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Intelligent Actuator ROBO Cylinder RCP Operating Manual Download Page 54

P. 50

Caution:
Once the Start Signal turns ON, the Positioning Complete Output turns OFF.
Please execute Start Signal OFF only after confirming that the Positioning Complete Output is turned OFF.
Frequent use of Sudden Stop Input will shorten the actuator’s life span.

4. Application (Practice)

Command Position

Start

Positioning Complete

Hold

Actuator Transfer

 Speed

 Complete Position

Caution

T1:  Over 5msec

Time from Command Position Select Input to Start Signal ON

(However, please consider the scan time of the upper controller)

Summary of Contents for ROBO Cylinder RCP

Page 1: ...Intelligent Actuator Inc RCP Robo Cylinder Controller Operating Manual SIO M BK ENC BAT PORT ON OFF PORT IN RLS BK NOM EMG PIO 24V N FG SW RDY RUN ALM RDY RUN ALM...

Page 2: ...891 6015 310 891 0815 FAX Intelligent Actuator Inc Midwest Regional Office 1261 Hamilton Parkway Itasca IL 60143 630 467 9900 630 467 9912 FAX www intelligentactuator com Feb 2001 Intelligent Actuator...

Page 3: ...ruppersideapplication Homing problem may occur due to payload In case this problem occurs please change thecurrentlimitvalueduringhomingto75 2 You must turn ON the Hold Input Signal of PIO in order fo...

Page 4: ...27 35 3 1 Position Data Table 28 3 2 Mode Explanation 32 4 Application Practice 36 56 4 1 Power Up 36 4 2 Procedure Up for Initial Homing 37 4 3 MoveAfter Power Up Standard 39 4 4 Positioning Mode 2 p...

Page 5: ...the accuracy of the contents of this manual However if you become aware of any inaccuracies or discrepancies please contact your IAI sales representative or technical service department Absolute Spec...

Page 6: ...r is ready to operate Surround the system with safety partitions if there is a possibility that people can enter the area where the machine is being used 4 When assembling adjusting or performing main...

Page 7: ...not affect machinery performance Damage resulting from improper handling or use Damage resulting from user error or failure to perform proper maintenance Any alterations not authorized by IAI or its...

Page 8: ...reratures above 40o C or below 0o C 32o F The level of humidity should not be exceed 85 Do NOT expose to corrosive or inflammable gas 5 Avoid external vibration unnecessary impact or excessive shocks...

Page 9: ...evice Use of excessively long wir ing will decrease the performance of the surge absorber 2 Noise Source and Noise Suppression When using electrical components such as electromagnets solenoids or rela...

Page 10: ...2 make sure to leave more than 50mm of space above and below the controller so that enough natural convection may be attained When mounting with several controllers lined up also mount an agitator fa...

Page 11: ...A T T D Option Cable length 5m Robo Cylinder RCP Cable length 5m Cable is option CB RCA MPA050 Upper System Sequencer External Connection RCA 105 5 Option Cable length 5m PC PC Software RCA 101 MW Opt...

Page 12: ...ry connector from the controller Otherwise the battery will discharge SIO M BK ENC BAT PORT ON OFF PORT IN RLS BK NOM EMG PIO 24V N FG SW RDY RUN ALM Note 1 A standard actuator can not be used with a...

Page 13: ...41 6 46 3 90 5 0 5 3 94 5 46 3 36 6 10 158 155 148 10 5 2 2 External Dimenional Diagram 2 2 1 Controller Outer Shape Standard 2 Specifications 101 158 158 90 5 101 10 41 6 36 2 46 3 94 5 3 158 148 15...

Page 14: ...58 8 23 2 158 148 92 102 1 5 152 8 100 5 0 5 101 158 2 2 2 Controller Outer Shape IncludesAbsolute Specifications and Battery 2 Specifications 101 5 0 5 158 152 8 148 158 92 102 1 100 5 84 82 2 5 58...

Page 15: ...lute counter abnormal absolute specifications RDY ready RUN ALM alarm DC 24V Type ready RUN ALM alarm Inputs Start Command Position Number 4 bit binary Hold Inputs and Outputs INPUTS Complete Position...

