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IAI ROBO Cylinder RCP2 Series Operation Manual

Other manuals for ROBO Cylinder RCP2 Series: Operating Manual, Operating Manual, Operating manual, Operation Manual
Manual is about: Slider Type

Summary of ROBO Cylinder RCP2 Series

  • Page 1

    Operation manual fourth edition rcp2 series robo cylinder controller.

  • Page 2: Caution

    Caution 1. Basic setting of user parameters after applying power, at least the three user parameters specified below must be set in accordance with the specific application. Inappropriate settings of these parameters will prevent the controller from operating properly, so exercise due caution. For d...

  • Page 3

    (3) enabling/disabling the pause signal (*stp) the pause signal uses the contact b logic to provide a failsafe function. Therefore, this signal must remain on in normal conditions of use. (the pause signal must also remain on when issuing movement commands from the teaching pendant or pc.) since the...

  • Page 4: Safety Precautions

    Safety precautions please read the information in “safety precautions” carefully before selecting a model and using the product. The precautions described below are designed to help you use the product safely and avoid bodily injury and/or property damage. Directions are classified as “danger,” “war...

  • Page 5

    [installation] z do not use this product in a place exposed to ignitable, inflammable or explosive substances. The product may ignite, burn or explode. Z avoid using the product in a place where the main unit or controller may come in contact with water or oil droplets. Z never cut and/or reconnect ...

  • Page 6

    Z turn off the power to the product in the event of power failure. Failure to do so may cause the product to suddenly start moving when the power is restored, thus resulting in injury or product damage. Z if the product is generating heat, smoke or a strange smell, turn off the power immediately. Co...

  • Page 7

    Z before installing or adjusting the product or performing other operations on the product, display a sign that reads, “work in progress. Do not turn on power.” if the power is turned on inadvertently, injury may result due to electric shock or sudden activation of an actuator. [operation] z turn on...

  • Page 8: Before Use

    Before use q caution 1. Be sure to read this operation manual to ensure the proper use of this product. 2. Unauthorized use or reproduction of a part or all of this operation manual is prohibited. 3. Iai shall not be liable whatsoever for any loss or damage arising from a handling or operation not s...

  • Page 9: Table of Contents

    Table of contents 1. Note to the user .................................................................................. 1 1.1 introduction .................................................................................................................................. 1 1.2 handling of secondary b...

  • Page 10

    5. I/o signal control and signal functions ........................................... 36 5.1 pio patterns and signal assignments ....................................................................................... 36 5.1.1 explanation of signal names.................................................

  • Page 11

    7. Operation .............................................................. 59 7.1 how to start................................................................................................................................ 59 7.1.1 standard specification ...............................................

  • Page 12

    8.3.4 servo gain adjustment ........................................................................................................ 91 z servo gain number ..................................................................................................................... 91 9. Controlling multiple...

  • Page 13

    1 1. Note to the user 1.1 introduction thank you for purchasing the rcp2 controller. This manual explains the features and operating procedures of the product. If not used or handled properly, even a brilliant product cannot fully demonstrate its function or may cause an unexpected breakdown or end ...

  • Page 14

    2 1.3 safety precautions read the following information carefully and provide safety measures with due consideration. This system product has been developed as a drive component for automated machinery and the like, and is therefore designed not to generate excessive torque or speed beyond the level...

  • Page 15

    3 1.4 warranty period and scope of warranty the rcp2 controller you have purchased passed iai’s shipping inspection implemented under the strictest standards. The unit is covered by the following warranty: 1. Warranty period the warranty period shall be one of the following periods, whichever ends f...

  • Page 16

    4 2. Specifications 2.1 basic specifications specification item internal drive-power cutoff relay type external drive-power cutoff relay type model rcp2-c rcp2-cg number of controlled axes 1 axis/unit supply voltage 24 vdc ±10% supply current 2 a max. Control method weak field-magnet vector control ...

  • Page 17

    5 2.1.1 backup batteries for the absolute specification the absolute-specification controller uses secondary batteries (nickel metal hydride cells) to retain absolute counter data in the fpga (field-programmable gate array) after the power is cut off, and also to supply power to the encoder’s drive ...

