Iai-america RCP2-CF Manual de usuario

Operation Manual Fifteenth Edition RCP2 Series ROBO Cylinder Controller Sixteenth Edition

 Soft limit... 110 

80 7.2 How to Execute Home Return First, force the position complete signal to turn ON by referring to 7.1, “How to Start.” 7.2.1 Standard Speci

81 7.2.2 Absolute Specification Home return must be executed when the controller is started for the first time. Even after the home has been establ

82 7.2.3 Operation Timings at PIO Pattern = “0: [Conventional]” (Example) 100 mm is set as the target position under position No. 3, and home po

83 7.2.4 Operation Timings at PIO Pattern = “5: [4 Points]” (Example) When “30 mm” is set as the target position in position No. 0 (Rear end), an

84 7.2.5 Operation Timings at PIO Pattern ≠ “0: [Conventional]” or “5: [4 Points]” Note: When the home return

85 7.3 Home Return and Movement after Start (PIO Pattern = “1: [Standard]”) First, force the position complete signal to turn ON by referring t

86 The position complete output will turn ON when the controller becomes ready following the power ON. (The position comple

87 7.4 Positioning Mode (Back and Forth Movement between Two Points) Example of use in operation) The actuator moves back and forth between two p

88 Position-data table (Field(s) within thick line must be entered.) No. Position Speed Acceleration/ deceleration Push Positioning band Accele

89 7.5 Push & Hold Mode First, cause the position complete signal to turn ON by referring to 7.1, “How to Start.” Example of use in operation)

 Noise occurs during downward movements in a vertical application...134  Vibration occurs when the actuator is st

90 Position-data table (Field(s) within thick line must be entered.) No. Position Speed Acceleration/ deceleration Push Positioning band Acceler

91 7.6 Speed Change during Movement Example of use in operation) The actuator speed is reduced at a certain point during movement. The position

92 Position-data table (Field(s) within thick line must be entered.) No. Position Speed Acceleration/ deceleration Push Positioning band Acceler

93 7.7 Operation at Different Acceleration and Deceleration Settings Example of use in operation) Positioning is performed to the position 150 mm

94 Position-data table (Field(s) within thick line must be entered.) No. Position Speed Acceleration/ deceleration Push Positioning band Acceler

95 7.8 Pause Example of use in operation) The actuator is paused during movement. Method) Use the pause input. RCP2 controller

96 T1: 6 msec or more; time after selecting/entering a command position until the start input turns ON (The scan time of

97 7.9 Zone Signal Output Example of use in operation) While the actuator is moving a zone signal is output inside the zone enclosed by distances

98 T1: 6 msec or more; time after selecting/entering a command position until the start input turns ON (The scan time o

99 .10 Incremental Moves Example of use in operation) The actuator is caused to move from the home to the 30-mm position, from which it will be mo

100 Position-data table (Field(s) within thick line must be entered.) No. Position Speed Acceleration/ deceleration Push Positioning band Accele

101 7.11 Notes on Incremental Mode (1) Notes on positioning operation Selecting/entering a position number using relative coordinates during posi

102 Example) If the start signal for movement to position 2 is input while the actuator is moving to position 1 in the push & hold mode, the a

103 7.12 Jogging/Teaching Using PIO First, cause the position complete signal to turn ON by referring to 7.1, “How to Start.” If parameter No. 25

104 Jogging/teaching timing T1: 20 msec or more; time after the current-position write input is turned ON until writing o

105 7.13 Operation in the “4 Points (Air Cylinder)” Mode First, refer to 7.1, “How to Start,” to turn ON the position complete signal. Example of

106 Note: Movement commands are executed based on the rise edge, so input each signal continuously for 6 msec

107  The movement command input operates in two modes. You can select the operation condition of the movement command input (ST0 to ST3) in par

108  Handling of the pause (*STP) signal This signal is a contact B signal, meaning that it must remain ON while the actuator is moving. If

109 8. Parameters 8.1 Parameter Classification Parameters are classified into four types according to their content. Category: a: Parameter relati

Pre-1 Safety Guide This “Safety Guide” is intended to ensure the correct use of this product and prevent dangers and property damage. Be sure to

110 8.3 Parameter Settings If a parameter has been changed, always restart the controller using a software reset command or by reconnecting the po

111  Home return direction Unless specified by the user, the home return direction is set to the motor direction at the factory. Should a need ari

