IAI RCM-P6AC, Instruction Manual

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Fieldbus Communication
10
RCP6S
9. PLC timer setting
Do not have the PLC timer setting to be done with the minimum setting.
Setting to “1” for 100msec timer turns ON at the timing from 0 to 100msec while 10msec timer
from 0 to 10msec for some PLC.
Therefore, the same process as when the timer is not set is held and may cause a failure such
as the actuator cannot get positioned to the indicated position number in positioner mode.
Set “2” as the minimum value for the setting of 10msec timer and when setting to 100msec, use
10msec timer and set to “10”.
10. Regarding Battery-less Absolute Type Actuator
1) For the pulse motor type, the setting switched over between the absolute type and
incremental type with the parameters.
y
Parameter No.83 Absorber unit
0 : not used = (Incremental Type), 1 : Use = (Absolute Type)
2) For actuator of RCP5 series, for the first time to turn the servo on after turning on the power,
it will have slight position adjustment due to the characteristics of the stepping motor.
The maximum movement amount at position adjustment operation is the distance of 0.025 ×
lead length [mm].
Also, the current position displayed on the teaching tool before turning the servo on is the
coordinates before adjustment operation.
3) 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.
4) 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.
5) Make sure to have a home-return operation (absolute reset) after detaching the motor unit
from the actuator for motor replacement purpose and so on.
11. Caution when RCP6S Gateway Controller is Connected
When RCM-P6DC or RCM-P6DC which is a controller for RCP6S Gateway is to be connected,
the version of the gateway unit and the hub unit needs to be V0004 or later for both units.
12. Motor Features in AUTO Mode
Status (condition) display and servomotor are available in AUTO Mode.
ME0349-4B