  • Page 18

    6 2.2 name and function of each part of the controller 2.2.1 names 2.2.2 functions (1) battery connector a connector for the absolute data retention batteries. (2) status indicator leds rdy: when lit, this led indicates that 24v power is supplied and the cpu is operating. Run: this led indicates the...

  • Page 19

    7 (5) motor connector (mot) a connector for the actuator’s motor power cable. (6) power/emergency-stop terminal block [built-in cutoff relay type rcp2-c] s1, s2 provide a contact output for the emergency-stop button on the teaching pendant. Port switch on = emergency-stop button output (contact b) p...

  • Page 20

    8 2.3 external dimensions 2.3.1 standard specification (rcp2-***-i ) an external view and dimensions of the product are shown below. 170.5 (m ounti ng dimen sio n) 163 178.5 φ 5 68.1 5 35.

  • Page 21

    9 2.3.2 absolute specification with battery bracket (rcp2-***-a- -k) *weight: 660 g 62.0 2.0 69.7 35.0 178.5 170.5 φ 5 4.8 3.2 5 35.

  • Page 22

    10 absolute specification without battery bracket (rcp2-***-a- ) *weight: 460 g 35.0 68.1 178.5 170.5 φ 5 3.2 5 35 17.5 67.0 53.0

  • Page 23

    11 3. Installation and noise elimination pay due attention to the installation environment of the controller. 3.1 installation environment (1) when installing and wiring the controller, do not block the cooling ventilation holes. (insufficient ventilation will not only prevent the controller from de...

  • Page 24

    12 (b) precautions regarding wiring method use a twisted cable for connection to the 24-vdc external power supply. Separate the controller cables from high-power lines such as a cable connecting to a power circuit. (do not bundle together the controller cables with high-power lines or place them in ...

  • Page 25

    13 (b) dc solenoid valves, magnet switches and relays measure: install a diode in parallel with the coil. Determine the diode capacity in accordance with the load capacity. In a dc circuit, connecting a diode in reverse polarity will damage the diode, internal parts of the controller and/or dc power...

  • Page 26

    14 4. Wiring 4.1 internal drive-power cutoff relay type (rcp2-c) 4.1.1 configuration note: connect one end of the emg switch to the 24-v output of the input power supply and the other end to the s1 terminal. Also short the s2 and emg terminals using a jumper wire. S1 s2 mpi mpo 24v n emg personal co...

  • Page 27

    15 4.1.2 external connection diagram an example of standard wiring is shown below. Mpi mpo sio 1 (sga) 2 (sgb) 3 (+5v) 4 5 (emga) 6 (+24v) 7 (gnd) 8 (emgb) rcp2-c s1 s2 24v n emg pio mot a1 (a) a2 (vmm) a3 (b) b1 (a) b2 (vmm) b3 (b) enc 9 (enb) 1 (fg) 5 (gnd) 6 (5v) 11 (ena) 12 (ena) 10 (enb) 13 (bk...

  • Page 28

    16 4.1.3 wiring the power supply/emergency-stop switch (1) wiring the power supply to connect multiple controllers, provide a relay terminal block. Use a power cable satisfying the following specifications: item specification applicable wire length single wire: φ1.0 / stranded: 0.8 mm 2 , awg size 1...

  • Page 29

    17 (2) wiring the emergency-stop switch in many cases multiple controllers are used in a single system. To provide an emergency-stop function for the entire system, the controller circuit is designed in such a way that a single emg switch is able to actuate an emergency stop in all connected control...

  • Page 30

    18 representative connection examples are explained below. Z connecting the teaching pendant directly to the controller (parallel connection with the plc) (a) connecting multiple controllers (8 units or less) using a single power supply • short the mpi and mpo terminals using a jumper wire. (the con...

  • Page 31

    19 [controller 1] [controller 2] [controller 3] [controller 4] emg signal 24v 0v mpo mpi 24v emg port switch teaching pendant relay on off s1 s2 0v mpo mpi 24v emg port switch teaching pendant relay on off s1 s2 0v mpo mpi 24v emg port switch teaching pendant relay on off s1 s2 0v mpo mpi 24v emg po...

  • Page 32

    20 (b) 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 auxiliary relay with a coil current of 0.1 a or less and connect a diode for coil surge absorption. C 0v control c 24v p 24v power p 0v cr cr [controller 1] ...