112  Default positioning band (in-position) The factory setting is “0.10 [mm].” When a target position is written to an unregistered position tab

113  Current-limiting value at standstill during positioning The factory setting conforms to the standard specification of the actuator. Increasin

114 8.3.3 Parameters Relating to the External Interface  PIO pattern selection Select the PIO operation pattern in parameter No. 25. This setting

115  Movement command type When the PIO pattern is set to “4 points,” define the operation condition of the movement command input (ST0 to ST3)

116  Pause input disable selection Parameter No. 15 defines whether the pause input signal is disabled or enabled. Setting Enable (use) the sig

117 9. Controlling Multiple Controllers via Serial Communication This section explains the connection method to be used when multiple controllers

118 9.3 SIO Converter This is a converter unit conforming to RS485/232C. [1] Power/emergency-stop terminal block (TB2) EMG1, E

119 [2] Link-connection terminal block (TB1) A connection port for linking the controller. “A” on the left side connects to pin 1 (SGA) in the cont

Pre-2 Requirements for Industrial Robots under Ordinance on Industrial Safety and Health Work area Work condition Cutoff of drive source Measure

120 9.4 Address Switch Set an address (0 to 15) as a hexadecimal (0 to F) using the ADRS switch on the front panel of each controller to define th

121 9.6 Detail Connection Diagram (Note) The user must provide the two-paired shielded cable. If cables other than

122 10. Troubleshooting 10.1 Action to Be Taken upon Occurrence of Problem Upon occurrence of a problem, take an appropriate action according to

123 10.2 Alarm Level Classification Alarms are classified into three levels according to the symptoms they represent. Alarm level ALM lamp *ALM

124 10.3 Alarm Description Output Using PIO So that the PLC can recognize the nature of each alarm that has generated, alarm description is outpu

125 10.4 Alarm Description and Cause/Action (1) Message level alarms Code Error name Cause/Action 40 Emergency stop Cause: An emergency stop

126 Code Error name Cause/Action 76 Soft reset during servo ON Cause: A soft reset command was sent while the servo was ON during an operation b

127 Code Error name Cause/Action C0 Excessive actual speed Cause: This alarm indicates that the motor speed exceeded the maximum speed set in th

128 Code Error name Cause/Action CE Drop in control supply voltage This alarm indicates that the voltage of the 24-V input power supply has dropp

129 (3) Cold-start level alarms Code Error name Cause/Action B8 Pole sense error This controller will conduct excitation phase detection when t

Pre-3 Applicable Modes of IAI’s Industrial Robot Machines meeting the following conditions are not classified as industrial robots according to Not

130 Code Error name Cause/Action F8 Damaged nonvolatile memory Abnormal data was detected during the nonvolatile memory check after starting. Caus

131 10.5 Messages Displayed during Operation Using the Teaching Pendant or PC Software This section explains the warning messages that may be disp

132 Code Error name Cause/Action 20C CSTR-ON during operation This message indicates that the start signal (CSTR) was turned ON by the PLC while

133 10.6 Specific Problems  I/O signals cannot be exchanged with the PLC. Cause: [1] The 24-V I/O power supply is connected in reverse. (Thi

134  Home return ends in the middle in a vertical application. Cause: [1] The load exceeds the rating. [2] The ball screw is receiving torsio

135  The actuator moves only a half of, or twice as much as, the specified movement. Cause: [1] The combination of controller and actuator is wro

136  Abnormal operation results when the servo is turned ON after the power ON. Cause: Excitation phase detection was not performed correctly whe

137 11. Function Check and Replacement of the Radiating Fan The large-capacity type (RCP2-CF-***) has a built-in radiating fan. To check the funct

138 3) Check if the fan is normal. (Note) To prolong the life of the fan, the surrounding air temperature of the power transistor i

139 12. Replacing the Absolute Data Retention Battery Follow the procedure below when replacing the absolute data retention battery in your contro

Pre-4 Notes on Safety of Our Products Common items you should note when performing each task on any IAI robot are explained below. No. Task Note

140 3) Take out the cover and replace the battery with a new one. 4) Tighten the cover screws. 5) Plug the cable in

141Appendix * Appendix List of Supported Actuator Specifications  Slider, ball-screw drive type (Note 1)

142Appendix  Rod type (Note 1) The figure in the elongated circle indicates the maximum speed for the appli

