IAI RCM-P6AC Instruction Manual Download

Page: 247 / 286

Troubleshooting

Fieldbus Communication

235

RCP6S

9.4 Driver Alarm

9.4.1 Alarm Level

The alarms are classified to 3 types of levels by the content of the error.

Alarm level

Actuator

status display

LED

*ALM signal

Status when an

error occurred

Content of alarm

Message Green Light is

turned ON.

No output

No stop

Alarm of maintenance output such as

battery voltage drop or the teaching tool

such as PC software

[Refer to Instruction Manual of each tool

for details.]

Operation

release

Red Light is

turned ON.

Output

Servo OFF after

deceleration to

stop

Reset the alarm by the reset signal (RES)

or teaching tool.

Cold start

Red Light is

turned ON.

Output

Servo OFF after

deceleration to

stop

Software reset or power reconnection by

teaching tool.

Home return is required for any actuators

of incremental specification.

Caution: Reset each alarm after identifying and removing the cause.

If the cause of the alarm cannot be removed or when the alarm cannot be reset

after removing the cause, please contact IAI.

If the same error occurs again after resetting the alarm, it means that the cause

of the alarm has not been removed.

9.4.2 Simple Alarm Code

Simple alarm codes are read into the complete position register (PM8 to PM1) of each mode in

Simplified Direct Value, Positioner 1, Positioner 2, Positioner 3 and Positioner 5 when an alarm

is generated.

{

: ON

: OFF

*ALM ALM8

(PM8)

ALM4

(PM4)

ALM2

(PM2)

ALM1

(PM1) Binary Code

Description: Alarm code is shown in ( ).

{

– Normal

{

Collision Detection (0DF)

{

Software reset during servo ON (090)

Position number error during teaching (091)

PWRT signal detected during movement (092)

PWRT signal detected before completion of home

return (093)

{

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)

Position command information data error (0A3)

Command deceleration error (0A7)

{

Mismatched PCB (0F4)

(Note) *ALM Signal is an active low signal. It is ON when the power is applied to the controller, and

turns OFF when the signal is output.

ME0349-4B

Summary of Contents for RCM-P6AC

Page 1: ...Fieldbus Communication Instruction Manual Fouth Edition Hub Unit RCM P6HUB Gateway Unit RCM P6GW G RCP6S RCP6S Gateway Controllers RCM P6PC RCM P6AC RCM P6DC ...

Page 2: ......

Page 3: ...h 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 i...

Page 4: ...ommunication Serial communication Modbus ME0162 Slider type RCP6S CR SA ME3749 Wide slider type RCP6S CR WSA ME3750 Rod type RCP6S RA ME3751 Wide rod type RCP6S WRA ME3752 Radial cylinder type RCP6S RRA ME3753 Table type RCP6S TA ME3754 Dust proof Splush proof Rod type RCP6SW RA ME3759 Dust proof Splush proof Wide rod type RCP6SW WRA ME3760 Dust proof Splush proof Radial cylinder type RCP6SW RRA M...

Page 5: ...ns the name for each parts and their functions Chapter 5 Collision Detection Feature In this chapter explains the setup and tuning for collision detection feature Chapter 2 Wiring In this chapter explains the basic wiring and connection to extension devices such as the gateway unit 43 175 181 185 227 12 21 173 Chapter 10 Appendix In this chapter explains the Safety Category plus grounding and main...

Page 6: ... Link Interface 33 1 4 3 Specifications of PROFIBUS DP Interface 34 1 4 4 Specifications of EtherNet IP Interface 34 1 4 5 Specifications of EtherCAT Interface 34 1 4 6 Specifications of PROFINET IO Interface 35 1 5 External Dimensions 36 1 5 1 Gateway Unit 36 1 5 2 Hub Unit 37 1 5 3 RCP6S Gateway Controller 38 1 6 Installation and Storage Environment 39 1 7 Noise Elimination and Mounting Method 4...

Page 7: ...utput Signals of Modes 131 3 7 1 Input and Output Signal Functions 131 3 7 2 Operation for Positioner 1 Simple Direct Modes 145 3 7 3 Operation for Direct Indication Mode 146 3 7 4 Operation for Positioner 2 Positioner 3 and Positioner 5 Modes 147 3 8 About Gateway Parameter Setting Tool 148 3 8 1 Startup of Tool 148 3 8 2 Explanation of Each Menu 149 3 8 3 Description of Functions 151 3 8 4 Opera...

Page 8: ... 3 Generation of Noise and or Vibration 231 9 2 4 Impossible Communication 231 9 3 Gateway Alarm 232 9 3 1 Gateway Alarm Codes 232 9 3 2 Connection Unit Control Power Voltage Drop Alarm 234 9 4 Driver Alarm 235 9 4 1 Alarm Level 235 9 4 2 Simple Alarm Code 235 9 4 3 Alarm Codes for Driver Board 237 Chapter 10 Appendix 249 10 1 Conformity to Safety Category 249 10 2 When Connecting Power with Plus ...

Page 9: ...Fieldbus Communication RCP6S ME0349 4B ...

Page 10: ...teway Unit extension 3 Touch Panel Teaching Instruction Manual ME0324 Field Network Setting File 4 RCP6S CR RCP6SW Instruction Manual for Each Type File e g EDS File 5 Serial Communication Modbus Instruction Manual ME0162 6 Instruction manual of each actuator Download it in homepage http www iai robot co jp Step 2 Check How to Operate The operation modes and control methods will defer depending on...

Page 11: ...1 Axis No 10 Axis No 9 Axis No 8 Axis No 7 Axis No 6 Axis No 5 Axis No 4 Axis No 3 Axis No 2 Axis No 1 Axis No 0 PC Example for Basic Wiring Axis No 12 Controller for Gateway Controller for Gateway Connector Conversion Unit Controller for Gateway Note When an actuator is to connected to the controller for RCP6S Gateway make sure to connect an actuator of the model code stated on the controller fro...

Page 12: ...nd 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 There is a brake release switch mounted on the front panel of the hub unit Also there is the brake release input in the system conn...

Page 13: ...y 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 14: ... 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 15: ...at there is no disconnection 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 3 Grounding The grounding operation should be performed to prevent an electric shock or...

Page 16: ... 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 persons...

Page 17: ...h 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 operat...

Page 18: ... 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 cover...

Page 19: ...hich 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 N...

Page 20: ...ication standards possesses six types of fieldbus operation modes for control method The setup can be performed in the initial setting Refer to Chapter 3 2 Initial Setting and Chapter 8 Parameter Set the operation mode and operation pattern setting to the logic that suits your use after the power is turned ON 5 Clock setting in calendar function There may be a case in the first time to supply the ...

Page 21: ...tion 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 made on the input area not to receive the s...

Page 22: ... 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 co...

Page 23: ...ds Compliances This product comply with the following international standards Refer to Overseas Standard Compliance Manual ME0287 for more detailed information Device RoHS Directive CE Marking cUL Gateway Unit Hub Unit RCP6S Gateway Controllers ME0349 4B ...

Page 24: ...el or more In the emergency stop RD During crash detection GR Servo ON GR Motor driving power supply OFF Note 1 OR In initializing process when the power is turned on Note 1 Signal during automatic servo off Refer to Chapter 6 3 Communication SIO Connector Refer to 2 3 5 SIO Connector Connection The SIO connector is used to connect the controller with a teaching tool through a proper communication...

Page 25: ...eration Mode Setting Switch This is a switch to change the operation mode between Automatic Operation AUTO and Manual Operation MANU 7 System I O Connector It is a connector for the brake release input in case of connecting the actuator directly to the emergency stop input external AUTO MANU switchover input or the gateway unit 8 Fieldbus Connector It is a connector for the fieldbus 6 Operation Mo...

Page 26: ...ol Connector AX12 to 15 It is a connector to supply power and control signals 24V DC control power supply 24V DC motor power supply communication line brake release signal and emergency stop status from the gateway to a hub unit or actuator 11 Axis Power Supply Connector AX0 to 3 13 Axis Power Supply Connector AX4 to 7 15 Axis Power Supply Connector AX8 to 11 17 Axis Power Supply Connector AX12 to...

Page 27: ...r switches are equipped for AXIS 0 to 4 7 RCP6S Connector AXIS3 8 RCP6S Connector AXIS2 9 RCP6S Connector AXIS1 10 RCP6S Connector AXIS0 It is a connector to supply the power and the control signals 24V DC control power supply 24V DC motor power supply communication line brake release signal and emergency stop status from a hub to connected axes Refer to Chapter 2 Wiring for details for such as co...

Page 28: ...Flashing Note 1 Alarm Emergency Stop Red Illuminating Communication Error Red Flashing Note 2 LED2 AX2 STS LED3 AX1 STS LED4 AX0 STS LED5 SYS Hub Unit System Status Ready Green Illuminating Standby for communication establishment Green Flashing Note 2 Control Motor power voltage drop Alarm Emergency Stop Red Illuminating Note 1 The lamp turns on and off in every 1sec Note 2 The lamp turns on and o...

Page 29: ...or RCP6S Gateway to actuators 3 SIO Connector It is a connector to connect such as a teaching pendant or PC Refer to Chapter 2 Wiring for details for such as connector codes and pin assignments etc 4 Status Display LED It shows the status of the RCP6S Gateway controllers Illuminating OFF Symbol LED Display Color and Operation Status LED1 SV ALM Servo ON Alarm Servo OFF OFF Servo ON Green Illuminat...

Page 30: ...the home reversed type option 1 Rod Type Wide Rod Radial Cylinder Type 2 Slider Type Wide Slider Type 3 Table Type 4 Arm Type 5 Gripper 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 0 0 Finger Attachment Please prepare separately ME0349 4B ...

Page 31: ...ommunication 19 RCP6S 6 Rotary type 330 Rotation Specification Multi rotation Specification The directions of positive and negative will be opposite for the home reversed type in the multi rotation type ME0349 4B ...

Page 32: ...Fieldbus Communication 20 RCP6S ME0349 4B ...

Page 33: ...er to 1 1 4 How to read the model plate 1 1 5 How to read the model 1 RCM P6GW G Accessories 3 Drive Cutoff Connector 1 FKCN2 5 4 STF 5 0 Ax0 7 Supplier PHOENIX CONTACT 1 Recommended cable size 1 25 to 0 5mm2 AWG16 to 20 4 Drive Cutoff Connector 2 FKCN2 5 4 STF 5 0 Ax8 15 Supplier PHOENIX CONTACT 1 Recommended cable size 1 25 to 0 5mm2 AWG16 to 20 5 System I O Connector DFMC1 5 7 ST 3 5 Supplier P...

Page 34: ...1 Terminal Resistance 130Ω1 2W 110Ω1 2W enclosed one unit each 9 Safety Guide 1 The picture shows an image 10 First Step Guide 1 The picture shows an image 11 Instruction Manual DVD 1 The picture shows an image Option Prepare the following options if necessary No Part Name Model and Picture Number Remarks 1 Hub Unit Refer to 1 1 4 How to read the model plate 1 1 5 How to read the model RCM P6HUB 2...

Page 35: ...Model 1 PC Software Includes RS232C Exchange Adapter Peripheral Communication Cable RCM 101 MW 2 PC Software Includes USB Exchange Adapter USB Cable Peripheral Communication Cable RCM 101 USB 3 Touch Panel Teaching Pendant TB 01 Standard Type Deadman Switch Attached on the Left side Type Deadman Switch Attached on the Right side Type TB 01 TB 01D TB 01DR 4 Touch Panel Teaching Pendant TB 02 Standa...

Page 36: ...n Manual for the RCP6 S Radial Cylinder Type ME3753 8 Instruction Manual for the RCP6 S Table Type ME3754 9 Instruction Manual for the RCP6 S W Rod Dust proof Splush proof Type ME3759 10 Instruction Manual for the RCP6 S W Wide Rod Dust proof Splush proof Type ME3760 11 Instruction Manual for the RCP6 S W Radial Cylinder Dust proof Splush proof Type ME3761 12 PC Software RCM 101 MW RCM 101 USB Ins...

Page 37: ...Gateway Unit 2 Hub Unit 3 RCP6S Gateway Controllers Model RCM P6GW CC SER NO 12345678 00 Input DC24V 44 6A Output DC24V 44A Model code Serial number Model RCM P6HUB DN SER NO 12345678 00 Input DC24V max 11A Output DC24V max 10 7A Model code Serial number Attached on Side Serial number Model code Model code Serial number Attached on Panel Model Code of Actuator to be Connected ME0349 4B ...

Page 38: ...e P6PC Pulse Motor Type DN Attachment DIN Rail Type P6AC Servo Motor Type 0 DC24V P6DC Brushless DC Electric Motor Type 0 With No Cable Motor type SE SIO Type Options HA High Acceleration Deceleration Type Dedicated for RCA Series LA Power Saving Type Dedicated for RCA Series Encoder type WAI Battery less absolute Incremental I Incremental Dedicated for Brushless DC Electric Motor Not applicable f...

