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(3) Vel:

Input the speed at which the actuator will be moved, in [mm/sec].

The initial value will depend on the actuator type.

(4) Acc/Dcl: Input the acceleration/deceleration at which the actuator will be moved, in [G].

Basically, use acceleration/deceleration within the catalog rated value range.

The input range allows larger value input than the catalog rated values, on the assumption

that the tact time will be reduced if the transfer mass is significantly smaller than the rated

value.

Make the numeric value smaller if transfer work vibrates and causes trouble during

acceleration/deceleration.

The acceleration will become sudden if the numeric value is made larger, and it
will become gradual if the numeric value is made smaller.

Caution:

Enter appropriate values for Vel and Acc/Dcl in such a way as to prevent excessive

impact or vibration from being applied to the actuator in consideration of the installation

conditions and the shape of transferred work by referring to the “List of Actuator

Specifications” in the Appendix.

Increasing such values largely relates to the transfer mass and the actuator

characteristics vary depending on the model, consult IAI regarding the input-limiting

values.

(5) Push:

- Select the positioning operation or push operation.

The default value is “0.”

Normal positioning operation

Other than 0: Indicates the current-limiting value and indicates the push operation.

Caution:

In the case of PCON, ACON, SCON, or ERC2, there are cases where the input value to

“Push” may be rounded off to a multiple of the minimum resolution of the controller (during

data acquisition from the controller).

Speed

Acceleration Deceleration

Target

position

Time

Target

position

Содержание ROBO CYLINDER RCM-P

Страница 1: ...Robo Cylinder Data Input Pendant RCM P Operating Manual Second edition IAI America Inc...

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Страница 3: ...o 8 10 TP Operation Mode Note When the controller is set by connecting the RC Data Input Pendant to ERC2 the conditions shown below occur When the controller is set by connecting the RC Data Input Pen...

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Страница 5: ...0 SCON V2 00 1 This RC Data Input Pendant also supports the RCP RCS E Con RCP2 and ERC controllers Confirm the connected model and version of this application 8 1 Initial Screen During Power UP If any...

Страница 6: ...1 Edit Teach Screen 16 8 4 2 Position Data Table Contents for PCON ACON SCON and ERC2 19 8 4 3 Position Data Table Contents for RCP RCS E Con and ERC 25 8 4 4 Data Input 27 8 4 5 Clear All Clear 33 8...

Страница 7: ...eter factory installed initializing method 62 RC Data Input pendant error table 64 9 Message Area 52 9 1 Warning Label Error Code No 000h 07Fh 52 9 2 RC Data Input Pendant Message Level Error 53 9 3 C...

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Страница 9: ...n refer to the appropriate sections as the need arises For the actuator and controller to be used be sure to refer to the Instruction Manuals attached to the products Caution Do not edit position data...

Страница 10: ...ily visible Also keep the power cable close to the operator so that another person cannot inadvertently switch on the power Alternatively lock the power plug or receptacle and direct the operator to h...

Страница 11: ...ther 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 sc...

Страница 12: ...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 safe...

Страница 13: ...f i c e p S m e t I Ambient Temperature Humidity Temperature 0 40 C Humidity 85 RH or less RH relative humidity Operating Environment Free of corrosive gas especially no excessive dust g 0 8 3 t h g i...

Страница 14: ...6 6 2 External View External Dimensions...

Страница 15: ...7 6 3 Description of Each Part 1 LCD 6 Numeric keys 7 Return key 4 key 3 key 5 Minus key 2 Arrow keys...

Страница 16: ...When an error occurs a message for this error will appear at the very bottom of the display screen Use this key to clear the error and to clear this message 4 key Although Data Input Pendant operation...

Страница 17: ...2 Use the Arrow keys to select Complete Screen and then press the Return key 3 Turn the RC Controller PORT SW OFF with regard to a controller equipped with a PORT switch 4 Remove the RC Data Input Pen...

Страница 18: ...GIN END key Please press the BEGIN END key for more than 2 5 seconds Confirm whether to reset software when going through the mode with the key if changing the parameter Only for PCON ACON SCON RCP2 E...

Страница 19: ...screen by using the BEGIN END key Please press the BEGIN END key for more than 2 5 seconds Confirm whether to reset software when going through the mode with the key if changing the parameter Reconne...

Страница 20: ...tion mode selection screen The TP operation mode is selected from the following four menus Teach 1 PIO not allowed It is allowed to write position data and parameters etc in the controller and command...

Страница 21: ...th RCP RCS E Con RCP2 and ERC controllers for use Display a controller to be used and further press the Return key The selection is confirmed and 8 3 Operation Mode Selection will appear on the screen...

Страница 22: ...s it appears on the above screen To select move the keys to the mode desired and confirm using the Return key Slct Mode M2 A 00 Edit Teach Slct Mode M2 A 00 Monitor Slct Mode M2 A 00 Error List Slct M...

Страница 23: ...SCON 2 Monitor RC Controller status display 3 Error list Alarm content detailed display 4 User Parameter Setting of axis zone signal output range and axis 5 User Adjustment Setting for enabling or dis...

Страница 24: ...as follows Not displayed in the case of PCON PL PO ACON PL PO and the pulse sequence modes of SCON Mode Select Edit Teach Monitor MDI Clear All Clear Error List User Parameter User Adjustment TP Opera...

Страница 25: ...will not be displayed No Position Vel Acc Dcl Push LoTh Range Zone Zone Acc Dcl Mode ABS INC Cmnd Mode Stop Mode 0 mm s G G mm mm mm 1 mm s G G mm mm mm 2 mm s G G mm mm mm 3 mm s G G mm mm mm 4 mm s...

Страница 26: ...mm s G mm 0 9 mm s G mm 0 10 mm s G mm 0 11 mm s G mm 0 12 mm s G mm 0 13 mm s G mm 0 14 mm s G mm 0 15 mm s G mm 0 Position Data Table Use either the key or the key to execute the transfer of the co...

Страница 27: ...SE PCON C CG CF PIO pattern 0 1 2 4 5 CY PIO pattern 1 SE ACON C CG PIO pattern 0 1 2 4 5 CY PIO pattern 1 SE SCON positioner PIO pattern 0 1 2 4 5 1 No Indicates the position data number 2 Position...

Страница 28: ...nter appropriate values for Vel and Acc Dcl in such a way as to prevent excessive impact or vibration from being applied to the actuator in consideration of the installation conditions and the shape o...

Страница 29: ...aximum push amount from the target position in the push operation Set the positioning width in such a way as to prevent positioning completion before the actuator contacts work by considering mechanic...

Страница 30: ...t command to backward end Movement command to forward end Movement command to midpoint 9 Acc Dcl Mode It defines the acceleration deceleration characteristics The default value is 0 0 Trapezoid patter...

Страница 31: ...ves are drawn than the linear acceleration deceleration trapezoid pattern Use this in the applications by giving micro vibrations to work during acceleration deceleration not desired Set the degree of...

Страница 32: ...on the actuator model load condition etc but the holding current decreases approximately by a factor of 2 to 4 No displacement occurs since this method maintains the servo ON status The actual holding...

Страница 33: ...ect Relative Positioning using 7 ABS INC By pressing the key once from the Position Input Screen will move the screen to ABS INC Input Screen Caution There are cases when the input value may be rounde...

Страница 34: ...fault value is set as 0 0 Assigned acceleration The value placed in 4 will be used as the actual acceleration value and deceleration value 1 Maximum acceleration This will automatically utilize the ma...

Страница 35: ...osition current position by turning off the servo control and manually moving the slider to adjust to the target position In this section we will explain an example of each operation Caution When the...

Страница 36: ...h Range Zone Zone Acc Dcl Mode ABS INC Cmnd Mode Stop Mode 0 0 00 125 mm s 0 20 G 0 20 G 0 0 0 10 mm 0 00 mm 0 00 mm 0 0 0 0 1 50 00 100 mm s 0 10 G 0 10 G 0 0 0 20 mm 0 00 mm 0 00 mm 0 0 0 0 2 80 00...

Страница 37: ...ut Screen for Push The default value will be utilized as is so press the Return key MDI No 001 A 00 LoTh 0 The screen will turn into the Input Screen for Range The default value will be utilized as is...

Страница 38: ...nd then press the Return key MDI No 002 A 00 Push 40 The screen will turn into the Input Screen for Push Use the Numeric keys to input 40 and then press the Return key MDI No 002 A 00 LoTh 0 The scree...

Страница 39: ...turn key MDI No 003 A 00 Position I 10 00 The screen will turn into the Input Screen for Position Press the key then position I is displayed INC Relative positioning MDI No 003 A 00 Vel 20 mm s The sc...

Страница 40: ...ect Teach and choose using the Return key Direct Teach A 00 Srv OFF 51 23F Displays the current position Although this is displayed even when homing is incomplete it is not an accurate value The servo...

Страница 41: ...33 8 4 5 Clear All Clear In this section we will give specific examples of how to clear data in the position table 1 Clear Resets the assigned position data 2 All Clear Resets all of 16 position data...

Страница 42: ...s 0 20 G 0 20 G 0 0 0 10 mm 0 00 mm 0 00 mm 0 0 0 0 1 mm s G G mm mm mm 2 80 00 100 mm s 0 10 G 0 10 G 40 0 5 00 mm 0 00 mm 0 00 mm 0 0 0 0 3 10 00 20 mm s 0 20 G 0 20 G 0 0 0 10 mm 0 00 mm 0 00 mm 0...

Страница 43: ...LoTh Range Zone Zone Acc Dcl Mode ABS INC Cmnd Mode Stop Mode 0 mm s G G mm mm mm 1 mm s G G mm mm mm 2 mm s G G mm mm mm 3 mm s G G mm mm mm Slct Mode M2 A 00 Edit Teach Edit Teach A 00 All Clear Pr...

Страница 44: ...t the data entered will erase the old data The position will be updated only when the return key is pressed to read the current position by direct teach It does not influence speed etc Once the positi...

Страница 45: ...e pls display by pressing the key Displays the current The Screen is changed to current ratio display by pressing the key Monitor A 00 Vel 00 mm s Monitor A 00 Cur 0 0 mA Displays the ST0 retract move...

Страница 46: ...isplays the ALM alarm output status Displays ON when it is normal Monitor A 00 out 02 LS2 OFF Monitor A 00 out 03 SV OFF Monitor A 00 out 04 HEND ON Monitor A 00 out 05 ALM ON Displays the HMSW homing...

Страница 47: ...ror list totaled 30 List No 0 29 RC Data Input Pendant Error List Slct Mode M2 A 00 Err List Displays the error code number Err List List Page 0 Err No 0E8 Displays the error name Err List List Page 0...

Страница 48: ...alarm level error 3 Previously third detected alarm level error 3 Previously third detected alarm level error 4 Previously fourth detected alarm level error 4 Previously fourth detected alarm level er...

Страница 49: ...epends on the type of controller For content to be displayed refer to the Operating Manual of each controller Slct Mode M2 A 00 User Parm Sets the zone limit side User Parm 01 A 00 Zone 150 30mm Sets...

Страница 50: ...A 00 OFST 0 20mm Sets the zone limit 2 side User Parm 23 A 00 Zone 2 9999 99mm Sets the PIO pattern User Parm 25 A 00 PIO Ptn 0 Sets the excitation phase signal detection operation initial move direct...

Страница 51: ...User Parm 39 A 00 PEND Output Typ 0 Sets the enable function 0 enable 1 disable User Parm 42 A 00 Enable Fnc Dis 1 Sets the home check sensor input character User Parm 43 A 00 Home Sensor Dis 0 Sets t...

Страница 52: ...eversed homing direction may not be done on the Rod Type Actuator Homing direction setting is reversed on the In Line Type SSR SMR Actuator 0 Correct 1 Reversed Caution Please cycle the controller pow...

Страница 53: ...t Y 1 N 0 Press 1 when resetting the software Press 0 when interrupting to reset the software The screen returns to the mode select screen The screen moves to the check screen of servo OFF while servo...

Страница 54: ...turn key Afterwards the controller must be turned OFF Input 93 Slct Mode M2 A 00 User Adjust Input 91 into the adjustment number and then press the Return key Afterwards the controller must be turned...

Страница 55: ...ON input also do not input 92 into the adjustment number Since there is no servo ON input operation cannot be made User Adjust A 00 alloc 0 Input axis number User Adjust A 00 Adjust 2 Input 2 into the...

Страница 56: ...ess the key When interrupting the software reset press the key The screen returns to the mode select screen Soft Reset A 00 Srv OFF Y 1 N 0 During servo on if pressing the key a message Srv OFF appear...

Страница 57: ...lct Mode M2 A 00 User Adjust User Adjust A 00 Adjust 3 Input 3 into the adjustment number and press the Return key Soft Reset A 00 Reset Y 1 N 0 Press the key The error list is cleared When interrupti...

Страница 58: ...controller and commands for actuator operation system Without safety speed It is allowed to move at a speed registered on the position data Monitor 1 PIO allowed Only monitoring is allowed It is not...

Страница 59: ...elect Teach 1 in a case of single axis connection Caution When multiple axes are connected with a controller link cable after recycling power of a controller that is not directly connected to the RC D...

Страница 60: ...blem 2 Press down key Warning is probably due to the following possibilities RS485 communication abnormality RC Data Input Pendant operational mistake a RS 485 communication related abnormality Indica...

Страница 61: ...9 3 Controller Error An alarm detected from the controller side can be displayed This is a serious error due to an abnormality related to servo control and electricity Please read through the RC Contr...

Страница 62: ...enabled after the next reset or after power is turned on Slct Mode M2 A 00 User Adjust In the mode select screen using the keys set the user adjustment and then press the Return key User Adjust A 00...

Страница 63: ...Reset A 00 Srv OFF Y 1 N 0 When servo is turned ON you are asked whether servo off is carried out or not on all screens by pressing the key When interrupting the software reset press the key The scre...

Страница 64: ...limit This has no negative effect if the actuator contacts the work If the actuator misses the work however the soft limit will be reached and this message is displayed as a warning Change either the...

Страница 65: ...al communication Action 1 Adjust the wiring in a manner eliminating the effect of noise and review the installation of equipment etc 2 Change the slave numbers to avoid duplication If the message is s...

Страница 66: ...6 n o i s i v e R f o n o i t p i r c s e D e t a D n o i s i v e R First edition January 2012 Second edition Support Models ROBONET added P 3 Contents changed is Warranty P 46 Homing operation delete...

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