143Appendix  Correlation diagrams of speed and load capacity of the slider, motor-straight type (No

144Appendix  Correlation diagrams of speed and load capacity of the slider, motor-reversed type (N

145Appendix  Correlation diagrams of speed and load capacity of the slider, high-speed ball-screw type (Note) The load capacity

146Appendix  Correlation diagrams of speed and load capacity of the rod, standard type (Note) In

147Appendix  Correlation diagrams of speed and load capacity of the single-guide type (Note) In th

148Appendix  Correlation diagrams of speed and load capacity of the double-guide type (Note) In t

149Appendix  Correlation diagrams of speed and load capacity of the dust-proof/splash-proof type (N

Pre-5 No. Task Note (2) Wiring the cables  Use IAI’s genuine cables to connect the actuator and controller or connect a teaching tool, etc.  Do n

150Appendix  Correlation diagrams of speed and load capacity of the high-thrust type  Correlation di

151Appendix Example of Basic RCP2 Positioning Sequence Given below is an example of basic sequence for creating a positioning sequence using the RC

152Appendix Current positioning completed position (Positioning circuit for position 2)Pos

153Appendix Position 3 set signal S R Position 5 set signal Command position 1 Command posi

154Appendix Recording of Position-Data Table Recorded date: No. Position [mm] Speed [mm/sec] Acceleration/ deceleration [G]Push [%]Positioning

155Appendix Valid only when [64-point positioning] is selected No. Position [mm] Speed [mm/sec] Acceleration/ deceleration [G]Push [%]Positioning

156Appendix Recording of Parameters Recorded date: Category a: Parameter relating to the actuator stroke range b: Parameter relating to the

Change History Revision Date Description of Revision December 2005 February 2006 April 2007 February 2010 June 2010 First edition Tenth edition Eleve

Manual No.: ME0136-16A (April 2011)The information contained in this document is subject to change without notice for purposes of product improvement.

Pre-6 No. Task Note 5 Teaching  When releasing the brake of the vertically installed actuator, be careful not to let the actuator drop due to it

Pre-7 Indication of Cautionary Information The operation manual for each model denotes safety precautions under “Danger,” “Warning,” “Caution” and

Pre-8

1 1. Overview 1.1 Introduction Thank you for purchasing the RCP2 controller. This manual explains the features and operating procedures of the pro

2 1.2 How to Read Model Number  Controller with a power-supply capacity of 2 A  Controller with a power-

3 1.3 Handling of Secondary Batteries for the Absolute Specification Observe the safety precautions specified below when handling the secondary bat

4 1.4 Safety Precautions Read the following information carefully and provide safety measures with due consideration. This system product has be

5 1.5 Warranty Period and Scope of Warranty The RCP2 controller you have purchased passed IAI’s shipping inspection implemented under the strictes

6 2. Specifications 2.1 Basic Specifications Specification item Internal Drive-Power Cutoff Relay Type External Drive-Power Cutoff Relay Type

7 2.1.1 Backup Batteries for the Absolute Specification The absolute-specification controller uses secondary batteries (nickel metal hydride cells

8 2.1.2 Specifications of the Large-Capacity Type (RCP2-CF) Specification item Internal Drive-Power Cutoff Relay Type Model number RCP2-CF-***

9 2.2 Name and Function of Each Part of the Controller 2.2.1 Names 2.2.2 Functions [1] Battery connector A connec

Please Read Before Use Thank you for purchasing our product. This Operation Manual explains the handling methods, structure and maintenance of th

10 [5] Motor connector (MOT) A connector for the actuator’s motor power cable. [6] Power/emergency-stop terminal block [Built-in cutoff relay ty

11 2.3 External Dimensions 2.3.1 Standard Specification (RCP2-***-I ) An external view and dimensions of the product are shown below.