Page 39: ...rol Corresponding Encoder Battery less absolute encoder Resolution 8192pulse rev Cable Length Between gateway unit and hub 10m max Between gateway unit and RCP6S actuator 20m max Serial Communication Interface SIO Port RS485 2CH based on Modbus protocol RTU ASCII Only 1CH is in conformity with ASCII Speed 9 6 to 230 4Kbps External Interface Fieldbus connection Note Connection of gateway unit is ne...

Page 40: ...Used only when RCP6S connected directly to gateway unit Invalid when hub connected Protection Function against Electric Shock Class I basic insulation Insulation Strength 500V DC 10MΩ Mass 250g External Dimensions 35W 115H 123D Note 1 For those except for CC Link which are used in the direct indication mode the maximum number of the axes should be eight and two axes with the gateway unit itself 1 ...

Page 41: ...nput B contact input Emergency Stop Operation Servo OFF Drive Cutoff Enable Input None T P Enable Input Equipped Enable Operation Servo OFF Motor Control System Field Weakening Vector Control Motor Noise Reduction Equipped Tuning Smart Tuning PowerCON Equipped Encoder Incremental Battery less absolute encoder Resolution 800 pulse rev High resolution battery less absolute encoder Resolution 8192 pu...

Page 42: ...ped Enable Operation Servo OFF Motor Control System Sine Wave AC Drive Additional Functions Anti Vibration Control Tuning Off board Tuning Smart Tuning Equipped with Battery less Absolute Encoder 16384 pulse rev RCA Incremental 800 pulse rev RCA2 N 1048 pulse rev RCA2 Other than RCA2 N 800 pulse rev RA1L SA1L SA4L SM4L 715 pulse rev RA2L SA2L SA5L SM5L 855 pulse rev Encoder RCL RA3L SA3L SA6L SM6L...

Page 43: ...ation RS485 2ch based on Modbus protocol Electromagnetic Brake Compulsory Release Feature Brake release input inside I F connector Protection Function against Electric Shock Class I basic insulation Insulation Strength DC500V 10MΩ Mass 200g 215g Mass described in brackets is for DIN rail type External Dimensions 30W 115H 58D 66 5D Dimension described in brackets is for DIN rail type 1 2 5 Specific...

Page 44: ... on it should be 0 5sec or less after that retaining of released status should be 0 1A axis When using the control power source and the motor power source in common calculate with the number of brake equipped actuators 0 1A 5 Selection of Power Supply Usually the rated current is to be approximately 1 2 times higher than the total of Control Power 2 3 5 above considering approximately 30 of margin...

Page 45: ...upply 24V DC Supplied from DeviceNet Note 1 For T branch communication refer to the Instruction Manuals for the master unit and programmable logic controller PLC to be mounted Note 2 The cable side connector is a standard accessory Refer to 1 1 1 Parts 1 4 2 Specifications of CC Link Interface Item Specification Communication Protocol CC Link ver1 10 or ver2 00 Station Type Remote device station M...

Page 46: ... Number of Occupied Bytes 3 4 1 PLC Address Construction by each Operation Mode Communication Cable Length Follows EtherNet IP specifications Distance between hub and each node 100m max Number of Connection Follows master unit Available Node Addresses for Setting 0 0 0 0 to 255 255 255 255 Communications Cable Note 1 Category 5 or more Double shielded cable braided with aluminum foil recommended C...

Page 47: ...Construction by each Operation Mode Communication Cable Length Distance between each segment 100m Max Number of Connection Follows master unit Available Node Addresses for Setting 0 0 0 0 to 255 255 255 255 Communications Cable Note 1 Category 5 or more Double shielded cable braided with aluminum foil recommended Connector RJ45 connector 1pc GSDML File Version Ver 2 3 Note 1 Prepare separately for...

Page 48: ...Specifications Check Fieldbus Communication 36 RCP6S 1 5 External Dimensions 1 5 1 Gateway Unit Fixed Screws Type and Attachment DIN Rail Type 35 4 Width of 35mm DIN rail 55 from DIN rail center ME0349 4B ...

Page 49: ...us Communication 37 RCP6S 1 5 2 Hub Unit 1 Fixed Screws Type 10 19 5 10 5 5 19 5 105 105 115 2 5 2 5 2 5 2 5 30 58 φ 5 φ 5 2 Attachment DIN Rail Type 35 4 Width of 35mm DIN rail 66 5 from DIN rail center 30 115 6 5 58 8 5 ME0349 4B ...

Page 50: ...cation 38 RCP6S 1 5 3 RCP6S Gateway Controller Dimensions for RCM P6PC RCM P6AC and RCM P6DC should be the same 1 Fixed Screws Type 2 Attachment DIN Rail Type 35 4 Width of 35mm DIN rail 66 5 from DIN rail center 30 115 6 5 58 8 5 ME0349 4B ...

Page 51: ...t 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 the mains or ...

Page 52: ...enoid valves magnet switches and relays Measure Install a Surge absorber 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 Earth Terminal Grounding resistance at 100Ω or less Formerly Class III grounding Copper wire Connect a ground wire with a diameter of 1 6 mm 2mm 2 AWG14 Connect...

Page 53: ...he surrounding temperature around the controller below 40 C To fix the units in the 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 Gateway Unit Hub Unit 100mm or more 100mm or more 10mm or more 100mm or more 10mm or more 10mm or more 10mm or more 10mm or more 10mm or more 10mm or more 10mm or more 100mm ...

Page 54: ...1 Specifications Check Fieldbus Communication 42 RCP6S RCP6S Gateway Controllers RCM P6PC RCM P6AC RCM P6DC 10mm or more 10mm or more 10mm or more 10mm or more 10mm or more 100mm or more ME0349 4B ...

Page 55: ... it is not necessary to set the axis address for each actuator Host Controller Fieldbus Teaching Tool Hub Unit 1 Hub Unit 2 Hub Unit 3 Axis No 15 Axis No 14 Axis No 13 Axis No 12 Hub Unit 0 Gateway Unit USB Connection Axis No 11 Axis No 10 Axis No 9 Axis No 8 Axis No 7 Axis No 6 Axis No 5 Axis No 4 Axis No 3 Axis No 2 Axis No 1 Axis No 0 PC There is a switch equipped to a hub unit for brake releas...

Page 56: ...2 or RCD partly not applicable Some actuators require a connector conversion unit Note When an actuator is to connected to the controller for RCP6S Gateway make sure to connect an actuator of the model code stated on the controller front panel Operation will not be performed correctly if an actuator not indicated is connected Without using a hub unit it is available to connect actuators directly I...

Page 57: ...teway controller Putting in or taking out a connect while the power is kept on may cause malfunction Fieldbus Connecting Teaching Pendant to be purchased separately Hub Unit MAX 4 units Gateway Unit Connector Conversion Unit RCM CV APCS RCP5 RCA2 Emergency Stop Circuit PC software to be purchased separately Dummy Plug DP 5 Note1 Host System master unit PLC etc Please prepare separately Drive Cutof...

Page 58: ...y activating devices and emergency stop input EMG from a teaching tool RCP6S Actuator or RCP6S Gateway Controllers Built in Drive Cutoff Circuit MAX 16 units Teaching Tool Operation Stop Switch System I O Connector SIO Connector Teaching Tool Connection Detection Circuit Contact opens when connected Dedicated Operation Stop Circuit Wiring Conducted at Delivery Operation Stop Detection Times Hub Un...

Page 59: ...ignal EMG to turn ON OFF at contact CR1 is 24V DC and 10mA or less Note 4 For CR1 select the one with coil current 0 1A or less Caution 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 Emergency Stop Release Switch Emergency Stop Switch Emergency Stop Switch on the Teaching Pendant RCP6S Gateway Unit System I...

Page 60: ...onnector Gateway Unit Axis Control Connector C Axis Power Supply Connector M SIO Connector Hub Unit 1 Hub Unit 2 Hub Unit 3 Hub Unit 4 Hub Unit 1 Hub Unit 2 Hub Unit 3 Hub Unit 4 Note 2 Note 3 Note 1 Note 4 Note 2 Note 2 Note 2 Note 2 Note 2 Note 2 Note 2 Note 2 Note 1 Emergency Stop Detection Circuit Emergency Stop Detection Circuit Drive Cutoff Connector Drive Cutoff Connector Motor Power Supply...

Page 61: ... utilize these holes if necessary C Connection to RCP6S Hub unit and RCP6S Extension Cable is utilize these holes if necessary Gateway Unit Bottom surface Hub Unit Front surface RCP6S Connector Connected unit RCP6S actuator Gateway Unit Axis Power Supply Conector Axis Control Conector RCP6S Actuator Hub Unit Hub Power Supply Conector Hub Control Conector Gateway Unit Axis Power Supply Conector Axi...

Page 62: ...B Symbol Cable Name Cable Model Remarks 1 Gateway Hub Connection Cable CB RCP6S RLY Max 10m Note 1 2 Gateway Hub Connection Cable CB RCP6S RLY JY1 Max 10m Note 1 3 RCP6S Connection Cable CB RCP6S PWBIO Max 20m Note 2 4 RCP6S Extension Cable CB RCP6S PWBIO JY1 Max 20m Note 2 Note 1 The maximum length should be 10m between the gateway and hub unit Not e2 The maximum length should be 20m from the gat...

Page 63: ...r RCP6S Gateway RCM P6PC to the hub unit or a gateway unit and connect a RCP2 to 4 actuator on the further end via a connector conversion unit RCP2 to 4 Actuator Connector Conversion Unit RCM CV APCS 5 RCP6S Gateway Connector 3 RCP6S Connector RCP6S Gateway Controller Power axis Supply Control Connector Connector Each Actuator Connector RCP5 and 6 Actuator 5 RCP6S Gateway Connector 3 RCP6S Connect...

Page 64: ...gardless of a hub unit or connector conversion unit being used or not used However the maximum length should be 10m from the gateway unit to RCD actuator when RCM P6DC is used Actuator Side Connector DF62C 13S 2 2C Connector Unit Side GW Unit Hub Unit Connector DF62C 13S 2 2C Model Label Plug Cover Boots RCA RCA2 Actuator Connector Conversion Unit RCM CV APCS Each Actuator Connector 5 RCP6S Gatewa...

Page 65: ...er connector PADP 24V 1 S and connect the connection cables to each actuator Connector Conversion Unit RCM CV APCS Example for Connection Refer to an instruction manual of each actuator for the model code of the connection cables for each actuator RCP6S Gateway Controllers Actuator Side Actuator Connector Conversion Unit RCM CV APCS 5 RCP6S Gateway Connector RCP6S Gateway Controllers Power axis Su...

Page 66: ...e brake release when connected directly to the gateway unit This input will be invalid in case that a hub is connected In such a case release the brake on the brake release switch on a hub unit 0V is in common with the control power supply Brakes should be available for release if the control power is supplied to RCP6S Gateway Unit 6 7 13 14 Axis No 0 Brake Release Input Circuit Axis No 12 Brake R...

Page 67: ...ed to be mounted on the terminal The terminal resistor differs depending on the type of the dedicated cable for CC Link Cable FANC SBH 130Ω1 2W High Performance Cable dedicated for CC Link Cable FANC SB 110Ω1 2W CC Link Dedicated Cable Master Unit Terminal Resistance Terminal Resistance Class D grounding Formerly Class III grounding Grounding resistance at 100Ω or less RCP6S GW PROFIBUS Type Slave...

Page 68: ...le shielded cable braided with aluminum foil recommended RCP6S GW Unit EtherNet IP Type Master Unit Slave Devices Ethernet Straight Cable Category 5e or more Double shielded cable braided with aluminum foil recommended Note Terminal resistance is not required RCP6S GW EtherCAT Type Master Unit Slave Devices RCP6S GW Unit PROFINET IO Type Switching Hub Ethernet Straight Cable Category 5 or more Dou...

Page 69: ...ote Put in a slotted screwdriver till it hits the end otherwise it could be difficult to hold the electric wires or the wires could be easy to pull out Pay attention to this difference Gateway Unit 1 Motor Power Supply Connector Connector model SPT5 2 H 7 5 ZB Manufactured by PHOENIX CONTACT Note If supplying power with using a 24V DC having it turned ON OFF keep the 0V connected and have the 24V ...

Page 70: ...Note If supplying power with using a 24V DC having it turned ON OFF keep the 0V connected and have the 24V supplied cut cut one side only Pin No Signal Name Description Applicable cable diameter 1 24V Control Power Supply 24V Input 2 GND 0V Input KIV3 5 to 0 5mm2 AWG12 to 20 3 FG Frame Ground KIV3 5 to 2 0mm2 AWG12 to 14 1 2 3 ME0349 4B ...