Page 16: ...tween the controllers will be possible MainCommunicationPortConnector PORTIN This is the connector for the teaching pendant or external device communication cable This is also the connector for the co...

Page 17: ...is in normal operation RUN This indicates normal operation ALM This indicates an alarm and or an emergency stop status Motor Brake Connector M BK This is the connector for actuator motor power brake...

Page 18: ...FF OFF ON ON OFF OFF ON ON OFF OFF ON ON 3 OFF OFF OFF OFF ON ON ON ON OFF OFF OFF OFF ON ON ON ON 4 OFF OFF OFF OFF OFF OFF OFF OFF ON ON ON ON ON ON ON ON Caution Please do not adjust dip switch num...

Page 19: ...e SGA SGB 5V EMGS EMGA 24V GND EMGB Functions Serial Communication Channel A Serial Communication Channel B 5V Power Output Emergency Stop Status Note 1 24V Power Output Ground Note 1 Note 1 This is u...

Page 20: ...ble Length 2m No 1 2 3 4 5 6 7 8 9 10 11 12 13 Color Brown 1 Red 1 Orange 1 Yellow 1 Green 1 Blue 1 Purple 1 Gray 1 White 1 Black 1 Brown 2 Red 2 Orange 2 Cable Flat Cable A Signal 24V 24G CSTR PC1 PC...

Page 21: ...Although changing the battery depends on the ambient temperature and full discharge requirements it is about 4 years after controller connection There s a sticker which has 4 years added to the shipm...

Page 22: ...ard RC Controller Actuators for Absolute are the only actuator that can operate using RCP Controller absolute specifications You may not use a standard RC Actuator During storage always remove the bat...

Page 23: ...ing specifications are met Applicable conduit Specifications possible conduit range Standard type line length Applicable tool for button operation Single line 1 2 AWG16 1 25mm2 AWG16 Single line 0 4 A...

Page 24: ...lways connect it to the number 5 terminal of each controller Connect number 3 terminal 24V of each controller onto the first emergency stop switch 2 Specifications EMG EMG 24V N FG RY Controller 1 EMG...

Page 25: ...n 4 Complete Position 8 Positioning Complete Homing Incomplete Zone Alarm Emergency Stop PIO SIO Upper System Sequencer PIO CN4 SIO RS485 Communication PC Teaching Pendant Brake Motor Brake Connector...

Page 26: ...o p n o i t e l p m o C 2 y a r G 9 1 8 n o i t i s o p n o i t e l p m o C 2 e t i h W 0 2 e t e l p m o c g n i n o i t i s o P e t e l p m o c r e f s n a r t n o p u s t u p t u O 2 k c a l B 1 2...

Page 27: ...7 1 2 n o i t i s o p n o i t e l p m o C 2 e l p r u P 8 1 4 n o i t i s o p n o i t e l p m o C 2 y a r G 9 1 8 n o i t i s o p n o i t e l p m o C 2 e t i h W 0 2 e t e l p m o c g n i n o i t i s...

Page 28: ...ause pins to go low For example when the actuator completes motion to position 10 this will correspond to the following output Logic 0 1 Low High See table below Positioning Completion Turns ON when t...

Page 29: ...5 5 External I O Specifications External input specifications Item Input Voltage Input Current Leakage Insulation Method Specifications 24V DC 10 Maximum 2mA 1 Port Under 0 1mA Caution Photocoupler In...

Page 30: ...Load Voltage Max Load Current Leakage Current Insulation Method Specifications DC 24V 20mA 1 Port Max 0 1mA 1 point Photocoupler Insulation 2 Specifications 24G External power DC 24V 10 Output Circui...

Page 31: ...the initial value changes can be made on the initial value of the parameter The initial value differs depending on the actuator type When changing the initial value please use initial value of the pa...

Page 32: ...uator Push Selects either the Positioning Mode or Push Mode The initial value is set as 0 0 Positioning Mode normal operation Other than 0 Push mode In Push Mode input the of max current of the servo...

Page 33: ...0 1 Selects either the assigned acceleration or the maximum acceleration Inputs are either 1 or 0 The initial value is set as 0 0 Assigned acceleration The value placed in theACC DEC Speed column wil...

