCB LB TGS is required The system can conform to up to safety category B to 4 ISO12100 1 by changing connections of system I O connectors Touch Panel Teaching TB 02D TB 01D R or CON PGAS Adapter for Te...

Page 254: ... 5 6 G1 3 5P26THR Cable side FMC1 5 6 ST 3 5 Note 1 Lower side ENB side TP adapter side MCDN1 5 6 G1 3 5P26THR Phoenix Contact AWG24 to 16 0 2 to 1 25m 2 Pin No Signal name Description 1 EMG1 2 EMG1 Emergency stop contact 1 30V DC or less 100mA or less 3 EMG2 4 EMG2 Emergency stop contact 2 30V DC or less 100mA or less 5 EMGIN Emergency stop detection input Upper side EMG side 6 EMGOUT 24V power s...

Page 255: ...nal No AWG24 Upper side Lower side TP Adapter Side View 3 Connection of dummy plug of TP adapter When operating the controller with AUTO Mode make sure to connect the enclosed dummy plug DP 4S 4 Enable function If you are using the enable function set it to Enable using the controller parameter Parameter No 42 Enable function 0 Enable 1 Disable Default setting at shipment Enable function It is the...

Page 256: ...B 02D TB 01D R CON PGAS or Dummy plug DP 4S Connection Cable CB CON LB Controller PCON Enable SW SW Reset SW Emergency Stop 24V 24V 0V 0V RCB LB TGS Solenoid Contactor Motor Power Supply ENBOUT ENBIN ENB2 ENB2 ENB1 ENB1 EMGOUT EMGIN EMG2 EMG2 EMG1 EMG1 12 11 10 9 8 7 6 5 4 3 2 1 MPI MPO EMG S2 S1 24V ...

Page 257: ...W SW Reset SW Emergency Stop 24V 24V Solenoid Contactor MPI MPO EMGSTR ENB VP24 PCON TP Connection Detecting TP Detection T24V Output Bypass relay OPEN TP Not Detected T24V Not Output Bypass relay CLOSE TP Emergency Stop SW Enable SW Shell 1 2 3 13 14 9 12 6 5 23 24 25 22 7 26 12 11 10 9 8 7 6 5 4 3 2 1 External Emergency Stop Circuit Category 1 Motor Power Cutoff Relay RCB LB TGS SGA SGB EMGA 24V...

Page 258: ...CB LB TGS Motor Power Supply MPI MPO 12 11 10 9 8 7 6 5 4 3 2 1 24V Reset SW Emergency stop SW G9SA 301 OMRON 24V G9SA 301 OMRON 41 33 23 13 T32 T31 T12 T11 A2 A1 1 2 3 4 5 6 42 34 24 14 T22 T23 T21 PE B A 41 33 23 13 T32 T31 T12 T11 A2 A1 1 2 3 4 5 6 42 34 24 14 T22 T23 T21 PE B A 24V 24V Solenoid Contactor Solenoid Contactor Enable SW Enable SW EMG S2 S1 24V TB 02D TB 01D R CON PGAS or Dummy plu...

Page 259: ...ing TP Detection T24V Output Bypass relay OPEN TP Not Detected T24V Not Output Bypass relay CLOSE TP Emergency Stop SW Enable SW Shell 1 2 3 13 14 9 12 6 5 23 24 25 22 7 26 12 11 10 9 8 7 6 5 4 3 2 1 Motor Power Cutoff Relay RCB LB TGS SGA SGB EMGA 24V EMGB 1 2 3 4 5 6 7 8 9 5V Enable SW Enable SW Emergency Stop SW Reset SW Control Circuit Control Circuit Solenoid Contactor Solenoid Contactor Exte...

Page 260: ... 12 11 10 9 8 7 6 5 4 3 2 1 Solenoid Contactor Solenoid Contactor Enable SW Reset SW Emergency Stop SW Emergency Stop SW For Category 4 insert Reset Switch as shown in the diagram For Category 3 layout the wiring without inserting Reset Switch For Category 4 make the connection of A and B open For category 3 make a short circuit between A and B EMG S2 S1 24V MPO MPI TB 02D TB 01D R CON PGAS or Dum...

Page 261: ...gency Stop SW Enable SW Shell 1 2 3 13 14 9 12 6 5 23 24 25 22 7 26 Motor Power Cutoff Relay RCB LB TGS SGA SGB EMGA 24V EMGB 1 2 3 4 5 6 7 8 9 5V Reset SW Reset SW Emergency Stop SW Emergency Stop SW Reset SW Control Circuit Control Circuit Solenoid Contactor Solenoid Contactor External Emergency Stop Circuit category 4 For Category 4 insert Reset Switch as shown in the diagram For Category 3 lay...