Page 71: ... System I O Connector Cable Side DFMC1 5 7 ST 3 5 Enclosed in standard package Manufactured by PHOENIX CONTACT Gateway Unit Side DMC1 5 7 G1 3 5P20THR Manufactured by PHOENIX CONTACT Pin No Signal Name Description Applicable Cable Diameter 1 EMG 24V power output for emergency stop 2 S2 Emergency stop switch contact input for teaching pendant 3 S1 Emergency stop switch contact output for teaching p...

Page 72: ...mall slotted screwdriver to open the inlet Once the cable is inserted take the slotted screwdriver OFF the protrusion to fix the cable to the terminal Connector Name Drive source Cutoff Connector Cable Side FKCN2 5 4 STF 5 0 AX0 7 Enclosed in standard package Manufactured by PHOENIX CONTACT Gateway Unit Side CCDN2 5 4 G1FP26THR Manufactured by PHOENIX CONTACT Pin No Signal Name Description Applica...

Page 73: ... Electric Co Ltd Gateway Unit Side DF62 13P 2 2DS Manufactured by Hirose Electric Co Ltd Pin No Signal Name Description Applicable Cable Diameter 1 CP Control Power Supply DC24V 2 AM_SD Serial Communication Line For Automonitor 3 CT_SD Control Serial Communication Line 4 BK Brake Release 5 EMGS Emergency Stop Status 6 AM_SD Serial Communication Line For Automonitor 7 CT_SD Control Serial Communica...

Page 74: ...orporation Pin No Signal Name Description Applicable Cable Diameter 1 SGA Teaching Tool Signal 2 SGB Teaching Tool Signal 3 5V For Teaching Tool Power Supply 4 ENB Enable Signal Input 5 EMGA Emergency Stop Signal A 6 24V For Teaching Tool Power Supply 7 0V 0V 8 EMGB Emergency Stop Signal B Shell 0V 0V Cable dedicated for IAI products Caution Do not attempt connect the device to the same SIO networ...

Page 75: ... GND 0V USB Cable Caution 1 Set Operation Mode Setting Switch to MANU side when a teaching device is connected 2 Turn the power off before disconnecting a teaching pendant 3 SIO and USB cannot be connected at the same time USB connector is prioritized 4 When using the USB connector for the safety categories complied type RCM P6GWG connect a dummy plug DP 5 to the SIO connector otherwise the enable...

Page 76: ... by PHOENIX CONTACT Gateway Unit Side MSTB2 5 5 GF 5 08 AU Pin No Signal Name Color Description Applicable Cable Diameter 1 V Black Power Supply Cable Side 2 CAN L Blue Communication Data Low Side 3 Shield None Shield 4 CAN H White Communication Data High Side 5 V Red Power Supply Cable Side Dedicated cable for DeviceNet Note Connect a terminal resistor 121Ω between CAN L and CAN H if the unit com...

Page 77: ...the unit comes to the end of the network Refer to 2 2 5 Wiring Layout for Fieldbus Pin No Signal Name Color Description Applicable Cable Diameter 1 DA Blue Communication Line A 2 DB White Communication Line B 3 DG Yellow Digital GND 4 SLD Connect the shield of the shielded cable Connect the FG of the 5 pins and controller FG internally 5 FG Frame Ground Connect the SLD of the 4 pins and controller...

Page 78: ...le Pin No Signal Name Description Applicable Cable Diameter 1 NC Disconnected 2 NC Disconnected 3 B Line Communication Line B RS485 4 RTS Request for Sending 5 GND Signal GND Insulation 6 5V 5V Output Insulation 7 NC Disconnected 8 A Line Communication Line A RS485 9 NC Disconnected Dedicated cable for PROFIBUS DP Note Connect a terminal resistor between A line and B line if the unit comes to the ...

Page 79: ... more 5 EtherCAT Type Connector Name EtherCAT Connector Cable Side 8P8C Modular Plug Please prepare separately Gateway Unit Side 8P8C Modular Jack Pin No Signal Name Color Description Applicable Cable Diameter 1 TD Data Sending 2 TD Data Sending 3 RD Data Receiving 4 Not to be used 5 Not to be used 6 RD Data Receiving 7 Not to be used 8 Not to be used For EtherCAT cable use a straight STP cable th...

Page 80: ...odular Jack Pin No Signal Name Color Description Applicable Cable Diameter 1 TD Data Sending 2 TD Data Sending 3 RD Data Receiving 4 Not to be used 5 Not to be used 6 RD Data Receiving 7 Not to be used 8 Not to be used For EtherNet cable use a straight STP cable that possesses the performance of Category 5 or more 1 8 Front view of connector on gateway unit side ME0349 4B ...

Page 81: ...nit Side DF62 13P 2 2DS Manufactured by Hirose Electric Co Ltd Pin No Signal Name Description Applicable Cable Diameter 1 CP Control Power Supply DC24V 2 AM_SD Serial Communication Line For Automonitor 3 CT_SD Control Serial Communication Line 4 BK Brake Release 5 EMGS Emergency Stop Status 6 AM_SD Serial Communication Line For Automonitor 7 CT_SD Control Serial Communication Line 8 NC Disconnecte...

Page 82: ...tion Applicable Cable Diameter 1 CP Control Power Supply DC24V 2 AM_SD Serial Communication Line For Automonitor 3 CT_SD Control Serial Communication Line 4 BK Brake Release 5 EMGS Emergency Stop Status 6 AM_SD Serial Communication Line For Automonitor 7 CT_SD Control Serial Communication Line 8 MP Motor Power Supply 24V DC 9 MP Motor Power Supply 24V DC 10 GND 0V 11 GND 0V 12 FG Frame Ground 13 N...

Page 83: ...ured by Hirose Electric Co Ltd Controller Side DF62 13P 2 2DS Manufactured by Hirose Electric Co Ltd Pin No Signal Name Description Applicable Cable Diameter 1 CP Control Power Supply DC24V 2 AM_SD Serial Communication Line For Automonitor 3 CT_SD Control Serial Communication Line 4 BK Brake Release 5 EMGS Emergency Stop Status 6 AM_SD Serial Communication Line For Automonitor 7 CT_SD Control Seri...

Page 84: ...Encoder A Phase Input 2 BK Brake Release Side 3 φA Motor Drive Line A Phase 4 φ A Motor Drive Line A Phase 5 VMM Motor Power Supply Line 6 A Encoder A Phase Input 7 GND Ground 8 LS Limit Switch Side 9 VMM Motor Power Supply Line 10 φB Motor Drive Line B Phase 11 B Encoder B Phase Input 12 SD Battery less Absolute Communication Line 13 LSGND Grounding for Limit Switch Negative 14 LS Limit Switch Si...

Page 85: ...on Pin No Signal Name Description Applicable Cable Diameter 1 SGA Teaching Tool Signal 2 SGB Teaching Tool Signal 3 5V For Teaching Tool Power Supply 4 ENB Enable Signal Input 5 EMGA Emergency Stop Signal A 6 24V For Teaching Tool Power Supply 7 0V 0V 8 EMGB Emergency Stop Signal B Shell 0V 0V Cable dedicated for IAI products Caution Do not attempt connect the device to the same SIO network as the...

Page 86: ...2 Wiring Fieldbus Communication 74 RCP6S ME0349 4B ...

Page 87: ...n this manual It is available to have a controller for RCP6S Gateway RCM P6PC RCM P6AC or RCM P6DC instead of RCP6S actuator connected to a hub unit or a gateway unit and connect an actuator of RCP2 to 6 RCA RCA2 and RCD In this case the way to control the operation should be the same unless otherwise specified Host Controller Fieldbus Teaching Tool 3 t i n U b u H 2 t i n U b u H Axis No 15 Axis ...

Page 88: ...Set the data for those to be used such as target position speed etc to the position data 4 Fieldbus Settings Refer to Sections 3 4 1 and 3 4 2 Assign RCP6S gateway to PLC master unit Refer to the instruction manuals for the master unit and PLC 5 Link to Network 1 Put the operation mode setting switch on the front panel of RCP6S gateway unit to AUTO side and reboot the power By putting to AUTO Fiel...

Page 89: ...lable in 0 01mm unit Those other than the target position are to be indicated in the position table and the setting can be done for 768 points at maximum Positioner 1 Mode The 768 points of position data can be registered at the maximum and is able to stop at the registered positions Also monitoring of the current position is available in 0 01mm unit Direct Indication Mode The target position spee...

Page 90: ...or Connection When Axis No 5 6 7 and 11 are not connected Note Refer to 3 4 1 PLC Address Construction by Each Operation Mode for details of the PLC address domain Left Justification Feature Invalid PLC Address Area Gateway Unit Command Area Axis No 0 area Connection Axis No 1 area Connection Axis No 2 area Connection AxisNo 3 area Connection Axis No 4 area Connection Axis No 5 area Unoccupied Axi...

Page 91: ...id Axis No 11 Valid AxisNo 12 Invalid Axis No 13 Invalid Axis No 14 Invalid Axis No 15 Invalid PLC Address Area Gateway Unit Command Area Axis No 0 area Connection Axis No 1 area Connection Axis No 2 area Connection AxisNo 3 area Connection Axis No 4 area Connection Axis No 8 area Connection Axis No 9 area Connection Axis No 10 area Connection Axis No 12 area Connection Axis No 13 area Connection ...

Page 92: ...y Parameter Setting Tool for details Preparation Install RC PC Software and Gateway Parameter Setting For Gateway Parameter Setting Tool install the file stored in the CD ROM for PC software or download from our website intelligentactuator com Refer to the instruction manual of the PC software for the details of the PC software Make sure the system I O connector wires and operation mode setting sw...

Page 93: ...in window opens Main windows Initial condition Step 3 Reading is started from RCP6S GW to PC Click on the Read button and a confirmation window appears Click on the Yes Y button If the writing is finished in normal condition writing complete window appears Click OK Yes Y No N 3 2 1 ME0349 4B ...

Page 94: ...aution In the following slave set the value the number of occupied station is added to the current station number Step 5 To be conducted for EtherNet IP type If not applied go to Step 6 Click on Setting in the menu and select EtherNet IP Setting and the setting window of the IP addresses subnet mask and default gateway Establish the setting that suits to your use 3 2 1 ME0349 4B ...

Page 95: ...itiner 1 Mode Positiner 2 Mode Positiner 3 Mode Positiner 5 Mode CC Link 16 axes 16 axes 16 axes 16 axes 16 axes 16 axes DeviceNet 8 axes 16 axes 16 axes 16 axes 16 axes 16 axes PROFIBUS DP 8 axes 16 axes 16 axes 16 axes 16 axes 16 axes EtherNet IP 8 axes 16 axes 16 axes 16 axes 16 axes 16 axes EtherCAT 8 axes 16 axes 16 axes 16 axes 16 axes 16 axes PROFINET IO 8 axes 16 axes 16 axes 16 axes 16 ax...

Page 96: ...ture is not to be used Valid without Alarm Left justification setting feature is to be used An alarm will not be output when there is a mismatch between the left justification setting in the gateway setting tool and the current axis connection status Valid with Alarm Left justification setting feature is to be used 896 Connected Unit Construction Error is occurred when there is a mismatch between ...

Page 97: ...area Connection Axis No 14 area Connection Axis No 15 area Connection PLC Address Area Gateway Unit Command Area Axis No 0 area Connection Axis No 1 area Connection Axis No 2 area Connection AxisNo 3 area Connection Axis No 4 area Connection Axis No 8 area Connection Axis No 9 area Connection Axis No 10 area Connection Axis No 11 area Unoccupied Axis No 12 area Connection Axis No 13 area Connectio...

Page 98: ...accept the reboot Step 13 After rebooting a confirmation window for parameter reading appears for confirmation of the written contents Click Yes Y to accept the reading Once the reading process is complete confirm that the written contents are reflected If not written properly do the process again from Step 1 Reference The settings are conducted in the special parameters for the process of communi...

Page 99: ...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 Parameter settings are to be established with RC PC software Ver 10 2 0 0 or later or teching box TB 02 TB 02D Ver 1 00 or later TB 01 TB 01D TB 01DR CON PTA CON PDA CON PGA S Ver 2 60 or la...

Page 100: ...fore mm deg 1 2 1 2deg mm s deg s 100 100deg s They are treated as above Please note that the display on the screen of a teaching tool such as the PC software is in mm 1 Position No It is the number commanded by PLC in operation command 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 the actua...

Page 101: ...tinue the use of the actuator otherwise the product life may be shortened extremely fast 3 If the payload is extremely lighter than the rated payload increase acceleration deceleration to larger than their rated values to shorten the tact time Contact our company Inform us of the weight shape and mounting method of the work and the installation conditions of the actuator 4 For the gripper type hav...