12 2.3.2 Absolute Specification with Battery Bracket (RCP2-***-A- -K) *Weight: 660 g (Mountin

13 Absolute Specification without Battery Bracket (RCP2-***-A- ) *Weight: 460 g (Mounting dimension

14 2.3.3 Large-Capacity Type (RCP2-CF-***) *Weight: 250 g (Mounting dimension) Built-in radiat

15 3. Installation and Noise Elimination Pay due attention to the installation environment of the controller. 3.1 Installation Environment (1)

16 [2] Precautions regarding wiring method Use a twisted cable for connection to the 24-VDC external power supply. Separate the controller cables

17 3.4 Heat Radiation and Installation Design the control panel size, controller layout and cooling method in such a way that the temperature arou

18 4. Wiring 4.1 Internal Drive-Power Cutoff Relay Type (RCP2-C, RCP2-CF) 4.1.1 Configuration Note

19 4.1.2 External Connection Diagram An example of standard wiring is shown below. (Note) The encoder cable shown in the example is the standard c

CAUTION 1. 24-V Power Supplies for Equipment Requiring a UL Certification [1] The controller with the maximum current of 2 A (RCP2-C/CG) and

20 4.1.3 Wiring the Power Supply/Emergency-Stop Switch (1) Wiring the power supply To connect multiple controllers, provide a relay ter

21 (2) Wiring the emergency-stop switch In many cases multiple controllers are used in a single system. To provide an emergency-stop function for t

22 Representative connection examples are explained below.  Connecting the teaching pendant directly to the controller (Parallel connection with

23 [Controller 1] [Controller 2] [Controller 3]

24 [2] Using a power supply other than the input power supply (Note) Since the controller’s PORT switch has a cutoff capacity of 0.1 A, use an au

25 [3] Enabling the EMG switch on the teaching pendant for the connected axis or axes only CR

26  Connecting the teaching pendant to a SIO converter (Serial connection with the PLC) Configure the contact circuit for the EMG switch on the

27 4.2 External Drive-Power Cutoff Relay Type (RCP2-CG) 4.2.1 Configuration S1 S2 MPI MPO24V N

28 4.2.2 External Connection Diagram An example of standard wiring is shown below. (Note) The encoder cable shown in the example is the standard c

29 4.2.3 Wiring the Power Supply/Motor Power Cutoff Relay (1) Wiring the power supply To connect multiple controllers, provide a relay t

[2] Enabling/disabling the servo ON input signal (SON) The servo ON input signal has been added to allow for servo ON/OFF control on the PLC side.

30 (2) Wiring the motor power cutoff relay Explained below is a safety circuit conforming to safety category 2. The user is responsible for implem

31 [Connection example of a multiple-axis configuration] Input power supply 0V FG S1 S2 MPI MPO 24V N

32 4.3 Connecting the I/O Cables  PIO pattern 0 [Conventional] Note: The factory-set PIO pattern is [Conven

33  PIO pattern 1 [Standard] Note: The factory-set PIO pattern is [Conventional], so change the value in para

34  PIO pattern 2 [64-point positioning] Note: The factory-set PIO pattern is [Conventional], so change the

35  PIO pattern 3 [2 zone output signals] Note: The factory-set PIO pattern is [Conventional], so change the

36  PIO pattern 4 [Teaching] Note: The factory-set PIO pattern is [Conventional], so change the value in para

37  PIO pattern 5 [4 points] (air cylinder) Note: The factory-set PIO pattern is [Conventional], so change th

38 4.4 Connecting the Actuator 4.4.1 Motor Extension Cable  Connect the motor extension cable to the MOT connector. Signal table for the control

39 4.4.2 Encoder Extension Cable  [Standard controller (2 A)]  Connect the encoder extension cable to the ENC connector. Signal table for the co

CE MarkingIf a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately.

40 Reference: Cable colors and pin assignments for units shipped on or before July 31, 2004 Housing: PHDR-16VS (J

41  [Large-capacity controller (6 A)]  Connect the encoder extension cable to the ENC connector. Signal table for the controller-end connector (CN

42 4.5 Connecting the Communication Cable Connect the communication cable to the SIO connector. Pin assign

43 5. I/O Signal Control and Signal Functions 5.1 PIO Patterns and Signal Assignments This controller provides six PIO (Parallel I/O) patterns to

44 5.1.1 Explanation of Signal Names The following explains the signal names, and gives a function overview of each signal. In the explanation of

45  PIO pattern = “4: [Teaching]” Category Signal name Signal abbreviation Function overview Start CSTR Movement is started at a rise edge of t

46  PIO pattern = “5: [4 points] Category Signal name Signal abbreviation Function overview Rear end move ST0 The actuator starts moving to th

47 5.1.2 Signal Assignment Table for Respective PIO Patterns The same signal may be assigned to a different pin number depending on the PIO patter

48 5.2 Interface Circuit The standard interface specification of the controller is NPN, but the PNP specification is also available as an option.