Page 262: ...Chapter 10 Appendix POWER CON PCON CB LC 248 4 TP Adapter and Accessories 1 TP adapter external dimensions RCB LB TGS ...

Page 263: ...r and TP adapter RCB LB TG Model CB CON LB005 standard cable length 0 5m Maximum cable length 2 0m Color Signal No Color Signal No BR YW RD OR BL GN PL GY Shield BR YW RD OR BL GN PL GY Shield 8PIN MIN DIN Connector overmolded 8PIN MIN DIN Connector overmolded SGA SGB 5V ENBL EMGA 24V GND EMGB FG SGA SGB 5V ENBL EMGA 24V GND EMGB FG CB CON LB ...

Page 264: ... power supply if connected to the PC This is because many PCs have the communication ground GND and the frame ground FG connected inside and short circuit occurs through the frame ground Also if controllers with different 24V DC power supplies are connected with serial communication the communication line may become the route of controller power supply in some cases depending on the timing to turn...

Page 265: ...The times of actuator run and distance of operation can be summed up and recorded Note 1 in the controller Also a signal can by output Note 2 externally when the times and distance exceed the threshold By this signal notice can be available for the timing of grease supply or regular inspection Note 1 The contents recorded by PC Software Note 3 Modbus and Field Network Note 4 can be checked Note 2 ...

Page 266: ...ss stated below Procedure 1 Prepare a new fan unit and pull the fan unit desorption lever to release the lock Procedure 2 Pull out the fan unit to detach Procedure 3 Attach a new fan unit considering the connector on the unit matches with the connector on the upper side of PCON CFB Procedure 4 Push in the fan unit desorption lever till it makes a click noise ...

Page 267: ...ing Completion Operation Preparation End Alarm Emergency stop cancel display RC Start Display Pause Display RC Stop Display Home Return Display Zone 1 Display Position Zone Display Manual Mode Display Pause Start Servo ON Reset PLC P IN0 OUT0 C O N P C O N EMGRST START STOP HOLD HOME PM1 PM2 PM4 MOVE ZONE1 PZONE RMDS HEND PEND SV ALM IN1 OUT1 IN2 OUT2 IN3 OUT3 IN4 OUT4 IN5 OUT5 IN6 OUT6 IN7 OUT7 I...

Page 268: ...P RC Stop EMGRST Emergency stop cancel Stop Command HOME STARTL STOPL Home Return Step number It shows the number of steps on PLC Interlock Prohibits start during home return a007 b012 b044 a071 a076 a085 a091 a097 a103 a109 a115 a121 a127 a133 RC Stop Display a035 Once the servo ON the controller turns ON PEND turns ON to conduct a positioning to the current position Therefore it is used to judge...

Page 269: ...Aux 1 AUX2 Pause Aux 2 AUX2 Pause Aux 2 AUX2 Pause Aux 2 AUX3 Pause Cancel Pause Aux 1 a018 a023 Pause Aux 2 a017 b024 a026 Pause Cancel b019 a022 b028 Pause Display Pause b016 a021 a027 b032 a034 AUX3 Pause Cancel AUX3 Pause Cancel EMGRST Emergency Stop Cancel Waiting for Reset To make it easy to understand the circuit this circuit is designed to replace contact b input with contact a If the paus...

Page 270: ...d with no remaining moving distance 034 038 OUT3 OUT15 OUT2 IN15 OUT15 RES HOLDL Pause Display RES Reset STOPL RC Stop Display ALM Alarm Reset a038 Waiting for Reset b030 After 200 ms from reset input the Pause lamp goes off and the Pause signal is turned OFF Thus the reset signal remains ON for 200ms Due to no reset complete signal pause state is not cancelled until reset processing is completed ...

Page 271: ...2 Home Return Dispaly b047 Interlock This disables home return during continuous operation While the Home return signal is ON these repeat ON OFF at intervals of 200 ms Interlock Turns the Home return signal OFF at completion of home return It is set as it would not be able to home return again after the home return operation is complete unless Home Return Complete signal turns OFF Similar to the ...

Page 272: ...osition No 3 a081 a130 TIM4 TIM4 TIM4 200ms is set to TIM4 This is the timer to prevent the code reading error since the scanning is held independently by PLC and RC controller 7 Actuator Start Circuit If the Operation switch on the operation box is pushed the lamp of the Operation pushbutton switch described in 2 Operation and Stop Circuit goes on and at the same time the actuator starts successi...

Page 273: ... Position 1 Positioning Complete Auxiliary Position 2 Positioning Start Position 1 Positioning Complete Position 1 Positioning Start Check Completed Position 1 IN13 OUT1 OUT1 If 1 is not pulsed 3 is reset with 4 turned ON and 2 is turned ON again Position 2 start signal If movement is completed the moving circuit is turned OFF Turned OFF at start of next positioning to position No 2 Because any of...

Page 274: ...b152 a163 Auxiliary Position 2 Positioning Start AUX12 Auxiliary Position 2 Positioning Start Auxiliary Position 2 Positioning Start STARTL RC Start Displa AUX12 AUX14 Position 2 Positioning Complete PEND Point Positioning Completion a102 a107 a111 Position 2 Positioning Start Check AUX13 Position 2 Positioning Start Check STARTL RC Start Displa AUX13 AUX5 AUX15 b108 a113 a117 Position 2 Positioni...

Page 275: ...uxiliary Position 3 Positioning Start AUX15 Auxiliary Position 3 Positioning Start AUX15 Auxiliary Position 3 Positioning Start STARTL RC Start Display AUX17 Position 3 Positioning Complete PEND Point Positioning Completion b120 a125 a129 Position 3 Positioning Start Check AUX16 Position 3 Positioning Start Check STARTL RC Start Display AUX16 AUX6 AUX9 a080 b126 a131 Position 3 Positioning Complet...

Page 276: ... To commanded position No output circuit To commanded position No output circuit To commanded position No output circuit Once a moving command to a position is issued any of circuits A B and C is turned ON to remember it unless a moving command to another position is issued The operation circuit is cancelled by a stop command such as an emergency stop command However the circuit remembers the posi...

Page 277: ...osition No this circuit outputs the start signal from PLC to PCON 162 166 AUX9 Auxiliary Position 1 Positioning Start AUX12 Auxiliary Position 2 Positioning Start AUX15 Auxiliary Position 3 Positioning Start OUT13 CSTR Waiting for start Start Timer 5 bit a116 Waiting for Start TIM5 200ms is set to TIM5 20msec Set this signal to be 2 to 4 times as long as PLC scanning time so that it is turned ON a...

Page 278: ...IN10 PZONEL Position Zone Display 168 ZONE1 OUT6 IN9 ZONEL Zone 1 Display Reference Programs and functions of PLC are expressed differently depending on manufacturers However the contents of sequence designs do not vary fundamentally Though arithmetic and data processing commands seem differently any manufacturer defines command words executing the same functions as those of other manufacturers ...

Page 279: ...ion deceleration Also make sure to set the pressing operation velocity to the rated pressing velocity when the pressing operation is to be conducted Use in higher than the specifications could cause an error or malfunction Refer to the instruction manual for the applicable actuators regarding RCP6 series Lead Minimum speed Maximum speed Maximum acceleration deceleration Minimum push force Maximum ...

Page 280: ...Horizontal vertical 5 130 0 2 300 800 20 10 Horizontal vertical 12 5 300 0 2 286 1000 RA8C Ball screw 800 5 Horizontal vertical 6 25 150 0 1 571 2000 10 Horizontal 250 0 04 10 Vertical 12 5 167 0 04 500 1500 5 Horizontal vertical 6 25 125 0 02 1000 3000 RA10C Ball screw 800 2 5 Horizontal vertical 3 12 63 0 01 3100 6000 10 5 Horizontal vertical 6 25 250 0 3 26 90 Horizontal 124 SRA4R Ball screw 80...

Page 281: ... 460 at 100st 600 at 150 to 550st 540 at 600st 460 at 650st 400 at 700st 360 at 750st 300 at 800st 0 3 40 115 Horizontal 0 7 6 Vertical 7 5 295 at 50st 300 at 100 to 550st 270 at 600st 230 at 650st 200 at 700st 180 at 750st 150 at 800st 0 3 70 210 Horizontal 0 7 SA5C Ball screw 800 3 Vertical 3 75 150 at to 550st 135 at 600st 115 at 650st 100 at 700st 90 at 750st 75 at 800st 0 3 140 330 20 Horizon...

Page 282: ... 460 at 100st 600 at 150 to 550st 540 at 600st 460 at 650st 400 at 700st 360 at 750st 300 at 800st 0 3 40 115 Horizontal 0 7 6 Vertical 7 5 295 at 50st 300 at 100 to 550st 270 at 600st 230 at 650st 200 at 700st 180 at 750st 150 at 800st 0 3 70 210 Horizontal 0 7 SA6C Ball screw 800 3 Vertical 3 75 150 at to 550st 135 at 600st 115 at 650st 100 at 700st 90 at 750st 75 at 800st 0 3 140 330 20 Horizon...

Page 283: ...2 Horizontal 0 3 12 Vertical 15 600 at 50 to 500st 470 at 600st 0 2 40 120 Horizontal 0 3 6 Vertical 7 5 300 at 50 to 500st 230 at 600st 0 2 75 220 Horizontal 0 2 SS7C Ball screw 800 3 Vertical 3 75 150 at 50 to 500st 115 at 600st 0 2 140 350 20 Horizontal 600 at 50 to 500st 470 at 600st 0 3 12 Vertical 15 440 at 50 to 500st 440 at 600st 0 2 Horizontal 0 3 6 Vertical 7 5 250 at 50 to 500st 230 at ...

Page 284: ...t 1000 at to 900st 800 at to 1000st 0 3 HS8C Ball screw 800 30 Vertical 37 5 750 at 50 to 800st 750 at to 900st 750 at to 1000st 0 2 Horizontal 1200 at 50 to 800st 1000 at to 900st 800 at to 1000st 0 3 RCP2 slider type HS8R Ball screw 800 30 Vertical 37 5 750 at 50 to 800st 750 at to 900st 750 at to 1000st 0 2 BA6 BA6U Belt 800 Equivalent to 54 Horizontal 67 5 1000 0 5 RCP2 belt type BA7 BA7U Belt...

Page 285: ...g s 400 deg s RTCSL 800 Gear ratio 1 45 10 deg s 266 deg s Gear ratio 1 20 22 5 deg s 600 deg s RTB 800 Gear ratio 1 30 15 deg s 400 deg s Gear ratio 1 20 22 5 deg s 600 deg s RTBL 800 Gear ratio 1 30 15 deg s 400 deg s Gear ratio 1 20 22 5 deg s 600 deg s RTC 800 Gear ratio 1 30 15 deg s 400 deg s Gear ratio 1 20 22 5 deg s 600 deg s RTCL 800 Gear ratio 1 30 15 deg s 400 deg s Gear ratio 1 20 22 ...

Page 286: ...t 300 at 75 to 150st 0 6 11 9 4 5 180 at 25st 200 at 50 to 150st 0 9 16 1 Lead screw 2 Horizontal vertical 2 5 100 0 2 1 9 28 3 5 Horizontal 0 3 6 Vertical 7 5 180 at 25st 280 at 50st 300 at 75 to 150st 0 2 1 8 14 3 Horizontal 0 3 4 Vertical 5 180 at 25st 200 at 50 to 150st 0 2 3 6 20 9 Horizontal 0 3 2 Vertical 2 5 100 0 2 7 2 42 0 Horizontal 0 3 Ball screw Standard type 1 Vertical 1 25 50 0 2 14...

Page 287: ...0st 300 at 75 to 150st 4 5 180 at 25st 200 at 50 to 150st SA2BR Lead screw 800 2 Horizontal 2 5 100 0 2 Horizontal 0 3 6 Vertical 7 5 300 0 2 9 15 Horizontal 0 3 4 Vertical 5 200 0 2 14 22 Horizontal 0 2 SA3C Ball screw 800 2 Vertical 2 5 100 0 2 27 44 20 Horizontal 0 3 6 Vertical 7 5 300 0 2 9 15 Horizontal 0 3 4 Vertical 5 200 0 2 14 22 Horizontal 0 2 SA3R Ball screw 800 2 Vertical 2 5 100 0 2 2...

Page 288: ... 600 at 150st to 550st 570 at 600st 490 at 650st 425 at 700st 370 at 750st 330 at 800st 0 3 28 47 Horizontal 0 7 6 Vertical 7 5 300 at 50st to 550st 285 at 600st 245 at 650st 210 at 700st 185 at 750st 165 at 800st 0 3 57 95 Horizontal 0 7 SA5C Ball screw 800 3 Vertical 3 75 150 at 50st to 550st 140 at 600st 120 at 650st 105 at 700st 90 at 750st 80 at 800st 0 3 113 189 20 Horizontal 0 3 12 Vertical...

Page 289: ... 600 at 150st to 550st 570 at 600st 490 at 650st 425 at 700st 370 at 750st 330 at 800st 0 3 28 47 Horizontal 0 7 6 Vertical 7 5 300 at 50st to 550st 285 at 600st 245 at 650st 210 at 700st 185 at 750st 165 at 800st 0 3 57 95 Horizontal 0 7 SA6C Ball screw 800 3 Vertical 3 75 150 at 50st to 550st 140 at 600st 120 at 650st 105 at 700st 90 at 750st 80 at 800st 0 3 113 189 20 Horizontal 0 3 12 Vertical...

Page 290: ...0 2 TA4R Ball screw 800 2 Vertical 2 5 100 0 2 26 4 44 20 Horizontal 465 0 3 10 Vertical 12 5 400 0 2 20 34 Horizontal 0 3 5 Vertical 6 25 250 0 2 40 68 Horizontal 0 2 TA5C Ball screw 800 2 5 Vertical 3 12 125 0 2 82 136 20 Horizontal 465 0 3 10 Vertical 12 5 400 0 2 20 34 Horizontal 0 3 5 Vertical 6 25 250 0 2 40 68 Horizontal 0 2 TA5R Ball screw 800 2 5 Vertical 3 12 125 0 2 82 136 20 Horizontal...

Page 291: ...value when high thrust function is effective 280 0 5 25 86 Horizontal 1 0 SA3C Ball screw 800 2 Vertical 2 5 Note It is the value when high thrust function is effective 140 0 5 49 173 20 Horizontal Note It is the value when high thrust function is effective 1440 at 50 to 500st 1225 at 550st 1045 at 600st 900 at 650st 785 at 700st 690 at 750st 610 at 800st 1 0 RCP4 slider type SA5 Ball screw 800 20...

Page 292: ...ote It is the value when high thrust function is effective SA5C 900 at50 to 450st SA5R 800 at50 to 450st 795 at500st 665 at550st 570 at600st 490 at650st 425 at700st 375 at750st 330 at800st 0 5 26 93 20 Horizontal 1 0 6 Vertical 7 5 Note It is the value when high thrust function is effective 450 at 50 to 450st 395 at 500st 335 at 550st 285 at 600st 245 at 650st 215 at 700st 185 at 750st 165 at 800s...

Page 293: ... 1230 at 550st 1045 at 600st 905 at 650st 785 at 700st 690 at 750st 615 at 800st 0 5 16 56 Horizontal 1 0 12 Vertical 15 Note It is the value when high thrust function is effective 900 at 50 to 450st 795 at 500st 670 at 550st 570 at 600st 490 at 650st 430 at 700st 375 at 750st 335 at 800st 0 5 26 93 20 Horizontal 1 0 6 Vertical 7 5 Note It is the value when high thrust function is effective 450 at...

Page 294: ...at 650st 655 at 700st 580 at 750st 515 at 800st 1 0 16 Vertical 20 Note It is the value when high thrust function is effective SA7C 840 at50 to 600st SA7C 750 at650st SA7R 700 at50 to 650st 655 at 700st 580 at 750st 515 at 800st 0 5 48 168 20 Horizontal 1 0 8 Vertical 10 Note It is the value when high thrust function is effective 490 at 50 to 550st 430 at 600st 375 at 650st 325 at 700st 290 at 750...

Page 295: ...ontal 1 0 12 Vertical 15 Note It is the value when high thrust function is effective 700 0 5 26 93 Horizontal 1 0 6 Vertical 7 5 Note It is the value when high thrust function is effective 450 0 5 53 185 Horizontal 1 0 RA5 Ball screw 800 3 Vertical 3 75 Note It is the value when high thrust function is effective 225 0 5 106 370 20 Horizontal Note It is the value when high thrust function is effect...

Page 296: ...is effective 530 46 3 161 9 RCP4W slider type SA7C Ball screw 800 8 Horizontal 10 Note It is the value when high thrust function is effective 265 0 6 96 5 337 9 20 Horizontal Note It is the value when high thrust function is effective Note Varies depending on the Surrounding temperature 500 at50st 560 at100 to 400st 1 0 12 Vertical 15 Note It is the value when high thrust function is effective Not...

Page 297: ...ng on the Surrounding temperature 280 0 5 187 670 20 Horizontal Note It is the value when high thrust function is effective Note Varies depending on the Surrounding temperature 170 1 0 RCP4W rod type RA7C Ball screw 800 4 Vertical 4 Note It is the value when high thrust function is effective Note Varies depending on the Surrounding temperature 140 0 5 375 1326 20 Horizontal 1 0 16 Vertical 20 Note...

Page 298: ... 840 at 650st 735 at 700st 650 at 750st 575 at 800st 0 5 16 56 Horizontal 1 0 12 Vertical 15 Note It is the value when high thrust function is effective 900 at 50 to 400st 885 at 450st 735 at 500st 620 at 550st 535 at 600st 460 at 650st 405 at 700st 335 at 750st 315 at 800st 0 5 26 93 Horizontal 1 0 6 Vertical 7 5 Note It is the value when high thrust function is effective 450 at 50 to 400st 435 a...

Page 299: ... 430 at 600st 375 at 650st 325 at 700st 290 at 750st 255 at 800st 1 0 8 Vertical Horizontal 10 Note It is the value when high thrust function is effective 245 at 50 to 550st 215 at 600st 185 at 650st 160 at 700st 140 at 750st 125 at 800st 0 5 96 336 1 0 Vertical Horizontal RCP5 slider type SA7C Ball screw 800 4 Vertical 5 Note It is the value when high thrust function is effective 210 at 50 to 600...

Page 300: ... 0 5 106 370 20 Horizontal Note It is the value when high thrust function is effective 800 1 0 24 Vertical 30 Note It is the value when high thrust function is effective 600 0 5 52 182 Horizontal Note It is the value when high thrust function is effective 700 1 0 16 Vertical 20 Note It is the value when high thrust function is effective 560 0 5 78 273 Horizontal 1 0 8 Vertical 10 Note It is the va...

Page 301: ...400 at 450st 360 at 500st 320 at 550st 280 at 600st 240 at 650st 220 at 700st 0 2 167 500 Horizontal 10 Vertical 12 5 200 at 50 to 450st 180 at 500st 160 at 550st 140 at 600st 120 at 650st 110 at 700st 0 2 333 1000 Horizontal RA8R Ball screw 800 5 Vertical 6 25 100 at 50 to 450st 90 at 500st 80 at 550st 70 at 600st 60 at 650st 55 at 700st 0 1 667 2000 10 Horizontal 117 at 50st 167 at 100st 200 at ...

Page 302: ...7 at 50st 167 at 100st 200 at 600st 180 at 650st 160 at 700st 140 at 750st 120 at 800st 10 Vertical 12 5 117 at 50st 140 at 750st 120 at 800st 0 04 429 1500 Horizontal 5 Vertical 6 25 83 at 50st 100 at 100st 90 at 500st 80 at 550st 70 at 600st 60 at 650st 55 at 700st 50 at 750st 45 at 800st 0 02 857 3000 Horizontal RCP5 rod type RA10R Ball screw 800 2 5 Vertical 3 12 63 at 50 to 500st 55 at 550st ...

Page 303: ...ntal installation Vertical installation High speed type Medium speed type Low speed type Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Note In the above graphs the number after the type code indicates the lead ...

Page 304: ...ntal installation Vertical installation High speed type Medium speed type Low speed type Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Note In the above graphs the number after the type code indicates the lead ...

Page 305: ...h speed type Medium speed type Low speed type Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Note In the above graphs the number after the type code indicates the lead Note 1 The figures for horizontal installation assume use of an external guide ...

Page 306: ...stallation Vertical installation High speed type Medium speed type Low speed type Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Note In the above graphs the number after the type code indicates the lead ...

Page 307: ...e Horizontal installation Vertical installation High speed type Medium speed type Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Note In the above graphs the number after the type code indicates the lead ...

Page 308: ...oad capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Note In the above graphs the number after the type code indicates the lead Note 1 The figures for horizontal installation assume use of an external guide Note 2 Use of the actuator at the maximum loading capacity corresponding to the applicable speed may cause vib...

Page 309: ...ertical installation R A 8 C R A 8 R R A 10 C Lead 5 Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Lead 10 Lead 5 Lead 10 Lead 5 Lead 10 Lead 5 Lead 10 Lead 2 5mm Lead 5mm Lead 10mm Lead 2 5mm Lead 5mm Lead 10mm ...

Page 310: ...d mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Lead 4 Lead 2 Lead 4 Lead 6 Lead 2 5 Lead 5 Lead 10 Lead 2 5 Lead 5 Lead 10 Lead 6 Lead 3 Lead 6 Lead 12 Lead 3 Lead 6 Lead 12 Lead 3 Lead 6 Lead 12 Lead 3 Lead 6 Lead 12 S A 3 C S A 4 C S A 5 C...

Page 311: ... installation Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Speed mm sec Load capacity kg Lead 2 5 Lead 5 Lead 10 Lead 2 5 Lead 5 Lead 10 Lead 3 Lead 6 Lead 12 Lead 3 Lead 6 Lead 12 Lead 3 Lead 6 Lead 12 Lead 3 Lead 6 Lead 12 T A 5 C T A 6 C T A 7 C ...

Page 312: ... 450 0 200 400 0 200 400 600 800 1000 1200 1400 1600 0 200 400 600 800 1000 1200 1400 1600 600 800 1000 1200 1400 0 200 400 600 800 1000 1200 1400 0 200 400 600 800 1000 1200 1400 0 200 400 600 800 1000 1200 1400 2 5 0 5 0 5 0 5 0 5 5 1 1 2 5 18 12 6 5 1 5 Lead 6 Lead 3 Lead 6 Lead 3 Lead 12 Lead 12 Lead 8 Lead 16 Lead 24 Lead 4 Lead 4 Lead 8 Lead 16 Lead 24 5 5 16 8 9 2 1 1 8 7 4 Shown in graph i...

Page 313: ...mm sec 0 200 400 600 800 1000 1200 0 200 400 600 800 1000 1200 Speed mm sec 0 200 400 600 800 1000 1200 1400 1600 Speed mm sec 0 200 400 600 800 1000 1200 1400 Speed mm sec 0 200 400 600 800 1000 1200 1400 Speed mm sec 0 200 400 600 800 1000 1200 1400 6 6 1 6 4 4 1 9 16 7 8 5 5 12 18 3 0 5 Lead 4 3 0 5 Shown in graph is in condition of operation with 0 3G Shown in graph is in condition of operatio...

Page 314: ...m sec 0 100 200 400 500 300 600 700 800 900 Load capacity kg 25 20 15 10 5 0 Load capacity kg 30 25 20 15 10 5 0 Speed mm sec 0 100 200 400 500 300 600 700 Speed mm sec 0 100 200 400 500 300 600 700 800 900 Speed mm sec 0 200 600 400 800 1000 1200 6 25 16 8 6 4 Lead 4 Lead 8 Lead 16 Lead 24 3 2 3 4 3 8 18 28 Lead 4 Lead 8 Lead 16 Lead 24 2 5 1 15 The graph shows the values of Values below are in c...

Page 315: ...24 Lead 8 4 2 2 1 1 5 Lead 3 Lead 20 Lead 20 Speed mm sec 0 100 200 300 400 500 600 700 800 900 Load capacity kg 90 80 70 60 50 40 30 20 10 0 Speed mm sec 0 100 200 300 400 500 600 700 800 900 Speed mm sec 0 100 200 300 400 500 600 700 800 900 Load capacity kg Speed mm sec 0 100 200 300 400 500 600 700 30 25 20 15 10 5 1 0 28 18 8 3 4 3 2 3 15 1 2 5 Values below are in condition of operation with ...

Page 316: ... Thrust Type Lead 6 Lead 12 Lead 12 Lead 12 1 2 Lead 6 Lead 6 25 7 Lead 3 Standard Type Lead 4 Standard Type Lead 4 Standard Type Lead 6 Lead 12 Lead 8 Lead 16 3 25 7 Lead 8 Lead 16 3 1 2 5 4 3 8 16 Lead 4 High Thrust Type Lead 4 Standard Type Lead 4 Standard Type Lead 8 Lead 16 7 8 2 1 Lead 16 1 2 8 7 Lead 8 When environmental temperature is 5degC or higher When environmental temperature is 5degC...

Page 317: ...ad capacity kg 10 9 8 7 6 5 4 3 2 1 0 18 16 14 12 10 8 6 4 2 0 Load capacity kg Speed mm sec 0 200 400 600 800 1000 1400 1200 50 45 50 35 30 25 20 15 10 5 Speed mm sec 0 200 400 600 800 1000 1400 1200 4 5 2 25 2 5 3 8 9 Lead 6 Lead 12 Lead 20 0 5 0 5 Lead 6 Lead 3 Lead 12 Lead 4 Lead 4 Lead 8 8 2 1 1 Lead 16 Lead 24 Lead 8 Lead 16 Lead 24 5 5 4 6 5 Values of Lead 16 are in Values of Lead 3 6 12 ar...

Page 318: ...Lead 24 Lead 12 Lead 12 0 75 6 2 2 1 5 Lead 16 25 20 15 10 5 0 Load capacity kg Speed mm sec 0 100 300 200 400 500 600 700 30 25 20 15 10 5 0 Load capacity kg Speed mm sec Load capacity kg Speed mm sec 0 100 200 300 400 500 600 700 800 900 0 100 200 300 400 500 600 700 800 900 2 2 2 2 2 2 5 1 3 4 6 8 16 1 70 60 50 40 30 20 10 0 90 80 70 60 50 40 30 20 10 0 2 8 18 8 3 Values of Lead 2 5 5 10 are in...

Page 319: ...Chapter 10 Appendix POWER CON PCON CB LC 305 Correlation diagram of speed and loading capacity for the RCP5 rod type High output effective ...

Page 320: ...he operating conditions the positioning speed is set to a value equal to or smaller than the push speed the push speed will become the set speed and the specified push force will not generate RCP2 Series Rod Type RA2C Type Current limiting value ratio Push force N High speed type Medium speed type Low speed type Current limiting value ratio Push force N Current limiting value ratio Push force N Cu...

Page 321: ... Appendix POWER CON PCON CB LC 307 RCP2 Series Rod High Thrust Type RA8C RA8R Type RA10C Type Current limiting value Push force N Lead 5 Lead 10 Current limiting value ratio Push force N Pressing speed at 10mm s ...

Page 322: ...Short Type Current limiting value ratio Push force N Slider Type RCP2 Series Current limiting value ratio Push force N Current limiting value ratio Push force N Current limiting value ratio Push force N SA5C SA6C SS7C Type SA7C Type SS8C Type Lead 2 5 Lead 5 ...

Page 323: ...eries Current limiting value ratio Gripping force N Current limiting value ratio Gripping force N Current limiting value ratio Gripping force N Current limiting value ratio Gripping force N Current limiting value ratio Push force N Standard type High speed type ...

Page 324: ...N PCON CB LC 310 3 finger Gripper RCP2 Series Current limiting value ratio Gripping force N Current limiting value ratio Gripping force N Current limiting value ratio Gripping force N Current limiting value ratio Gripping force N ...

Page 325: ...Current limiting value ratio Push force N Current limiting value ratio Push force N Current limiting value ratio Push force N Current limiting value ratio Push force N Current limiting value ratio Push force N RA2AC RA2AR Lead 1 RA2BC RA2BR Lead 2 RA2AC RA2AR Lead 2 RA2BC RA2BR Lead 4 RA2AC RA2AR Lead 4 RA2BC RA2BR Lead 6 ...

Page 326: ...rent limiting value ratio Push force N SA5C SA6C Type Slim Compact Table Type RCP3 Series Current limiting value ratio Push force N TA3C TA3R Type Current limiting value ratio Push force N TA4C TA4R Type Lead 2 Lead 4 Lead 6 Lead 2 Lead 4 Lead 6 Table Type RCP3 Series TA5C Type TA6C TA7C Type Current limiting value ratio Push force N Current limiting value ratio Push force N ...

Page 327: ...200 100 0 Current limiting value ratio Push force N 0 10 20 30 40 50 60 70 80 Lead 4 Lead 8 Lead 16 Lead 24 400 350 300 250 200 150 100 50 0 Current limiting value ratio 0 10 20 30 40 50 60 70 80 Lead 3 Lead 6 Lead 12 Lead 20 RA5 Type RA6 Type 1200 1000 800 600 400 200 0 Current limiting value ratio 0 10 20 30 40 50 60 70 80 Lead 4 Lead 8 Lead 16 Lead 24 Lead 24 350 300 250 200 150 100 50 0 Curren...

Page 328: ...0 20 30 40 50 60 70 80 0 200 400 600 800 1000 1200 1400 0 10 20 30 40 50 60 70 80 Slider Type RCP4W Series Rod Type RCP4W Series SA5C Type SA7C Type SA6C Type Lead 3 SA6C Type Lead 6 SA6C Type Lead 12 SA7C Type Lead 4 SA6C Type Current limiting value ratio Push force N Current limiting value ratio Push force N Current limiting value ratio Push force N Current limiting value ratio Push force N Curr...

Page 329: ...e ratio Push force N SA7C Type Lead 8 SA7C Type Lead 16 Due to the buckling load of the ball screw there is a limit to the pressing force to a long stroke type stated below Stroke Lead Length 550mm or less 600mm or less 650mm or less 700mm or less 750mm or less 800mm or less 2 5 Value in graph 5900 5400 5 Value in graph 2900 2500 2200 2000 1800 10 Value in graph RA8C RA8R Type RCP5 series Rod High...

Page 330: ...Chapter 10 Appendix POWER CON PCON CB LC 316 ...

Page 331: ...ope of warranty 1 Anything other than our product 2 Modification or repair performed by a party other than us unless we have approved such modification or repair 3 Anything that could not be easily predicted with the level of science and technology available at the time of shipment from our company 4 A natural disaster man made disaster incident or accident for which we are not liable 5 Natural fa...

Page 332: ... equipment pertaining to maintenance or management of human life or health 2 A mechanism or mechanical equipment intended to move or transport people such as a vehicle railway facility or aviation facility 3 Important safety parts of mechanical equipment such as safety devices 4 Equipment used to handle cultural assets art or other irreplaceable items 3 Contact us at the earliest opportunity if ou...

Page 333: ...e mede to Description 4 ON OFF P115 ST1 to ST6 ST0 to ST6 PE1 to PE6 PE0 to PE6 P147 148 Table added and corrected for binary output in 10 Binary Output of Alarm Data Output P154 3 Pulse Train Datum Position added P166 6 2 Automatic Current Reduction Feature added P179 Signal changed to in For Pulse Train Mode in high output setting No 182 Automatic current reduction feature select added P179 208 ...

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Page 336: ... 889524 SHANGHAI JIAHUA BUSINESS CENTER A8 303 808 Hongqiao Rd Shanghai 200030 China TEL 021 6448 4753 FAX 021 6448 3992 website www iai robot com Technical Support available in USA Europe and China Head Office 2690 W 237th Street Torrance CA 90505 TEL 310 891 6015 FAX 310 891 0815 Chicago Office 110 East State Parkway Schaumburg IL 60173 TEL 847 908 1400 FAX 847 908 1399 TEL 678 354 9470 FAX 678 ...

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