Page 34: ...op is a standard and is not guaranteed When the push power is too small push malfunction may occur due to driven resistance so please be careful The maximum amount of the current restriction value is...

Page 35: ...to driven resistance so please be careful The maximum amount of the current restriction value is listed in the tables below Low Speed Type Middle Speed Type High Speed Type SS SSR 70 or less 70 or les...

Page 36: ...rns ON The completion position number outputs also turn ON Note If needed set the push determination time on the parameter 255msec is inserted as the initial value 1 When push is successful Warning Th...

Page 37: ...reversed polarity from the completed work done balances The positioning complete turns ON however complete position number output does not change while output 2 When push fails blank shot 3 Data Input...

Page 38: ...as the left diagram shows only the width positioning complete width x 2 will be off so please be careful Transfer distance Positioning width Positioning width Speed Position 1 Position 2 Position 1 Po...

Page 39: ...ce a moving slider enters that territory the zone signal P I O Pin 22 will turn ON and remain ON within the zone territory setting It is possible to assign even during the middle of the stroke 3 2 7 H...

Page 40: ...ation is completed Caution When the P I O power inputs before the main power or when the power is common upon installing power the P I O output may be in an unstable status for approximately 1msec As...

Page 41: ...d Input ON GND Pin 10 NPN Supply 24V PNP 8 Reset the alarm Refer to Section 4 2 2 Alarm Reset in this manual 9 Normal status is RDY RUN LED turns ON and abnormal status is whenALM LED is ON 10 Begin h...

Page 42: ...ithout homing Caution When homing through the P I O input position data that is within actuator s limits If no data is input you can not home You will need to charge the battery when using the control...

Page 43: ...Complete Position 8 Positioning Complete Homing Complete Zone Alarm Emergency Stop Forbid Output Input Input 5 3 7 4 RCP Controller 8 PIO 6 1 Select input command postion number 1 3 Homing Start 4 Po...

Page 44: ...itioning complete output turns ON Power ON Start Hold Complete Position Emergency Stop Alarm Positioning Complete Complete Position Actuator transfer Homing Complete Start Positioning Complete Actuato...

Page 45: ...itioning Complete Output OFF 4 Start Input OFF Push Work The current value of servo motor will rise reaching to the current limit value 5 Positioning Complete Output ON 6 Output Complete Position 1 7...

Page 46: ...Position 1 Position1 Position2 T1 T1 T1 T1 Caution Caution Position1 Caution Caution Start Positioning Complete Actuator As the diagram below shows if you leave the Start Input as ON the Positioning C...

Page 47: ...tion 4 Command Position 8 Forbid Forbid Forbid Output Input Input 4 2 1 Select Input Command Position 1 2 Start Input ON Start Transfer to Position 1 RCP Controller 6 PIO 10 8 1 7 12 3 11 5 9 3 Positi...

Page 48: ...shows the Positioning Complete Output will not turn ON only the Complete Position outputs Positioning Complete 4 Application Practice Position 1 Command Position Start Positioning Complete Complete Po...

Page 49: ...nput after setting the Command Position To achieve this set the Pos band for Position 1 and right after Position 1 is complete input the Start Signal for Position 2 Command Position inputs should be s...

Page 50: ...put Command Position 1 2 Start Input ON Start Transfer to Position 1 at 200mm sec RCP Controller PIO 3 Positioning Complete Output OFF 4 Start Input OFF 5 Positioning Complete Output ON at 1mm before...

Page 51: ...ion 2 Command Position 4 Command Position 8 Conenction Forbid Hold Connection Forbid Complete Position 1 Complete Position 2 Complete Position 4 Complete Position 8 Positioning Complete Homing Complet...

Page 52: ...N the Positioning Complete Output turns OFF Please execute Start Signal OFF only after confirming that the Positioning Complete Output turns OFF 4 Application Practice Command Position Start Positioni...

Page 53: ...ompletePosition 8 Positioning Complete Homing Complete Zone Alarm Emeregency Stop Connection Forbid Output Input Input 1 7 3 1 Select Input Assigned Command Position 2 Start Input ON Start Transfer to...

Page 54: ...oning Complete Output is turned OFF Frequent use of Sudden Stop Input will shorten the actuator s life span 4 Application Practice Command Position Start Positioning Complete Hold Actuator Transfer Sp...

Page 55: ...lete Zone Alarm Emergency Stop Output Input Input 4 2 1 3 7 1 2 Start Input ON Start Transfer to Assigned position 3 4 Start Input OFF 5 Enter the Boundary Zone Output ON RCP Controller 6 5 6 Leave th...

Page 56: ...ing Complete Output has turned OFF 4 Application Practice Other zone outputs examples Zone Boundary Value Zone Boundary Value Maximum Stroke Length Zone Boundary Value Zone Boundary Value 40 0 120 Com...

Page 57: ...te Position 1 Complete Positon 2 Complete Position 4 Complete Position 8 Positioning Complete Homing Complete Zone Alarm Emergency Stop Connection Forbid Output Input Input 4 2 1 3 5 1 Select Input As...

Page 58: ...Emergency Stop Connection Forbid Output Input Input 4 2 5 3 1 RCP Controller 6 PIO 9 11 8 10 3 PositioningCompleteOutputOFF 4 Start Input OFF 5 PositioningCompleteOutputON 6 OutputCompletePosition1 7...

Page 59: ...transfer positioning output will not turn ON Note 2 In case soft limit exceeds parameter value the positioning complete signal will turn ON In addition the alarm output will not change 4 Application P...

Page 60: ...ves to the position 40mm away from home 4 Application Practice Position Speed In addition when the Start Input is executed numerous times during position movement the actuator moves to a position that...

Page 61: ...between the value input in the position and the corresponding movement of the actuator When a relative transfer is executed consecutively this error will accumulate The maximum error range per each a...

Page 62: ...d i w g n i n o i t i s o P t n u o m A l a i t i n I g a l F s x a M y l n O n o i t a r e l e c c A e l b a t a t a d n o i t i s o p f o n o i t a z i l a i t i n i c c A X A M d n e P t a t i m i...

Page 63: ...ncoder Breakage Corruption of EEPROM Data In case you wish to change the home direction position data already inputted will all clear As needed please record the data Reveresed homing direction is not...

Page 64: ...e h t h t i w d e w o l l a t o n n o i t a r e p o n a y l b i s s o p d n a m m o C a t a D t c e r r o c n I 7 6 0 r o r r E C C B C C B e h t n i d e d u l c n i s i 9 0 n a h t r e h t o s r e t...

Page 65: ...s i h t n i 6 3 e g a P o t r e f e r m r a l a e h t t e s e R d n a e l b a c r e d o c n e e h t k c e h c e s a e l p e l b i s s o p t o n s i t e s e r y r e t t a b e h t e c a l p e r r o e g...

Page 66: ...o i t c e l e S s i x A t c e n n n o c n o N r o r r e o n s e r e h t d e t c e l e s n e e b s a h s i x a t c e n n o c n o N 9 1 1 s s e c x E r e t e m a r a P B T r e b m u N g n i t a t o R s...

Page 67: ...r e w o p r e l l o r t n o c e l b a c r o f n o i t e t p m o c e h t k c e h c e s a e l P s n o i t a t s e t a n i d r o b u s 4 0 3 M V O E U Q R I C S a t a d e v i s s e c x e l a n r e t x e...

Page 68: ...Homing Start Pulse Assist Position 0 Positioning Start Pulse Position 0 Positioning Start Pulse Assist Position 0 Home Positioning Start Assist Position 0 Home Start Confirm Position 0 Home Positioni...

Page 69: ...sition numbers Command position number output encoder circuit Next Positioning Start Assist Signal Create just the position numbers Maintain until positioning towards other positions begin so that the...

Page 70: ...2 Command Position 4 Command Position 8 Timer 1 Positioning Start Command Towards Other Positions Start Signal Circuit Position 6 Set Signal Position 3 Set Signal Position 2 Set Signal Position 5 Set...

Page 71: ...Intelligent Actuator Inc 2690 W 237th Street Torrance CA 90505 310 891 6015 310 891 0815 Fax www intelligentactuator com Publication Date Feb 2001 Publication No IAI 068C Second edition...

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