Page 102: ... setup velocity and acceleration deceleration in the same way as normal positioning to the position of the coordinate value set in 2 and then performs pressing movement by the data set here Set the positioning band more than the minimum unit of the movement amount movement amount for one pulse of an encoder of the used actuator 9 Zone mm Note 2 Set the coordinate value on the positive side at whic...

Page 103: ...shaped motion control is invalid in the index mode of the rotary actuator It will be the trapezoid control even if S shaped acceleration deceleration control is indicated 3 Do not use S shaped acceleration deceleration control if the setting of the acceleration time or the deceleration time exceeds 2 seconds It will be the trapezoid control 4 Do not pause on the move during acceleration or deceler...

Page 104: ...Load Pattern No 0 1 Transported Load Pattern No 1 2 Transported Load Pattern No 2 3 Transported Load Pattern No 3 13 2 Gain Set Six parameters required for servo gain adjustment are collected to be a single set 4 types of settings are able to be registered and the servo gains can be switched over for each positioning operation By utilizing Smart Tuning Function Note 1 in the PC software the settin...

Page 105: ...in time Parameter No 37 set values All mdels 3 Automatic servo off in a certain time Parameter No 38 set values All mdels 4 Full servo control RCM P6PC 5 Full servo control for a certain time Parameter No 36 set values and then automatically turning servo OFF RCM P6PC 6 Full servo control for a certain time Parameter No 37 set values and then automatically turning servo OFF RCM P6PC 7 Full servo c...

Page 106: ...4 3 Vibration Control Parameter Set 3 105 to 108 Caution 1 The vibration frequency that can be controlled applicable specific frequency is from 0 5 to 30Hz 2 The vibration control is applicable only for the vibration generated by the load of the actuator connected to this controller Other vibrations cannot be controlled 3 The vibration control is applicable only for the vibration in the direction ...

Page 107: ...Value Axis No 0 Assignment Area for Axis No 6 n 15 Assignment Area for Axis No 1 Assignment Area for Axis No 1 Control Signal Axis No 0 Assignment Area for Axis No 7 n 16 to n 23 Assignment Area for Axis No 1 Assignment Area for Axis No 8 to No 15 Assignment Area for Axis No 2 to No 15 n 39 Assignment Area for Axis No 2 to No 15 n 39 Connected Axes Control Area n 24 to n 71 Assignment Area for Axi...

Page 108: ...ssignment Area for Axis No 1 Assignment Area for Axis No 8 to No 15 Assignment Area for Axis No 2 to No 15 n 39 Assignment Area for Axis No 2 to No 15 n 39 Connected Axes Response Area n 24 to n 71 Assignment Area for Axis No 2 to No 15 Assignment Area for Axis No 2 to No 7 Note 3 3 4 3 to 3 4 8 Note 1 For CC Link n and n 1 are for input and output bit addresses and n 8 is for the top address of d...

Page 109: ... b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Control signal 0 MON RTE Address n 1 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Control signal 1 PLC Input Address n b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Status signal 0 RUN LERC ERRT MOD ALMH ALML SEMG ALMC 128 ALMC64 ALMC32 ALMC16 ALMC8 ALMC4 ALMC2 ALMC1 Address n 1 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Status signal ...

Page 110: ...on is available while it is ON b14 Cannot be used b13 RTE Retained condition of ERR C during an operation is cancelled if it is ON It is the cancel signal when ERR C occurrence is set to latch in Gateway Parameter Setting Tool b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 Control signal 0 b0 Cannot be used b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 PLC Output Control signal 1 b0 Cannot be used 3 ...

Page 111: ...s a reboot is occurred A wrong setting in the parameters can be considered Check the parameters settings b10 ALML This signal turns ON when a light error caused by the Gateway is occurred It is considered that there shall be a loss of the calendar data Check the parameters settings b9 Cannot be used b8 SEMG This signal turns ON when EMGIN input of the system I O connector is OFF emergency stop Whe...

Page 112: ...t position it is necessary to set the position data Speed and acceleration deceleration setting Separate settings for acceleration and deceleration Pitch feed incremental Pressing operation Speed change during movement These items must be set in the position data table Pause Zone signal output These items must be set in the parameters Position zone signal These items must be set in the position da...

Page 113: ...can be used Caution Set the operational condition in advance with using a teaching tool such as PC software in the position number to be used Selecting a position number with no setting conducted will generate the alarm code 0A2 Position Data Error PLC Output m is PLC output top word address for each axis number Address m b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Target Position Lower ...

Page 114: ... b5 b4 b3 b2 b1 b0 Current Position Upper word Note If the target position is a negative value it is indicated by a two s complement Address m 2 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Completed Position No PC512 PC256 PM128 PM64 PM32 PM16 PM8 PM4 PM2 PM1 Address m 3 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Status Signal EMGS CRDY ZONE2 ZONE1 PZONE MEND ALML LOAD PSFL SV...

Page 115: ...nducted will generate the alarm code 0A2 Position Data Error 3 7 2 b15 BKRL Brake release ON Brake release OFF Brake activated 3 7 1 15 b14 b13 b12 b11 b10 b9 Cannot be used b8 JOG Jog ON Movement against home position OFF Stop b7 JOG Jog ON Movement toward home position OFF Stop 3 7 1 10 b6 JVEL Jog speed inch distance switching OFF Use the setting values of Parameter No 26 JOG Speed and No 48 In...

Page 116: ...r the parameter b12 ZONE1 ON for the current position within the zone 1 set range The zone range setting is necessary for the parameter 3 7 1 9 b11 PZONE Position zone This signal turns ON when the current position is inside the specified position zone 3 7 1 9 b10 b9 Cannot be used b8 MEND This signal turns ON at either of positioning complete of after movement home return complete or pressing com...

Page 117: ...deceleration setting Separate settings for acceleration and deceleration Pitch feed incremental Pressing operation Speed change during movement These items must be set in the position data table Pause Zone signal output These items must be set in the parameters Position zone signal These items must be set in the position data table PIO pattern selection 1 PLC Address Composition m is PLC input and...

Page 118: ...aution Set the operational condition in advance with using a teaching tool such as PC software in the position number to be used Selecting a position number with no setting conducted will generate the alarm code 0A2 Position Data Error PLC Output m is PLC output top word address for each axis number Address m b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Cannot be used Address m 1 b15 b14 ...

Page 119: ... b3 b2 b1 b0 Current Position Upper word Note If the target position is a negative value it is indicated by a two s complement Address m 2 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Completed Position No PC512 PC256 PM128 PM64 PM32 PM16 PM8 PM4 PM2 PM1 Address m 3 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Status Signal EMGS CRDY ZONE2 ZONE1 PZONE MODES WEND MEND ALML LOAD PS...

Page 120: ...ing mode 3 7 1 13 b9 PWRT Position import command ON Position Data Import 3 7 1 14 b8 JOG Jog ON Movement against home position OFF Stop b7 JOG Jog ON Movement toward home position OFF Stop 3 7 1 10 b6 JVEL Jog speed inch distance switching OFF Use the setting values of Parameter No 26 JOG Speed and No 48 Inching Distance in RCP6S ON Use the setting values of Parameter No 47 JOG Speed 2 and No 49 ...

Page 121: ...hin the zone 1 set range The zone range setting is necessary for the parameter 3 7 1 9 b11 PZONE Position zone This signal turns ON when the current position is inside the specified position zone 3 7 1 9 b10 MODES This signal is ON while the teaching mode is selected 3 7 1 13 b9 WEND This signal turns ON when reading is complete 3 7 1 14 b8 MEND This signal turns ON at either of positioning comple...

Page 122: ...eleration and deceleration Values for acceleration and deceleration should be the same Pitch feed Incremental Pressing operation Selection can be made from the pressing method same as CON type such as PCON and that same as SEP type such as PSEP Speed change during movement Pause Zone signal output Parameters must be set Position zone signal PIO pattern selection 1 PLC Address Composition m is PLC ...

Page 123: ...sed using 1 word 16 bits binary data The figures from 0 to 100 00H to FFH can be set in PLC Caution Have the setting with values available in the range of for speed acceleration deceleration and pressing current of the actuator Refer to the catalog or instruction manual of the actuator Otherwise it may cause an abnormal condition of the servo or a malfunction of the actuator such as the alarm code...

Page 124: ...4 512 256 128 64 32 16 8 4 2 1 Address m 3 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Positioning Width Upper word 524 288 262 144 131 072 65 536 Address m 4 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Command Speed 32 768 16 384 8 192 4 096 2 048 1 024 512 256 128 64 32 16 8 4 2 1 Address m 5 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Acceleration Deceleration 256 ...

Page 125: ...word 32 768 16 384 8 192 4 096 2 048 1 024 512 256 128 64 32 16 8 4 2 1 Address m 3 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Command Current Upper word 524 288 262 144 131 072 65 536 Address m 4 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Current Speed Note If the negative value it is indicated by a two s complement Address m 5 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2...

Page 126: ...n Gateway Parameter Setting Tool Available range for Setting 1 to 65535 Specify the speed at which to move the actuator Example If 254 0mm s input 09ECH 2540 in decimal system It may cause an alarm or a malfunction if executing a movement command with 0 or a value more than the maximum speed of the actuator 3 7 3 Acceleration Deceleration 16 bits 16 bit integer Unit 0 01G Available range for Setti...

Page 127: ... JOG Jog ON Movement toward home position OFF Stop 3 7 1 10 b6 JVEL Jog speed inch distance switching OFF Use the setting values of Parameter No 26 JOG Speed and No 48 Inching Distance in RCP6S ON Use the setting values of Parameter No 47 JOG Speed 2 and No 49 Inching Distance in RCP6S 3 7 1 11 b5 JISL Jog inching switching ON Inching OFF Jog 3 7 1 12 b4 SON Servo ON command ON Servo ON OFF Servo ...

Page 128: ... the controller is standing by 3 7 1 1 b13 ZONE2 ON for the current position within the zone 2 set range The zone range setting is necessary for the parameter b12 ZONE1 ON for the current position within the zone 1 set range The zone range setting is necessary for the parameter 3 7 1 9 b11 b10 b9 Cannot be used b8 MEND This signal turns ON at either of positioning complete of after movement home r...

Page 129: ...rol Indirect control Disabled Remarks Home return operation Positioning operation Speed and acceleration deceleration setting Separate settings for acceleration and deceleration Pitch feed incremental Pressing operation Speed change during movement These items must be set in the position data table Pause Zone signal output These items must be set in the parameters Position zone signal These items ...

Page 130: ...te the alarm code 0A2 Position Data Error PLC Output m is PLC output top word address for each axis number Address m b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Specified Position No PC512 PC256 PC128 PC64 PC32 PC16 PC8 PC4 PC2 PC1 Address m 1 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Control Signal BKRL MODE PWRT JOG JOG JVEL JISL SON RES STP HOME CSTR PLC Input m is PLC inp...

Page 131: ...ing mode 3 7 1 13 b9 PWRT Position import command ON Position Data Import 3 7 1 14 b8 JOG Jog ON Movement against home position OFF Stop b7 JOG Jog ON Movement toward home position OFF Stop 3 8 1 10 b6 JVEL Jog speed inch distance switching OFF Use the setting values of Parameter No 26 JOG Speed and No 48 Inching Distance in RCP6S ON Use the setting values of Parameter No 47 JOG Speed 2 and No 49 ...

Page 132: ...rns ON when the current position is inside the specified position zone 3 7 1 9 b10 MODES This signal is ON while the teaching mode is selected 3 7 1 13 b9 WEND This signal turns ON when reading is complete 3 7 1 14 b8 MEND This signal turns ON at either of positioning complete of after movement home return complete or pressing complete or pressing failure and turns OFF at movement start It is OFF ...

Page 133: ...direct control Disabled Remarks Home return operation Positioning operation Speed and acceleration deceleration setting These items must be set in the position data table Separate settings for acceleration and deceleration Pitch feed incremental Pressing operation Speed change during movement These items must be set in the position data table Pause Zone signal output These items must be set in the...

Page 134: ...sed Selecting a position number with no setting conducted will generate the alarm code 0A2 Position Data Error PLC Output m is PLC output top word address for each axis number Address m b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Control Signal Specified Position No BKRL SON RES STP HOME CSTR PC128 PC64 PC32 PC16 PC8 PC4 PC2 PC1 PLC Input m is PLC input top word address for each axis num...

Page 135: ...e range or operating with a position number with no setting conducted will generate the alarm code 0A2 Position Data Error 3 7 4 b15 EMGS This signal turns ON during an emergency stop 3 7 1 2 b14 ZONE1 ON for the current position within the zone 1 set range The zone range setting is necessary for the parameter 3 7 1 9 b13 PSFL This signal turns ON when the actuator missed the load in push motion o...

Page 136: ...er function Direct control Indirect control Disabled Remarks Home return operation Positioning operation Speed and acceleration deceleration setting Separate settings for acceleration and deceleration Pitch feed incremental Pressing operation Speed change during movement These items must be set in the position data table Pause Zone signal output These items must be set in the parameters Position z...

Page 137: ...on number to be used Selecting a position number with no setting conducted will generate the alarm code 0A2 Position Data Error PLC Output m is PLC output top word address for each axis number Address m b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Specified Position No PC8 PC4 PC2 PC1 Address m 1 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Control Signal BKRL JOG JOG JVEL JISL S...

Page 138: ...0 b9 Cannot be used b8 JOG Jog ON Movement against home position OFF Stop b7 JOG Jog ON Movement toward home position OFF Stop 3 7 1 10 b6 JVEL Jog speed inch distance switching OFF Use the setting values of Parameter No 26 JOG Speed and No 48 Inching Distance in RCP6S ON Use the setting values of Parameter No 47 JOG Speed 2 and No 49 Inching Distance in RCP6S 3 7 1 11 b5 JISL Jog inching switchin...

Page 139: ...ment has not been performed at all or during the movement 0 is output Read it by turning PEND Signal on after movement The simple alarm code refer to Chapter 9 Troubleshooting is output while an alarm is issued ALM of Status Signal is ON 3 7 4 b7 MEND This signal turns ON at either of positioning complete of after movement home return complete or pressing complete or pressing failure and turns OFF...

Page 140: ...unit not used 8 ms to 10 ms 8 ms to 10 ms Hub unit used 20 ms to 40 ms 20 ms to 40 ms Except for when monitoring is conducted with PC software connected Master Remote I O Station Transmission Delay Time Yt 1 Command Processing Time 2 PLC Sequence Program Control Signal Status Signal Gateway Control Signal Status Signal Controller Control Signal Status Signal 1 Refer to PLC Manual A B 2 Varies depe...

Page 141: ...4V DC 2 Cancel the emergency stop condition or make the motor drive power supply available to turn ON 3 If using the servo on signal input the signal from the host side Safety circuit Status Emergency stop Emergency stop release Control power 24V DC input Driving source 24V DC input Servo ON SON input Status LEDs for Driver Servo ON SYS output Home return signai HOME input ME0349 4B ...

Page 142: ...ai HOME input Home return completion HEND output Actuator operation Note 1 For RCM P6AC have a latency of 1 6sec or more before inputting a movement home return command after the servo is turned on for the first time after the power is booted in order to detect the magnetic pole phase In the second time or later make the latency of 60ms or more Warning Executing a servo ON when the actuator is pos...

Page 143: ...the controller is stopped in an emergency motor driving power is cut off it is turned ON When the emergency stop status is cleared it is turned OFF Also ALM in the driver status LEDs flashes Refer to Name and Function of Each Part 7 Have an appropriate safety treatment such as interlock with this signal for the host controller Note It is not an emergency stop output due to an alarm generation of t...

Page 144: ...d operation can be deleted 5 Servo ON command SON PLC Output Signal Servo ON status SV PLC Input Signal Positioning complete PEND PLC Input Signal Operation Mode Positioner 1 Simple Direct Direct numeric specification Positioner 2 Positioner 3 Positioner 5 Equipped Not equipped 1 Servo ON command SON is the signal making the servo motor of the actuator operable 2 Once the Servo ON is executed and ...

Page 145: ...ion Once HOME Signal is turned ON this signal is processed as a rise ON edge and the actuator starts home return operation Once the home return operation is completed the home return operation complete signal HEND turns ON The home return complete signal HEND is kept ON unless the home position is lost The positioning complete signal PEND turns OFF and the moving signal MOVE turns ON during a home...

Page 146: ...for some actuators it is less than 20mm s 2 The actuator is turned at the mechanical end and stopped at the home position The movement amount in this process follows the setting in Parameter No 22 Home return offset level Caution In the home reverse specification the actuator moves in the reverse direction Make sure to refer to 8 2 14 when a change to Parameter No 22 Home Return Offset Level is re...

Page 147: ...complete signal PEND turns ON or the movement command output completes 5 The positioning complete signal PEND turns ON once the remaining movement gets into the range of the positioning band PEND Signal will be kept ON once it is turned ON unless the start signal CSTR is turned back ON servo is turned OFF Note 1 or the actuator is out of the positioning band width range Note 1 Note 1 It can be swi...

Page 148: ... specification Positioner 2 Positioner 3 Positioner 5 Equipped Not equipped U No PZONE U Only for ZONE1 U No PZONE This is a function enables to turn a signal on while the actuator is passing a certain position in the zone range or during a stop in which there are two types 1 Zone signal ZONE1 ZONE2 Turn the output on at a position set in the parameter 2 Position zone signal PZONE Turn the output ...

Page 149: ...tuator is operated or the memory of the origin is lost due to alarm 3 Output Ranges of Set Values and Signals The zone output range differs depending on the difference of the values set in the zone positive side and negative side 1 Value set for positive side value set for negative side Output signal turn ON in the range from the value on negative side to that on positive side and turns OFF out of...

Page 150: ...oth the JOG and JOG signals are turned ON the actuator is decelerated and stopped 2 Inching incremental operation The inching operation is available while the JISL signal is turned ON One time of ON input gives the actuator a constant amount of movement of the inching distance set in the parameter When the JOG is turned ON the movement is to the opposite of the home and when the JOG is turned ON t...

Page 151: ...hing incremental operation JISL OFF Jog operation JISL ON Inching operation When the JISL signal is turned ON for inching operation during the jog operation the actuator is decelerated and performs the inching operation When the JISL signal is turned OFF jog while the actuator is moving by inching the actuator will complete the movement and then switch to the jog function Jog operation Inching ope...

Page 152: ...sition data import command PWRT PLC Output Signal Position data import complete WEND PLC Input Signal Operation Mode Positioner 1 Simple Direct Direct numeric specification Positioner 2 Positioner 3 Positioner 5 Equipped Not equipped The PWRT signal is available when the teaching mode signal MODES is turned ON Turn ON the PWRT signal Note1 Then the current position data will be written in the posi...

Page 153: ...th hand This operation also can be performed with the brake release switch on the hub unit front panel or by supplying 24V to the brake release input on the system I O connector of gaetway unit 1 Direct Teaching It is an operation to move the slider or rod manually with hand to read the coordinate to the position table Warning 1 Release the brake with a special care Doing so carelessly may cause a...

Page 154: ...the value input in the target position register Speed Movement distance Target position Pressing width Max pressing level Position where the actuator is pushed against the work and the pressing completion is judged so the positioning completion signal is turned ON Pressing Operation SEP Method The pressing operation is performed with the start position set at the point in front of the target posit...

Page 155: ...actuator moved the travel distance set in the controller position table positioning width or set using the PLC s positioning width register but it was not pushed against the work this signal is turned ON 19 Command complete signal MEND PLC Input Signal Operation Mode Positioner 1 Simple Direct Direct numeric specification Positioner 2 Positioner 3 Positioner 5 Equipped Not equipped This signal tur...

Page 156: ...ing is established individually considering the actuator characteristics at the delivery Indicate appropriate velocity considering the material and profile of the work piece Set the parameter No 50 Outputs load output judgment time The threshold inspection band is to be set in Zone Boundary Register and Zone Boundary Register in PLC The threshold is to be set in Load Current Threshold Register in ...

Page 157: ...E signal is turned ON turn OFF the CSTR signal Do not change the value in the target position register until the CSTR signal is turned OFF 6 At the same time when the PEND signal is turned OFF the MOVE signal is turned ON 7 The current position data is continuously updated When the remaining travel distance becomes within the range of the positioning width set in the position data and the CSTR sig...

Page 158: ...et in Steps 1 through 5 are read in the controller at the startup ON edge of the CSTR signal 9 After the CSTR signal is turned ON the PEND signal is turned OFF 10 After confirming that the PEND signal is turned OFF or MOVE signal is turned ON turn OFF the CSTR signal Do not change any value in each register until the CSTR signal has been turned OFF 11 The current position data is continuously upda...

Page 159: ...FF 4 After confirming that the PEND signal is turned OFF or MOVE signal is turned ON turn OFF the CSTR signal Do not change the value in the target position register until the CSTR signal is turned OFF 5 The current position data is continuously updated for Positioner 5 Modes 6 At the same time when the PEND signal is turned OFF the MOVE signal is turned ON 7 Once the remaining movement amount of ...

Page 160: ...Tool 1 Boot the Gateway Parameter Setting Tool after the power to RCP6S gateway unit is turned ON and the window shown below appears Select RCP6 GW and click on the OK button 2 The main window opens Click on the Read button in this window and the parameters start to be read from RCP6S GW Parameter transfer starts if the Write button is clicked However note that the transfer cannot be made if there...

Page 161: ...w Save Save the parameter remained in the tool as a file Exit Close the tool 2 Setting Menu Click on the Setting menu on the top left corner in the main window and the setting menu list pops up Specialty Parameter Set the parameters related to the process of Gateway area in RCP6S GW Refer to 3 8 3 1 to 2 GW Parameter 1 2 3 GW Mode Select Port Config Set the communication speed between the tool and...

Page 162: ... cannot be selected before reading a parameter I O data Show the details of the host PLC and RCP6S GW data Refer to 3 8 3 7 I O data Diagnosis Information Show the number of ERR_T and ERR_C occurrence emergency stops and scan time Refer to 3 8 3 8 Diagnosis information Alarm List L Read and show the alarm list retained in RCP6S GW Refer to 3 8 3 9 Alarm list 3 8 2 ME0349 4B ...

Page 163: ...RR_C is occurred Unit velocity Only direct indication mode Select the unit for speed from 1 0mm s and 0 1mm s Internal communication retry count Set the number of communication retries with the connected axes in AUTO mode 0 to 6 MON signal Select whether to have MON Signal output valid or invalid At Recovery after ERR_T Occurrence At Recovery after ERR_C Occurrence Valid Servo turns off Stops at p...

Page 164: ...drive the fan even in AUTO mode Fan round monitor Select whether to not to monitor the fan rotation speed with the monitor function BATT charge volt monitoring Select whether to not to monitor the absolute battery charge voltage RTC function Select whether to use the calendar function 3 8 3 ME0349 4B ...

Page 165: ...ustification setting feature is not to be used Select it when all the axes are connected or not to have all the unconnected axes left justified Valid without Alarm Left justification setting feature is to be used An alarm will not be output when there is a mismatch between the left justification setting in the gateway setting tool and the current axis connection status Select it when having partia...

Page 166: ... Set this considering the connected host system if necessary MSEP ON OFF ON OFF ON OFF ON OFF 入力レジスタ 16進データ 16進データ 16進データ 16進データ MSEP RWwnn PLC RWrnn 出力レジスタ RCP6S GW input register RCP6S GW input register Hexadecim al Hexadecim al Hexadecim al Hexadecim al MSEP ON OFF ON OFF ON OFF ON OFF 入力レジスタ 16進データ 16進データ 16進データ 16進データ MSEP RWwnn PLC PLC RWrnn 出力レジスタ RCP6S GW input register RCP6S G...

Page 167: ... time set in the clock edit in the window can be set in RCP6S GW Click Write and the time setting is transferred to RCP6S GW and the data is written in Clicking on the Confirm button and the clock data currently retained in RCP6S GW can be read and displayed Caution The clock calendar function in RCP6S GW can be retained for approximately 10 days reference after the power to RCP6S GW is turned OFF...

Page 168: ... register monitor window shows the data that Gateway Unit has received from the host master and the data sent back to the host master Data Reading Frequency Select the frequency of displayed data update from 100 to 500ms Display Switchover Select from binary and hexadecimal for the display SYNC Scroll Tick in the box to make the list of the sent and received data scrolled together Data Reading Fre...

Page 169: ...f emergency stop EMG detection Also when the clear button is pressed each counter will be reset 9 Alarm List Click on the Refresh button and the alarm list is read again from RCP6S GW Click on the Clear button and the alarm list retained in RCP6S GW are all deleted Press Save button and the alarm list retained in RCP6S GW will be saved in CSV format Refer to Chapter 9 Troubleshooting for the detai...

Page 170: ...es 16 axes 16 axes 16 axes 16 axes PROFIBUS DP 8 axes 16 axes 16 axes 16 axes 16 axes 16 axes EtherNet IP 8 axes 16 axes 16 axes 16 axes 16 axes 16 axes EtherCAT 8 axes 16 axes 16 axes 16 axes 16 axes 16 axes PROFINET IO 8 axes 16 axes 16 axes 16 axes 16 axes 16 axes Caution Max Connectable Axis Number when Using Direct Indication Mode in those other than CC Link When Left Justification Setting Fe...

Page 171: ... fieldbus I O domain left justification setting Refer to 3 8 3 Explanation for Features 3 GW Mode Select for how to conduct the fieldbus I O domain left justification setting Note Putting a check mark v will have also connected axes left justified Put a check mark v to select an axis to be left justified Remove a check mark to for those not to be left justified Left justification not to be conduct...

Page 172: ...e Green Flashing Online Cnx unestablished Orange Illuminating An error occurs Orange Flashing One or more Cnx in timeout STATUS 1 NS Green Orange Flashing by turns In self checking process Green Illuminating In normal operation Green Flashing Status of no configuration information or incomplete Orange Illuminating Malfunction recovery impossible Orange Flashing Malfunction recovery possible STATUS...

Page 173: ...e Flashing An error occurs CRC error station No setting error or baud rate setting error STATUS 1 ERR Orange Flashing Value has changed from those of station number and baud rate setting at reset release STATUS 0 RUN Green Illuminating Reception of refresh and polling in normal condition or reception of refresh in normal condition after joining to a network ME0349 4B ...

Page 174: ...splay Color Remarks Green Illuminating Online Green Flashing Online cleared STATUS 1 NS Orange Flashing An error occurs Parameterizing error or PROFIBUS configuration error Green Illuminating Initialization complete Green Flashing Initialization complete with diagnosis event STATUS 0 MS Orange Flashing An error occurs exceptional error ME0349 4B ...

Page 175: ...ng IP address duplicated Critical error Orange Flashing One or more connection s in timeout STATUS 1 NS OFF Power is OFF IP address not established Green Illuminating In normal operation and under control of scanner master Green Flashing Construction information setting is incomplete or scanner master is in idling condition Orange Flashing Fatal malfunction exception condition or critical error Or...

Page 176: ...ommunication PRE OPERATION status Green Flashing ON 200ms OFF 1000ms EtherCAT communication SAFE OPERATION status Orange Flashing Module error STATUS 1 RUN OFF Initializing status EtherCAT communication INIT status Orange Flashing Module error Orange Flashing ON 200ms OFF 200ms Construction information settings error Information received from the master cannot be set Orange Flashing ON 200ms 2 tim...

Page 177: ...mal operation Green Flashing 1 Diagnosis even exists Green Flashing 2 Engineering tool identifying nodes Orange Flashing In serious malfunction EXCEPTION status Orange Flashing 1 Configuration error Orange Flashing 2 IP address error IP address unset Orange Flashing 3 Station name error Station name not established Orange Flashing 4 Internal critical malfunction error STATUS 0 MS Note1 OFF Power t...

Page 178: ...3 Operation Fieldbus Communication 166 RCP6S ME0349 4B ...

Page 179: ...ngle parameter can be set Note This feature is limited only to the servo motor type actuators Cannot be used in direct indication mode Before this function can be used you must read the cautions described on the next page Functional Operation Image The figure below shows an example in which two actuators are subject to 2 axis combination Actuator A is moved to cause actuator B corresponding to a j...

Page 180: ...otor installation axis For lead length 20mm and operation speed 100mm s Frequency of mechanical angle motor revolution 5Hz Frequency of electric angle four times of frequency of mechanical angle 20Hz 2 When a higher speed response is required for the vibration control than the set speed control response the speed response is not able to catch up with the vibration control 3 In case of a system sho...

Page 181: ...he previous page Use of measuring instrument such as vibration meter or acceleration pickup Calculation from video image data Yes Setting of parameter for vibration suppress control See next page Set the measured natural frequency in the parameter Note With the frequency analysis tool for anti vibration control installed in the PC software it is able to write parameters from the tool Set related p...

Page 182: ...acteristic coefficient 1 2 Parameter No 97 98 101 102 105 and 106 In this section do not change 2 Natural frequency 1 1000Hz Parameter No 99 103 and 107 Set the natural frequency of the load measured It can be input directly to the parameter from the frequency analysis tool for anti vibration control included in the PC software if the tool is already used Refer to the Instruction Manual of the RC ...

Page 183: ...ol function cannot be used in pressing operation No Position mm Velocity mm s Accele ration G Decele ration G Pressing Thresh old Positioning width mm Zone mm Zone mm Acceleration Deceleration mode Incre mental Gain set Stop mode Vibration suppress No 0 1 0 00 50 00 0 01 0 01 0 0 0 10 0 00 0 00 0 0 0 0 0 2 50 00 50 00 0 01 0 01 0 0 0 10 0 00 0 00 0 0 0 0 1 3 50 00 50 00 0 01 0 01 50 0 0 10 0 00 0 ...

Page 184: ...4 Vibration Suppress Control Function Fieldbus Communication 172 RCP6S ME0349 4B ...

Page 185: ...ece in case of an emergency 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...

Page 186: ...e first movement after releasing from a pause Movement from a stop in the positon zone range Message lebel 2 Setting of Detection Current Value 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 parameter No 50 Load Output Judgment Time Positi...

Page 187: ...med even for misalignment of 1 count when the full servo feature is activated Condition Setting 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 values set in Parameter No 53 Stop Mode of the position number is invalid Standby after the positioning is complete to the target position set in the position ...

Page 188: ...electable Model 0 Servo ON not changed All Models 1 Automatic servo off in a certain time set in Parameter No 36 All Models 2 Automatic servo off in a certain time set in Parameter No 37 All Models 3 Automatic servo off in a certain time set in Parameter No 38 All Models 4 Full Servo Control RCM P6PC 5 Full servo control for a certain time value set in Parameter No 36 and then automatically turnin...

Page 189: ...rameter No 39 Content of PEND signal PEND PM1 to PM PE 0 Positioning Completion Signal OFF OFF OFF 1 In position Signal ON ON ON Note SYS in the driver status LED lamps on the front panel blinks in green during the automatic servo OFF For Parameter No 39 0 Operation of actuator Positioning operation Automatic servo OFF standby Servo OFF Positioning operation Servo Condition ON ON OFF ON Completed ...

Page 190: ...itioning Stop To enabled disabled the automatic current reduction feature can be set in Parameter No 182 Parameter No Name Unit Input range Initial value 182 Auto Current Adj Select 0 Disabled 1 Enabled 0 Shown below is a graph example of the current flow volume and velocity command in the positioning operation in comparison of when the automatic current reduction feature is inactive and when it i...

Page 191: ...d be defined for every actuator and the current flow volume will be reduced to a certain amount when there is no position deviation The maximum current volume should be the current limit value at positioning stop parameter and the current flow volume will be increased to a certain amount 6 2 2 Caution 1 Deference in Target Position Deviation due to Encoder Resolution for Actuator with Lead Length ...

Page 192: ...6 Power saving Function Fieldbus Communication 180 RCP6S ME0349 4B ...

Page 193: ...ed The absolute reset is performed by using a teaching tool such as PC software etc Shown below is the reset procedures outline 1 Connect the teaching tool and turn ON the power of the controller 2 The absolute encoder error appears on the teaching tool Perform alarm reset 3 Perform home return operation Once the home return is complete the point of origin is memorized at the same time the origin ...

Page 194: ...cation 182 RCP6S 2 For Teaching Pendant TB 02 TB 03 Press Reset Alm Press Trial Operation on the Menu 1 screen Press Jog_Inching on Trial screen Touch Servo to turn the servo ON and touch Homing in Jog Inching screen 1 2 3 4 ME0349 4B ...

Page 195: ...unication 183 RCP6S 3 For Teaching Pendant TB 01 Press Reset Alm Press Trial Operation on the Menu 1 screen Press Jog_Inching on Trial screen Touch Servo to turn the servo ON and touch Homing in Jog Inching screen 1 2 3 4 ME0349 4B ...

Page 196: ...7 Absolute Reset Fieldbus Communication 184 RCP6S ME0349 4B ...

Page 197: ...volatile controller built in memory FeRAM then either software reset or reboot of the power It will not become active only with setting on the teaching tool Warning 1 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 assets to be exposed to risk The controller i...

Page 198: ...ce with actuator Note 2 8 2 3 6 C Push Hold Stop Judgment Period PSWT msec 0 to 9999 In accordance with actuator Note 2 8 2 4 7 C Servo Gain Number PLGO 0 to 31 In accordance with actuator Note 2 8 2 5 8 3 8 B Default Velocity VCMD mm s deg s 1 to Actuator s max speed Rated actuator speed Note 2 8 2 6 9 B Default Acceleration Deceleration ACMD G 0 01 to Actuator s max acceleration deceleration Rat...

Page 199: ...e the upper limit for the actuators with the maximum velocity less than 250 100 8 2 25 36 C Auto Servo motor OFF Delay Time 1 ASO1 sec 0 to 9999 0 37 C Auto Servo motor OFF Delay Time 2 ASO2 sec 0 to 9999 0 38 B Auto Servo motor OFF Delay Time 3 ASO3 sec 0 to 9999 0 8 2 26 6 1 1 39 B Position Complete Signal Output Method Note 3 PEND 0 PEND 1 INP 0 8 2 27 6 1 3 42 C Enable Function ENBL 0 Enabled ...

Page 200: ...e during pressing 0 8 2 47 97 C Damping Characteristic Coefficient 1 DC11 0 to 1000 10 98 C Damping Characteristic Coefficient 2 DC21 0 to 1000 1000 99 B Natural Frequency NP01 1 1000Hz 500 to 30000 10000 100 C Vibration suppress parameter set 1 Notch Filter Gain NFG1 1 to 20000 9990 101 C Damping Characteristic Coefficient 1 DC12 0 to 1000 10 102 C Damping Characteristic Coefficient 2 DC22 0 to 1...

Page 201: ...53 8 2 21 129 C Speed Loop Integral Gain 2 VLT2 1 to 217270 In accordance with actuator Note 2 8 2 53 8 2 22 130 C Torque Filter Time Constant 2 TRF2 0 to 2500 In accordance with actuator Note 2 8 2 53 8 2 23 131 C Current Control Width Number 2 CLP2 0 to 15 In accordance with actuator Note 2 8 2 53 8 2 37 132 C Servo Gain Number 3 PLG3 0 to 31 In accordance with actuator Note 2 8 2 53 8 2 5 133 C...

Page 202: ...ance with actuator Note 2 8 2 65 8 2 22 155 A Absolute Battery Retention Time AIP 0 20 days 1 15 days 2 10 days 3 5 days 0 Note 4 8 2 66 7 2 2 165 B Delay Time after Shutdown Release SDDT msec 0 to 1000 0 8 2 67 166 B Startup Current Limit Extension Feature DCET 0 Disabled 1 Enabled In accordance with actuator Note 2 8 2 68 168 B Collision Detection Feature CODT 0 to 7 0 8 2 69 5 2 169 B SIO2 Baud...

Page 203: ... Zone Boundary 2 Negative Side ZNL2 mm deg 9999 99 to 9999 99 Actual stroke on negative side These parameters are used to set the zone in which zone signal ZONE1 or ZONE2 turns ON The minimum setting unit is 0 01 mm deg If a specific value is set to both zone boundary setting positive side and zone boundary setting negative side the zone signal is not output A setting sample is shown below Example...

Page 204: ...r No 3 positive side 80 3 Parameter No 4 negative side 0 3 Soft limits set in the parameter Effective stroke Allowable jogging inching range after home return Approx 0 3mm Approx 0 3mm 0 2mm 0 2mm 8 0 0 The operational range for jog and inching after the home return is 0 2mm deg less than the set value Alarm Code 0D9 Soft Limit Over Error will be generated when the set value exceeded the value 0 w...

Page 205: ...31 In accordance with actuator The servo gain is also called position loop gain or position control system proportion 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 changes of overshooting When the set value i...

Page 206: ...le position number It is convenient 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 Actuator s min resolution to 999 99 In accordance with actuator When a target position is set in an unregistered position table the setting in this parameter is aut...

Page 207: ...rate for the startup Set an appropriate value in accordance with the communication speed of the host One of 9600 14400 19200 28800 38400 76800 115200 and 230400 bps can be selected as the communication speed Caution After the PC software is connected the baud rate setting is changed to that of the PC software To make effective the value set in the parameter cycle controller power 12 Minimum delay ...

Page 208: ...on Z phase at absolute reset thus the coordinates may get shifted for the lead length For Absolute Type do not attempt to set a value near a number that the lead length is multiplied by an integral number Have enough margin After the setting repeat home return several times to confirm that the actuator always returns to the same home position Caution If the home return offset has been changed the ...

Page 209: ...n Direction If the direction is opposite set the other values from Parameter No 5 If No 5 is 0 set 1 If No 5 is 1 set 0 Note 1 For Simple Absolute Type the excitation detection is performed at the end of home return operation 18 Excitation phase signal detection time Parameter No 29 No Name Symbol Unit Input Range Default factory setting Specifications 1 to 999 10 RCP6S RCM P6PC 29 Excitation phas...

Page 210: ...is set and the actuator is mounted vertically the slider or the rod may drop at the excitation operation Follow the instructed orientation to install If the slide or rod drops with the mentioned way of installation set with the current setting Note 1 For Simple Absolute Type the excitation detection is performed at the end of home return operation 20 Pole sensing type Parameter No 30 No Name Symbo...

Page 211: ...locity command becomes better the servo motor rigidity is enhanced The higher the load inertia becomes the larger the value should be set However excessively increasing the setting will cause overshooting or oscillation which facilitates producing the vibrations of the mechanical system When the set value is low When the set value is high over shoot Velocity Time Also for the conditions to use thi...

Page 212: ...e set value is low When the set value is high over shoot Velocity Time Also for the conditions to use this item in RCP6S and RCM P6PC refer to Selecting to Use Velocity Loop Proportional Gain and Velocity Loop Integrated Gain in the bottom of the next page Selecting the Use of velocity loop proportional gain and velocity loop integrated gain Even though Velocity Loop Proportional Gain of RCP6S and...

Page 213: ...or type when the product is delivered Refer Appendix to 10 4 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 disable to obtain the specified pressing force Also when setting at a low velocity take 5mm s as the minimum Specified pressing force may not be obtai...

Page 214: ...except for when PIO Pattern 5 Solenoid Valve Type 2 3 point type is selected There are 2 types of positioning complete signals and the output condition would differ depending on whether the servo is ON after the positioning is complete or the servo is OFF Set Value 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 t...

Page 215: ...Silent interval magnification SIVM times 0 to 10 0 Use this parameter to set the silent interval no communication time by the time taken for communication of 3 5 characters or longer before command data transmission when the controller is operated via serial communication RTU This parameter need not be changed when a teaching tool such as PC software is used If 0 is set no multiplier is applied 31...

Page 216: ...tting 48 PIO Inching Distance IOID mm deg s 0 01 to 1 00 1 00 49 PIO Inching Distance 2 IOD2 mm deg s 0 01 to 1 00 0 10 When the selected PIO pattern is 1 teaching mode this parameter defines the inching distance to be applied when inching input commands are received from the PLC Parameter No 49 defines the inching distance when 1 is set in the JOG speed inching distance switchover signal JVEL for...

Page 217: ...esolution battery less absolute encoder is connected 37 Current control width number Parameter No 54 No Name Symbol Unit Input Range Default factory setting 54 Current Control Width Number CLPF 0 to 15 In accordance with actuator This parameter is for the manufacturer s use only to determine the response capability of thecurrent loop control Therefore do not change the settings in this parameter I...

Page 218: ...ng width 0 1 Solid line shown in the image below Velocity Time 0 Setting 10 Setting 50 Setting 100 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 pattern To change a speed during operation be sure to specify such a posit...

Page 219: ... 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 vibrations and or noises until the machi...

Page 220: ...t Range Default factory setting 78 Axis Operation Type ATYP 0 Linear axis 1 Rotary axis In accordance with actuator This parameter defines the type of the actuator used Connected Actuator Set Value Reference Linear Axis 0 Actuator other than rotary type Rotary Axis 1 Actuator of rotary type Caution If the setting is changed not only the normal operation with indicated speed acceleration or amount ...

Page 221: ...cut Selection ATYP 0 Disabled 1 Enabled In accordance with actuator Select whether valid invalid the shortcut when positioning is performed except for when having the relative position movement in the multiple rotation type rotary actuator The shortcut means that the actuator is rotated to the next position in the rotational direction of the smaller travel distance Set Value Description 0 Shortcut...

Page 222: ...ition of over error detection against the soft limit errors set in Parameters No 3 and No 4 It is not necessary to change the setting in normal use 47 Current limit value at stopping due to miss pressing Parameter No 91 No Name Symbol Unit Input Range Default factory setting 91 Current Limit Value at Stopping Due to Miss pressing PSFT 0 Current limiting value at stop 1 Current limit value during p...

Page 223: ...ion Suppress Control Function for details 49 Default vibration suppress No Parameter No 109 No Name Symbol Unit Input Range Default factory setting 109 Default Vibration Suppress No CTLS 0 to 3 0 This parameter is exclusively used for vibration suppress control Refer to Chapter 4 Vibration Suppress Control Function for details 50 Stop method at servo OFF Parameter No 110 No Name Symbol Unit Input ...

Page 224: ...riod Parameter No 113 No Name Symbol Unit Input Range Default factory setting 113 Monitoring Period FMNT msec 1 to 60000 1 This is the parameter to set up the frequency to the initial setting Note 1 of time to obtain data Sampling Frequency when the monitoring mode is selected By setting the value in this parameter bigger the frequency of data obtaining can be made longer It is set to 1msec in the...

Page 225: ...y loop integral gain 3 VLT3 1 to 217270 136 Torque filter time constant 3 TRF3 0 to 2500 Gain set 3 137 Current control width number 3 CLP3 0 to 15 In accordance with actuator x Servo gain number 1 2 3 Parameter No 120 126 132 This parameter determines the response of the position control loop Refer to 8 2 5 Servo gain number x Position Feed forward gain 1 2 3 Parameter No 121 127 133 This paramet...

Page 226: ...end as the datum The value should be an integer multiple of ball screw lead length including 0 00 If the home return offset is within the range between 0 and ball screw lead length the value of this parameter is 0 00 Also when a value other than 0 00 is set in this parameter home return complete position cannot be 0 00 and it gets to the positon of home position this parameter For the actuator of ...

Page 227: ... PIO or fieldbus PIO output parameter No 151 set to 0 Overload Error Operation Stop Warning Error Detection Warning Detection Motor Temp Calculated from Ave Current Operating Image Normal Operation Range Time The current applied to the motor increases because of sliding resistance increase due to lack of maintenance of guide and ball screw or excess load applied on the motor As a result overload e...

Page 228: ...fer to the 8 2 21 Velocity loop proportional gain for the details Also for the conditions to use this item refer to Selecting to Use Velocity Loop Proportional Gain and Velocity Loop Integrated Gain in the bottom of 8 2 22 59 GS velocity loop integral gain Parameter No 146 No Name Symbol Unit Input Range Default factory setting 146 GS Velocity Loop Integral Gain GSIC 1 to 500000 In accordance with...

Page 229: ...152 No Name Symbol Unit Input Range Default factory setting 152 High Output Setting BUEN 0 Disabled 1 Enabled In accordance with actuator Set whether use the high output function Note that it is necessary to indicate the high output setting type option and have an actuator applicable for high output Note 1 connected Note 1 High output applicable actuator RCP4 RCP5 Series 64 BU velocity loop propor...

Page 230: ... 2 10 days 3 5 days 0 For simple absolute type set how long the encoder position information is to be retained after the power to the controller is turned OFF The setting can be selected from 4 phases and as the motor rotation speed gets slower the time to retain the position information gets longer In the case that there is a possibility that the slide or the rod of the actuator that transports t...

Page 231: ...It is used to set the delay time from the driving power supply 24V supplied to MPI to shutdown cancellation It is available to scatter the peak load by having the time setting separately on each controller Note 1 An electric discharge inside the controller gets large if the setting is made large and therefore large amount of current gets necessary in order to charge the power when the servo gets t...

Page 232: ...and stop the operation turn the servo OFF when the actuator is crashed Detection 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 same when set to 2 4 or 6 1 Detection is conducted in position zone setting range 3 Note 1 Detection is conducted in position zone se...

Page 233: ... set the time from receiving the command received data during the SIO2 communication till the response sent data is returned to the host side 72 SIO2 Silent Interval Magnification Parameter No 171 No Name Symbol Unit Input Range Default factory setting 171 SIO2 silent interval magnification SIM2 Time 0 to 10 0 Use this parameter to set the silent interval no communication time by the time taken fo...

Page 234: ...tion Pressing width Max pressing level Position where the actuator is pushed against the work and the pressing completion is judged so the positioning completion signal is turned ON Pressing Operation SEP Method The pressing operation is performed with the start position set at the point in front of the target position Note 1 for the width of the positioning width for Direct Indication Mode The po...

Page 235: ...to Current Adj Select ACDS 0 Disabled 1 Enabled 0 It is a feature to make a stop by having the current flow considering the external force influence when performing the complete stop in positioning It will be able to save the power consumption when the transported load is small Refer to 6 2 Selecting Automatic Current Reduction Feature For RCP6S and RCM P6PC only ME0349 4B ...

Page 236: ... the control system To increase the value of Parameter No 31 Speed loop proportional gain by about 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...

Page 237: ... moment of the servo motor itself the motor is highly affected by the load This may cause the actuator to be controlled unstably Therefore to improve the precisions of the trace position speed and response of the actuator the load inertia ratio must be made small For high trace precision equi speed performance and response of the actuator in such a use as application it is better to use ball screw...

Page 238: ...cedure 2 Change Parameter No 31 Velocity Loop Proportional Gain and Parameter No 32 Velocity Loop Integrated Gain Set the six types of values below in order and check the operation Load of 0 2kg or less Setting Order Velocity Loop Proportional Gain Setting Velocity Loop Integrated Gain Setting 1 42 382 2 42 520 3 42 749 4 42 1171 5 42 2081 6 42 4683 Load over 0 2kg Setting Order Velocity Loop Prop...

Page 239: ...he 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 of surge killer etc 11 Chec...

Page 240: ...to 2 3 1 Wiring Layout of Power Supply Connector 2 Can such operation as jogging be performed from the teaching tool such as PC software Set the operation mode setting switch on the front panel and restart the controller Refer to Name for Each Parts and Their Functions 3 Check the error code with the teaching tool being connected and remove the cause by referring the alarm list Refer to 9 4 Alarm ...

Page 241: ...generate Alarm Code 0A2 Position Data Error Conduct the position table setting 5 Have 6ms or more between the target position number command and start signal command Startup Adjustment with Teaching Tool when Control Circuit Incomplete Situation Possible cause Check Treatment Operation is not performed even though the teaching tool is connected and power to the controller motor and control circuit...

Page 242: ...leration is set too high Decrease the settings 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 Note1 Since RCP6S actuator is equipped with the batter...

Page 243: ...eceleration 9 2 4 Impossible Communication Situation Possible cause Check Treatment Not connectable with host machine 1 Communication rates do not match 2 The machine number station number is set to be duplicate out of the range 3 Parameter No 17 Minimum delay time for slave transmitter activation is set incorrectly 4 Poor wiring or disconnection of communication cable 1 Set the communication rate...

Page 244: ... is an error in the connector insertion connector is not inserted till it hits the end or line breakage on the cable 61 861 Master Slave Axes Communication Internal Error Sending Cause It is a communication error of RCP6S GW It is concerned that there is an error in the connector insertion connector is not inserted till it hits the end or line breakage on the cable Treatment It is concerned that t...

Page 245: ... function with a power supply with no enough current capacity may cause overvoltage responding to the current change Treatment 1 2 Check the voltage of the input power supply 3 Think to use a power supply with enough current capacity or not to use the remote sensing function If the voltage is normal please contact IAI A1 8A1 Control Power Voltage Drop Cause The control power voltage dropped less t...

Page 246: ...power voltage drop differs depending on the version of the hub unit There is no Hub Unit Version V0002 Gateway Unit Version V0002 and earlier V0003 and later V0001 No displayed No displayed Hub Unit Version V0003 and later No displayed 8B0 displayed Control Power Voltage Monitor Power Voltage in Normal Hub Unit Version In Normal When Dropped Recovered to Normal after Drop V0001 Green Illuminating ...

Page 247: ...ase contact IAI If the same error occurs again after resetting the alarm it means that the cause of the alarm has not been removed 9 4 2 Simple Alarm Code Simple alarm codes are read into the complete position register PM8 to PM1 of each mode in Simplified Direct Value Positioner 1 Positioner 2 Positioner 3 and Positioner 5 when an alarm is generated ON z OFF ALM ALM8 PM8 ALM4 PM4 ALM2 PM2 ALM1 PM...

Page 248: ...complete home return 0D5 Deviation overflow 0D8 Software stroke limit exceeded 0D9 Pressing motion range over error 0DC z z z 12 Electric angling mismatching 0B4 Servo error 0C1 Illegal control system transition command 0C5 Motor power source voltage excessive 0D2 Overload 0E0 z z 13 Encoder send error 0E4 Encoder receipt error 0E5 Encoder Counter Error 0E6 A B and Z phase wire breaking 0E7 A and ...

Page 249: ...rated Distance Threshold 05C Receiving timeout Cause Valid data was not detected even after 5 seconds has passed since the start header of Modbus communication was detected 05E Delimiter error packet receive Cause Valid data cannot be detected with Modbus communication or abnormal data was received 06B Message Maintenance information data error Cause The maintenance information total movement coun...

Page 250: ... start Parameter data error Cause The data input range in the parameter area is not appropriate Example 1 This error occurs when the magnitude relationship is apparently inappropriate such as when 300mm was incorrectly input as the value of the soft limit negative side while the value of the soft limit positive side was 200 3mm Example 2 In rotary axis when the index mode is changed to the normal ...

Page 251: ...nt position with the deceleration after the change Soft limit Deceleration starting position not resulting in soft limit overshoot If a command is issued here soft limit overshoot will occur The cause is that the timing to make the next movement command when the speed was changed during the operation was late Treatment Make the timing earlier for the movement command for the deceleration speed cha...

Page 252: ...re is any abnormality in the parts assembly condition 4 It the transportation weight is in the acceptable range cut off the power to check the slide resistance manually by moving with hand If the actuator itself is suspected to be the cause please contact IAI 0B7 For P6AC Only Cold start Magnetic pole undefined Cause It shows the magnetic pole phase could not be detected after a certain time being...

Page 253: ...r or the rod to a point where it would not hit the mechanical end and reboot the system 5 If the loaded weight is within the allowable range turn the power OFF and check the resistance in sliding operation by moving the slider with hand 6 If the Parameter No 22 Home Return Offset is set smaller than the initial setting the actuator interferes with the mechanical end and excitation detection cannot...

Page 254: ... encoder cable wiring condition 2 Supply 24V DC 150mA to the BKRLS terminal on the power supply connector and if you can see an improvement it is considered the controller failure Please contact IAI 3 Confirm that there is no error in the mechanical part assembly condition 4 If the loaded weight is within the allowable range turn the power OFF and check the resistance in sliding operation by movin...

Page 255: ...e power was turned on Treatment In case the same error occurs even after rebooting the power in a condition that the actuator does not move it is necessary to replace the PC board or adjust the offset 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 sup...

Page 256: ...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 concerned Revise the transportable weight and redo the home return operation 0D9 Software stroke limit exceeded Cause The current position of the actuator exceeds the software st...

Page 257: ...IAI if this occurs with the actuator itself 0E4 For P6PC and P6AC only Cold start Encoder send error Cause The data sending and receiving between the controller and encoder is conducted by the serial communication This error indicates that the data sent from the controller was not received properly at the encoder side 1 Encoder cable is about to break or connector is not plugged properly 2 Effect ...

Page 258: ...art or controller 6 Check a breakage of encoder cable and connection on the connectors For the high resolution battery less absolute encoder check the capacity of 24V DC power supply and connection on power supply wiring If the cause cannot be specified please contact IAI 0E6 For P6PC and P6AC only Encoder count error Cause Error status was received in initial communication with battery less absol...

Page 259: ...PC and P6AC only Absolute encoder error detection 2 Cause The position data cannot be detected properly in the encoder 1 Changed the parameters of controller 2 Position data loss in absolute reset If the detail code in the error list of the teaching tool is 0006H or 0022H 3 Motor has replaced in battery less absolute type and the pairing ID registered in the controller has changed When the detail ...

Page 260: ...ing Faulty nonvolatile memory Treatment When the error is caused even when the power is re input please contact IAI 0FA CPU error The CPU operation is not normal Cause 1 Faulty CPU 2 Malfunction due to noise Treatment When the error is caused even when the power is re input please contact IAI 0FC Cold start Logic error Faulty component The controller is not operating properly Cause 1 Malfunction d...

Page 261: ...ode RCB LB TGS that are applicable for the Safety Category The system can conform to up to safety category B to 4 ISO12100 1 ISO13849 1 by changing connections of system I O connectors Also to be complied with the Safety Categories from B to 3 it is recommended to use a teaching pendant equipped with a dead man s switch Model Code TB 02D or TB 01D DR For the Safety Category 4 detach the teaching p...

Page 262: ...1 5 6 ST 3 5 Note 1 Upper side EMG side TP adapter side MCDN1 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 25m2 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 s...

Page 263: ...2 EMG2 EMGIN EMGOUT 1 6 7 12 Wiring Color YW 1 2 3 4 5 6 YW YW YW Signal No AWG24 ENB1 ENB1 ENB2 ENB2 ENBIN ENBOUT Wiring Color YW 7 8 9 10 11 12 YW YW YW Signal 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 to TP Connector ME0349 4B ...

Page 264: ...se of category 1 TB 02D or TB 01D TB 01DR or Dummy plug DP 4S Connection Cable CB CON LB Enable SW Reset Emergency Stop Solenoid Contactor Motor Power Supply System I O Connector Motor Power Supply Connector Gateway Unit TP Adaptor for the Position Controller SIO Connector ME0349 4B ...

Page 265: ...gency Stop Solenoid Contactor Emergency Stop SW Enable SW Shell Drive Cutoff Circuit TP Connection Detection RCP6S Gateway Unit TP Addaptpr for the Posotion Controller Teaching Pendant Motor Power Supply RCP6S Built in Controller Motor Power Supply Connector System I O Connector SIO Connector ME0349 4B ...

Page 266: ...otor Power Supply Reset SW Emergency stop SW Solenoid Contactor Enable SW System I O Connector Motor Power Supply Connector TB 02D or TB 01D TB 01DR or Dummy plug DP 4S Connection Cable CB CON LB Gateway Unit SIO Connector TP Adaptor for the Position Controller ME0349 4B ...

Page 267: ...able SW Emergency Stop SW Reset SW Enable SW Emergency Stop SW Shell Solenoid Contactor Motor Power Supply RCP6S Gateway Unit RCP6S Built in Controller Motor Power Supply Connector System I O Connector SIO Connector TP Adaptor for the Position Controller Teaching Pendant TP Connection Detection ME0349 4B ...

Page 268: ...ontactor Solenoid Contactor Enable SW Reset SW Emergency Stop SW System I O Connector Motor Power Supply Motor Power Supply Connector TB 02D or TB 01D TB 01DR or Dummy plug DP 4S Connection Cable CB CON LB Gateway Unit TP Adaptor for the Position Controller SIO Connector ME0349 4B ...

Page 269: ...SW Enable SW Shell Enable SW Emergency Stop SW Reset SW Solenoid Contactor Solenoid Contactor Motor Power Supply RCP6S Built in Controller RCP6S Gateway Unit TP Adaptor for the Position Controller Motor Power Supply Connector System I O Connector SIO Connector TP Connection Detection Drive Cutoff Circuit ME0349 4B ...

Page 270: ...RCP6S 4 In case of category 4 Solenoid Contactor Solenoid Contactor Enable SW Reset SW Emergency Stop SW System I O Connector Motor Power Supply Motor Power Supply Connector Dummy plug DP 4S Connection Cable CB CON LB Gateway Unit ME0349 4B ...

Page 271: ... Circuit Enable SW Emergency Stop SW Reset SW Solenoid Contactor Solenoid Contactor Motor Power Supply RCP6S Built in Controller RCP6S Gateway Unit Dummy plug TP Adaptor for the Position Controller TP Connection Detection Motor Power Supply Connector System I O Connector SIO Connector ME0349 4B ...

Page 272: ...10 Appendix Fieldbus Communication 260 RCP6S 4 TP adapter and accessories 1 TP adapter external dimensions 25 3 65 2 2 φ3 5 45 56 48 8 5 2 75 50 5 RCB LB TGS ME0349 4B ...

Page 273: ...e color Signal name Pin No Pin No Signal name Cable color Yellow Black 1 SRD 1 2 SRD Yellow Black 1 Pink Black 1 SRD 2 3 SRD Pink Black 1 AWG28 N C 3 4 N C Brown ENB2 4 22 ENB2 Brown Gray T24V 5 7 DC24V Gray Red EMG1 6 9 EMG1 Red Black EMG2 7 5 EMG2 Black Yellow EMG2 8 6 ENG2 Yellow Pink ENG1 9 24 ENB1 Pink Purple T24G 10 26 DC24V Purple White GND 11 1 SG White Blue Red 1 ENB2 12 25 ENB2 Blue Red ...

Page 274: ...Dummy plug Connect a dummy plug to the teaching pendant connecting connector Make sure to connect a dummy plug if the AUTO mode is specified Without the connection it will be the emergency stop condition Model DP 4S DP 4S Plug HDR E26MSG1 ME0349 4B ...

Page 275: ...nside and short circuit occurs through the frame ground FG Also when the connection is established with the serial communication between controllers using different 24V DC power the communication line may get damaged as the communication line gets connected through the controller power line depending on the timing to turn the power on Troubleshooting and countermeasures are gathered in ME0271 Caut...

Page 276: ...ly when the times and distance Note 2 exceed the threshold By this signal notice can be available for the timing of grease supply or regular inspection Note 1 The contents recorded in the teaching tool and Modbus communication can be checked To check in the teaching tool Refer in each instruction manual for details x TB 01 TB 02 Monitor Maintenance x TB 02 Information Maintenance Information x RC ...

Page 277: ... TA4C RCP6S TA4R RCP6S RA6C RCP6S RA6R RCP6S TA6C RCP6S TA6R RCP6S RA7C RCP6S RA7R RCP6S TA7C RCP6S TA7R RCP6S RA8C RCP6S RA8R RCP6S Radial type RCP6S Wide radial type RCP6S RRA4C RCP6S RRA4R RCP6S WRA10C RCP6S WRA10R RCP6S RRA6C RCP6S RRA6R RCP6S WRA12C RCP6S WRA12R RCP6S RRA7C RCP6S RRA7R RCP6S WRA14C RCP6S WRA14R RCP6S RRA8C RCP6S RRA8R RCP6S WRA16C RCP6S WRA16R Clean Type RCP6S Slider type RCP...

Page 278: ... RCP6 RA7C RCP6 RA7R RCP6 TA7C RCP6 TA7R RCP6 Radial type RCP6 Wide radial type RCP6 RRA4C RCP6 RRA4R RCP6 WRA10C RCP6 WRA10R RCP6 RRA6C RCP6 RRA6R RCP6 WRA12C RCP6 WRA12R RCP6 RRA7C RCP6 RRA7R RCP6 WRA14C RCP6 WRA14R RCP5 Rod type RCP4 Rod type RCP5 RA4C RCP5 RA4R RCP4 RA3C RCP4 RA3R RCP5 RA6C RCP5 RA6R RCP4 RA5C RCP4 RA5R RCP5 RA7C RCP5 RA7R RCP4 RA6C RCP4 RA6R RCP3 Rod type except for 56SP Moto...

Page 279: ...proof Splush proof rod type RCP4 Slider type RCP4W SA5C RCP4W SA6C RCP4W SA7C RCP6 Rod type RCP6 Radial type RCP6W RA4C RCP6W RA4R RCP6W RRA4C RCP6W RRA4R RCP6W RA6C RCP6W RA6R RCP6W RRA6C RCP6W RRA6R RCP6W RA7C RCP6W RA7R RCP6W RRA7C RCP6W RRA7R RCP6 Wide radial type RCP5 Rod type RCP6W WRA10C RCP6W WRA10R RCP5W RA6C RCP6W WRA12C RCP6W WRA12R RCP5W RA7C except for 56SP Motor type RCP6W WRA14C RCP...

Page 280: ...GS3D RCA RGS4C RCA RGS4D RCA RGD3C RCA RGD3R RCA RGD3D RCA RGD4C RCA RGD4R RCA RGD4D RCA2 Table type RCA Arm type RCA2 TCA3NA RCA2 TWA3NA RCA2 TFA3NA RCA A4R RCA2 TCA4NA RCA2 TWA4NA RCA2 TFA4NA RCA A5R RCA2 TA4C RCA2 TA4R RCA A6R RCA2 TA5C RCA2 TA5R RCA2 TA6C RCA2 TA6R RCA2 TA7C RCA2 TA7R RCL Linear servo type RCL SA1L RCL RA1L RCL SA2L RCL RA2L RCL SA3L RCL RA3L RCL SA4L RCL SM4L RCL SA5L RCL SM5...

Page 281: ...f 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 fading ...

Page 282: ...pment 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 our pro...

Page 283: ... 3 2 Connection Unit Control Power Voltage Drop Alarm added Chapter 9 Appendix added Correction made in TB 02 Application Fouth Edition RCP6S Gateway Controllers RCM P6PC RCM P6AC and RCM P6DC added Became applicable for dust and drip proof rod type dust and drip proof wide rod type and dust and drip proof radial cylinder type Note corrected 4B Edition Applicable for TB 03 1 2 List of Basic Specif...

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Page 286: ...INESS 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 678 354 9471 website www intell...

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