49 5.2.2 External Output Specifications Item Specification Number of output points 10 points Rated load voltage 24 VDC Maximum current 20 mA/po

Table of Contents Safety Guide...1 1. Overview...

50 5.3 Details of I/O Signal Functions An input time constant is provided for the input signals of this controller, in order to prevent malfuncti

51  Home return (HOME) The controller will start home return operation upon detection of an OFF  ON edge of this signal. When the home return is

52  Current-position write (PWRT) This signal is enabled when the aforementioned MODES output signal is ON. If the PWRT signal has remained ON fo

53 5.3.2 Details of Each Output Signal  Completed position number (PM1 to PM32) These signals can be used to check the completed position number

54 Once turned ON, the HEND signal will not turn OFF unless the input power supply is cut off, a soft reset is executed, or the home return signal

55  Ready (SRDY) This is a monitor signal indicating that the servo is ON and the motor is ready. The ON/OFF status of the SRDY signal is synchroni

56 6. Data Entry <Basics> This controller doesn’t use command words, so there is no need to create a program. All you need is to enter the

57 6.1 Description of Position-Data Table (1) No.  Indicate the position data number. To enter an incremental movement, press the minus key in t

58 (5) Push (Push)  Select the positioning mode or push & hold mode. The default value is “0.” 0: Positioning mode (= Normal operation) Oth

59 (7) Acceleration only MAX (ACC MAX)  Select the specified acceleration or maximum acceleration by entering “0” or “1.” The default value is “0

 PIO pattern 3 [2 zone output signals]...35  PIO pattern 4 [Tea

60 6.1.1 Relationship of Push Force at Standstill and Current-Limiting Value When performing operation in the push & hold mode, enter the cur

61 (3) SM type Note: The accuracy of push force at standstill is not guaranteed. The above graphs are pro

62  Rod type (1) RPA type (2) RXA type Note: The accuracy of push force at standstill is not guarantee

63 (3) RSA/RSW type (4) RMA/RMW type Note: The accuracy of push force at standstill is not guar

64 (5) RFA/RFW type Note: The accuracy of push force at standstill is not guaranteed. The above g

65 6.2 Explanation of Modes 6.2.1 Positioning Mode Push = 0 6.2.2 Push & Hold Mode Push = Other than 0 (1) Load was contact

66 (2) Load was not contacted (missed) (1) After reaching the target position, the actuator will move at low speed. Even after contacting the

67 (4) Positioning band was entered with a wrong sign If the positioning band is entered with a wrong sign, the position will deviate by twice

68 6.2.5 Pause The actuator can be paused during movement using an external input signal (*pause). The pause signal uses the contact B logic (alwa

69 6.2.6 Zone Signal Output A signal will be output when the actuator enters the specified zone. The zone signal will turn ON when the actuator en

6. Data Entry <Basics>...56 6.1 Description of Position-Data Table...

70 6.2.8 Teaching Mode (Jogging/Teaching Using PIO) The actuator can be jogged using PIO if parameter No. 25 (PIO pattern) is set to “4: [Teachin

71 6.2.9 Overview of the “4 Points” (Air Cylinder) Mode This mode provides a control method adjusted to that of an air cylinder by assuming that

72 The relationships of movement command inputs/position complete outputs and corresponding position numbers are shown below. For easier identifica

73 6.3 Notes on the ROBO Gripper (1) Finger operation [1] Definition of position With the two-finger type, the stroke in the specification repres

74 (2) Removing the gripped load This gripper is designed to maintain the load-gripping force via a self-lock mechanism even when the servo is t

75 7. Operation <Practical Steps> 7.1 How to Start 7.1.1 Standard Specification (1) Connect the motor cable and encoder cable to the con

76  Overview of operation on the PC software Select an applicable position data in the main window, and then click the [Home] button. For detai

77 7.1.2 Absolute Specification (Absolute Reset) (1) Connect the motor cable and encoder cable to the controller. (2) Connect the host PLC to th

78 (10) Cancel the emergency stop or supply the motor drive power.  The ALM lamp will turn off. (11) Input a servo ON signal (SON) from the PLC

79 Timing chart at startup Note: If parameter No. 25 (PIO pattern) is set to “0: [Conventional],” “2: