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P. 66

Command Position 1

7. *Supplement

Position 0 Set

Start Signal

Command Position 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 Signal

Position
3 Set Signal

Over 5m seconds
(However, scan time
of PLC is necessary)

Содержание ROBO Cylinder RCP

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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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