  • Page 33

    21 (c) enabling the emg switch on the teaching pendant for the connected axis or axes only cr [controller 1] [controller 2] [controller 3] emg signal teaching pendant 24v 0v mpo mpi 24v emg port switch relay on off s1 s2 n mpo mpi 24v emg port switch relay on off s1 s2 n teaching pendant mpo mpi 24v...

  • Page 34

    22 z connecting the teaching pendant to a sio converter (serial connection with the plc) configure the contact circuit for the emg switch on the teaching pendant using emg1/emg2 on the power/emergency-stop terminal block on the sio converter. (s1/s2 on the controller’s terminal block are not used.) ...

  • Page 35

    23 4.2 external drive-power cutoff relay type (rcp2-cg) 4.2.1 configuration personal computer s1 s2 mpi mpo 24v n emg safety relay contactor for motor drive- power cutoff circuit standard teaching pendant optional cable length: 5 m external unit cable length: 2 m cable length: 5 m optional pc pc sof...

  • Page 36

    24 4.2.2 external connection diagram an example of standard wiring is shown below. Mpi mpo sio 1 (sga) 2 (sgb) 3 (+5v) 4 5 (emga) 6 (+24v) 7 (gnd) 8 (emgb) rcp2-cg s1 s2 24v n fg pio mot a1 (a) a2 (vmm) a3 (b) b1 (a) b2 (vmm) b3 (b) enc 9 (enb) 1 (fg) 5 (gnd) 6 (5v) 11 (ena) 12 (ena) 10 (enb) 13 (bk...

  • Page 37

    25 4.2.3 wiring the power supply/motor power cutoff relay (1) wiring the power supply to connect multiple controllers, provide a relay terminal block. Use a power cable satisfying the following specifications: item specification applicable wire length single wire: φ1.0 / stranded: 0.8 mm 2 , awg siz...

  • Page 38

    26 (2) wiring the motor power cutoff relay explained below is a safety circuit conforming to safety category 2. The user is responsible for implementing additional safety measures in the actual circuit configuration, such as providing double contactor contacts to prevent fusing. The circuit illustra...

  • Page 39

    27 4.3 connecting the i/o cables z pio pattern 0 [conventional] note: the factory-set pio pattern is [conventional]. The pause signal may be disabled using user parameter no. 15. Note: when performing a continuity check of the flat cable, pay due attention not to expand the female pins in the connec...

  • Page 40

    28 z pio pattern 1 [standard] note: the factory-set pio pattern is [conventional], so change the value in user parameter no. 25 to “1.” to enable the servo on signal, be sure to set user parameter no. 21 to “0.” the pause signal may be disabled using user parameter no. 15. Note: when performing a co...

  • Page 41

    29 z pio pattern 2 [64-point positioning] note: the factory-set pio pattern is [conventional], so change the value in user parameter no. 25 to “2.” the pause signal may be disabled using user parameter no. 15. Note: when performing a continuity check of the flat cable, pay due attention not to expan...

  • Page 42

    30 z pio pattern 3 [2 zone output signals] note: the factory-set pio pattern is [conventional], so change the value in user parameter no. 25 to “3.” to enable the servo on signal, be sure to set user parameter no. 21 to “0.” the pause signal may be disabled using user parameter no. 15. Note: when pe...

  • Page 43

    31 z pio pattern 4 [teaching] note: the factory-set pio pattern is [conventional], so change the value in user parameter no. 25 to “4.” to enable the servo on signal, be sure to set user parameter no. 21 to “0.” be sure to enable the pause signal using user parameter no. 15 (by setting the parameter...

  • Page 44

    32 4.4 connecting the actuator • connect the motor relay cable to the mot connector. Signal table for the controller-end connector (cn2) pin no. Signal wire color description a1 a blue motor drive line (phase –a) a2 vmm black motor power line a3 b white motor drive line (phase –b) b1 a red motor dri...

  • Page 45

    33 • connect the encoder relay cable to the enc connector. Signal table for the controller-end connector (cn2) pin no. Signal description 1 f.G shielded wire 2 - (not used) 3 - (not used) 4 - (not used) 5 gnd encoder power output 6 5v 7 vps encoder control signal output 8 - (reserved) 9 en b encoder...

  • Page 46

    34 reference: cable colors and pin assignments for units shipped on or before july 31, 2004 housing: phdr-16vs (j.S.T. Mfg.) contact: sphd-001t-p0.5 housing: xmp-18v (j.S.T. Mfg.) contact: bxa-001t-p0.6 retainer: xms-09v 1 2 15 16 cn 2 cn 1 cb-rcp2-pa * * * controller end cn2 pin assignments actuato...

  • Page 47

    35 4.5 connecting the communication cable connect the communication cable to the sio connector. Brown 5v 1 yellow red orange blue green sga gnd sgb gnd 5v 2 3 4 5 6 pin no. Sga sgb 5v emgs emga 24v brown/green 1 2 3 4 5 6 pin no. 7 8 yellow orange black red/blue gnd emgb fg black - - 1 2 3 6 8 5 pin...

  • Page 48

    36 5. I/o signal control and signal functions 5.1 pio patterns and signal assignments this controller provides five pio (parallel i/o) patterns to meet the needs of various applications. To select a desired pio pattern, set a corresponding value from 0 to 4 in user parameter no. 25 (pio pattern sele...

  • Page 49

    37 5.1.1 explanation of signal names this section explains the names of signals and gives a function overview of each signal. The explanation of signal operation timings provided later on refers to the signal names. Category signal name signal abbreviation function overview start cstr movement is st...

  • Page 50

    38 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 pattern. Therefore, when creating a plc sequence or wiring the signals, refer to this table to ensure each signal is assigned correctly. When “4: [teaching]” is...

  • Page 51

    39 5.2 interface circuit the standard interface specification of the controller is npn, but the pnp specification is also available as an option. To prevent confusion during wiring, the npn and pnp specifications use the same power line configuration. Accordingly, there is no need to reverse the pow...

  • Page 52

    40 5.2.2 external output specifications item specification number of input points 10 points rated load voltage 24 vdc maximum current 20 ma/point residual voltage 2v or less insulation method photocoupler internal circuit configuration [npn specification] [pnp specification] n p24v n p24v controller...

  • Page 53

    41 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 malfunction due to chattering, noise, etc. Except for certain signals, switching of each input signal will be effected when the signal has been received continuousl...

  • Page 54

    42 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 complete, the hend signal will be output. The home signal can be input as many times as required. (note) the home signal is not an absolute requirement, be...

  • Page 55

    43 jog (jog+, jog-) these signals are enabled when the aforementioned modes output signal is on. The controller will move the actuator to the +/- soft limit upon detection of a rise (off → on) edge of each jog signal. When the soft limit is reached, the actuator will be forced to decelerate to a sto...

  • Page 56

    44 5.3.2 details of each output signal 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 synchronized with the lit/unlit status of the “run” led on the front panel of the enclosure. Use this signal as a condition for...

  • Page 57

    45 completed position number (pm1 to pm32) these signals can be used to check the completed position number when the pend signal turns on. The signals are output as a binary code. Immediately after the power is input, all of the pm1 to pm32 signals are off. (only with an expanded controller the bina...

  • Page 58

    46 alarm (*alm) this signal remains on while the controller is operating properly, and turns off when an alarm has generated. Provide an appropriate safety measure for the entire system by allowing the plc to monitor the off status of this signal. For details of alarms, refer to 10, “troubleshooting...

  • Page 59

    47 6. Data entry this controller doesn’t use command words, so there is no need to create a program. All you need is to enter the target position in the position-data table, and the actuator will move to the specified position. Position data consists of number (no.), target position (position), spee...

  • Page 60

    48 6.1 description of position-data table (1) no. • indicate the position data number. To enter an incremental movement, press the minus key in this column. On the teaching pendant, a “=” will be displayed between the number and position columns. The minus key need not be pressed in the absolute mod...

  • Page 61

    49 note: if the push force is too small, a false detection of push & hold condition may occur due to slide resistance, etc., so exercise caution. (6) positioning band (pos. Band) • the function of the positioning band varies depending on whether the push & hold setting in (5) is “0” or “other than 0...

  • Page 62

    50 6.1.1 relationship of push force at standstill and current-limiting value when performing operation in the push & hold mode, enter the current-limiting value (%) in the push column of the position-data table. Determine the current-limiting value (%) from the push force to be applied to the load a...

  • Page 63

    51 (3) rsa type high-speed type maximum current-limiting value low-speed type 50% or less medium-speed type 70% or less high-speed type 70% or less note: the accuracy of push force at standstill is not guaranteed. The above graphs are provided for reference purposes only. If the push force is too sm...

  • Page 64

    52 (4) rma type high-speed type maximum current-limiting value low-speed type 65% medium-speed type 70% high-speed type 70% note: the accuracy of push force at standstill is not guaranteed. The above graphs are provided for reference purposes only. If the push force is too small, malfunction may occ...

  • Page 65

    53 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 contacted successfully (1) after reaching the target position, the actuator will move at low speed (75 rpms). When the pos. Band set in the data table (see note) is reached after the a...

  • Page 66

    54 (2) load was not contacted (missed) (1) after reaching the target position, the actuator will move at low speed (75 rpms). Even after contacting the load, the actuator will move to the end of the positioning band if the stepper motor current is yet to reach the current-limiting value. The positio...

  • Page 67

    55 (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 the positioning band, as shown to the left, so exercise due caution. 6.2.3 speed change during movement speed control involving multiple speed levels is poss...

  • Page 68

    56 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 (always on) to ensure safety. Turning off the *pause input will cause the actuator to decelerate to a stop, while turning it on will allow the actuator to comp...

  • Page 69

    57 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 enters the zone predefined by the applicable parameters. (the zone can be set arbitrarily.) if parameter no. 25 is set to “3: [2 zone output signals],” two ...

  • Page 70

    58 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: [teaching].” the current actuator position can also be read into the controller’s position-data table using pio. Switching between the normal positioning mode (inc...

  • Page 71

    59 7. Operation 7.1 how to start 7.1.1 standard specification (1) connect the motor cable and encoder cable to the controller. (2) connect the host plc to the pio connector using the supplied flat cable. (3) if two or more axes are connected, set the necessary items using the address switch. For det...

  • Page 72

    60 power on timing if the position complete signal doesn’t turn on, check if the *pause signal or servo on signal remains off, any safety circuit remains enabled, or error message is displayed. If parameter no. 25 (io pattern) is set to “0: [conventional]” or “2: [64-point positioning],” the servo o...

  • Page 73

    61 7.1.2 absolute specification (1) connect the motor cable and encoder cable to the controller. (2) connect the host plc to the pio connector using the supplied flat cable. (3) if two or more axes are connected, set the address of each axis using the address switch. For details, refer to 9, “contro...

  • Page 74

    62 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 specification z when the pio pattern is “0: [conventional]” select and input a desired command position number in which a target position is registered, and then...

  • Page 75

    63 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 established, home return will become necessary if the current position is lost due to low battery voltage, etc. If the home return completion (hend) is off whe...

  • Page 76

    64 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 position has not been established yet [operation with the standard controller] [operation with the absolute-specification controller] note: with the absolute-...

  • Page 77

    65 7.2.4 operation timings at pio pattern ≠ “0: [conventional]” note: when the home return signal turns on, the position complete output will turn off and the moving output will turn on. The home return signal must be turned off with the confirmation that the home return completion signal has turned...

  • Page 78

    66 7.3 home return and movement after start (pio pattern = “0: [conventional]”) first, force the position complete signal to turn on by referring to 7.1, “how to start.” if home return has not yet been executed immediately after the system start, issuing a start command by specifying a position will...

  • Page 79

    67 the position complete output will turn on when the controller becomes ready following the power on. (the position complete output will not turn on if the servo on input is off.) to check if the controller is ready, always check if the position complete output is on. All completed position outputs...

  • Page 80

    68 7.4 positioning mode (back and forth movement between two points) example of use in operation) the actuator moves back and forth between two positions. The position 250 mm from the home is set as position 1, and the position 100 mm from the home is set as position 2. The travel speed to position ...

  • Page 81

    69 position-data table (field(s) within thick line must be entered.) no. Position speed acceleration/ deceleration push positioning band acceleration only max 0 * * * * * * 1 250 200 0.3 0 0.1 0 2 100 100 0.3 0 0.1 0 x x x t1: 5 msec or more; time after selecting/entering a command position until th...

  • Page 82

    70 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) the actuator is caused to move back and forth in the push & hold mode and positioning mode. The position 280 mm from the home is set as position 1, and the p...

  • Page 83

    71 position-data table (field(s) within thick line must be entered.) no. Position speed acceleration/ deceleration push positioning band acceleration only max 0 * * * * * * 1 280 200 0.3 50 15 0 2 40 100 0.3 0 0.1 0 x x x t1: 5 msec or more; time after selecting/entering a command position until the...

  • Page 84

    72 7.6 speed change during movement example of use in operation) the actuator speed is reduced at a certain point during movement. The position 150 mm from the home is set as position 1, and the position 200 mm from the home is set as position 2. The actuator is initially located between the home an...

  • Page 85

    73 position-data table (field(s) within thick line must be entered.) no. Position speed acceleration/ deceleration push positioning band acceleration only max 0 * * * * * * 1 150 200 0.3 0 10 0 2 200 100 0.3 0 0.1 0 x x x t1: 5 msec or more; time after selecting/entering a command position until the...

  • Page 86

    74 7.7 operation at different acceleration and deceleration settings example of use in operation) positioning is performed to the position 150 mm from the home (position 1) at a speed of 200 mm/sec. The actuator will accelerate at the maximum acceleration set according to the load, and decelerate at...

  • Page 87

    75 position-data table (field(s) within thick line must be entered.) no. Position speed acceleration/ deceleration push positioning band acceleration only max 0 * * * * * * 1 150 200 0.1 0 0.1 1 x x x t1: 5 msec or more; time after selecting/entering a command position until the start input turns on...

  • Page 88

    76 7.8 pause example of use in operation) the actuator is paused during movement. Method) use the pause input. Rcp2 controller p l c (5) (2) (1) (8) (6) (11) (10) (3) pio signal name start command position 1 command position 2 command position 4 command position 8 *pause reset servo on completed pos...

  • Page 89

    77 t1: 5 msec or more; time after selecting/entering a command position until the start input turns on (the scan time of the host controller must be considered.) note: when the start signal turns on, the position complete output will turn off and the moving output will turn on. The start signal must...

  • Page 90

    78 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 of 40 mm and 120 mm from the home. (40 mm ≤ zone signal output ≤ 120 mm) method) use the parameters “zone boundary+” and “zone boundary–” to set the zone ...

  • Page 91

    79 t1: 5 msec or more; time after selecting/entering a command position until the start input turns on (the scan time of the host controller must be considered.) note: when the start signal turns on, the position complete output will turn off and the moving output will turn on. The start signal must...

  • Page 92

    80 7.10 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 moved repeatedly in increments of 10 mm. The travel speed from the home to the 30-mm position is set as 100 mm/sec, and that for 10-mm incremental moves is...

  • Page 93

    81 position-data table (field(s) within thick line must be entered.) no. Position speed acceleration/ deceleration push positioning band acceleration only max 0 * * * * * * 1 30 100 0.3 0 0.1 0 2 10 20 0.3 0 0.1 0 x x x t1: 5 msec or more; time after selecting/entering a command position until the s...

  • Page 94

    82 7.11 notes on incremental mode (1) notes on positioning operation selecting/entering a position number using relative coordinates during positioning will cause the actuator to move to the position corresponding to the initial position plus the increment. (if the increment is a negative value, the...

  • Page 95

    83 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 actuator will move to the position 10 mm from where it was when the input signal was input. No. Position speed 0 * * 1 50 100 2 10 100 x x x x x x x x x x x x x...

  • Page 96

    84 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 (pio pattern) is set to “4: [teaching],” the actuator can be jogged using pio. The current actuator position can also be read into the controller’s positio...

  • Page 97

    85 jogging/teaching timing t1: 20 msec or more; time after the current-position write input is turned on until writing of the current position is started when the operation mode (mode) input is turned on, the current operation mode (modes) output will turn on to activate the teaching mode where jogg...

  • Page 98

    86 8. Parameters 8.1 parameter classification parameters are classified into four types according to their content. Category: a: parameter relating to the actuator stroke range b: parameter relating to the actuator operating characteristics c: parameter relating to the external interface d: servo ga...

  • Page 99

    87 8.3 parameter settings if a parameter has been changed, always restart the controller using a software reset command or by reconnecting the power. 8.3.1 parameters relating to the actuator stroke range z soft limit set the soft limit in the positive direction in parameter no. 3, and that in the n...

  • Page 100

    88 z home return direction unless specified by the user, the home return direction is set to the motor direction at the factory. Should a need arise to change the home direction after the actuator has been assembled into your system, reverse the setting in parameter no. 5 between “0” and “1.” also c...

  • Page 101

    89 z default positioning band (in-position) the factory setting is “0.10 [mm].” when a target position is written to an unregistered position table or the current position is read in the teaching mode, the setting in this parameter will be used as the positioning band data for the applicable positio...

  • Page 102

    90 z current-limiting value at standstill during positioning the factory setting conforms to the standard specification of the actuator. Increasing this setting will increase the holding torque at standstill. This setting need not be changed in normal conditions of use. However, to prevent hunting c...

  • Page 103

    91 z pause input disable selection parameter no. 15 defines whether the pause input signal is disabled or enabled. Set “1: [disable]” if the pause input signal is not used, or “0: [enable]” if the signal is used. The factory setting is “0: [enable].” z servo on input disable selection parameter no. ...

  • Page 104

    92 9. Controlling multiple controllers via serial communication this section explains the connection method to be used when multiple controllers are controlled using the pc or plc’s communication module as the host. 9.1 basic specifications specification item description maximum number of units that...

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    93 9.3 sio converter this is a converter unit conforming to rs485/232c. (1) power/emergency-stop terminal block (tb2) emg1, emg2 provide a contact output for the emergency-stop switch on the teaching pendant. Emg1 and emg2 connect to the emergency-stop switch on the teaching pendant when the port sw...

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    94 (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 controller’s communication connector. “b” on the right side connects to pin 2 (sgb) in the controller’s communication connector. (note) be sure to use twisted...

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    95 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 the slave number for the controller. Assign “0” to the controller nearest the host, and then assign 1, 2, 3, …, e and f to the remaining controllers in the d...

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    96 9.6 detail connection diagram (note) the user must provide the two-paired shielded cable. If cables other than the recommended brands are connected to (1) and (2), use those with a cable-sheath outer diameter of 1.35 to 1.60 mm. Accessories (optional): (1) controller link cable cb-rcb-ctl002 (con...

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    97 10. Troubleshooting 10.1 action to be taken upon occurrence of problem upon occurrence of a problem, take an appropriate action according to the procedure below in order to ensure speedy recovery and prevent recurrence of the problem. A) check the status indicator lamps. Rdy (green) --- power is ...

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    98 10.2 alarm level classification alarms are classified into three levels according to the symptoms they represent. Alarm level alm lamp *alm signal what happens when alarm generates how to reset message unlit not output an error is displayed on the pc or teaching pendant. Operation cancellation li...

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    99 10.3 alarm description output using pio so that the plc can recognize the nature of each alarm that has generated, alarm description is output using the ports for completed position output signals (pm1 to pm8). Configure the system in such a way that the plc can determine whether the output is a ...

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    100 10.4 alarm description and cause/action (1) message level alarms code error name cause/action 40 emergency stop cause: an emergency stop condition was detected. (this is not an error.) 41 motor voltage drop cause: the “external cutoff relay” controller detected a motor drive- power cutoff condit...

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    101 code error name cause/action 77 movement command during teaching cause: a position movement command was entered from a pc or teaching pendant while the teaching mode was selected. (only the jog inputs are enabled in the teaching mode.) action: switch to the normal mode before entering a position...

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    102 code error name cause/action c0 excessive actual speed cause: this alarm indicates that the motor speed exceeded the maximum speed set in the applicable system parameter. This alarm will not generate in normal operation, but may occur in the following conditions: (1) large actuator slide resista...

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    103 code error name cause/action ed absolute encoder error (1) cause: (1) the battery voltage was 4.4 v or below when the power was input. (2) the current position has changed due to the effect of vibration, etc., when the power was input. Action: reset the alarm. If code “7a” is displayed after the...

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    104 (3) cold-start level alarms code error name cause/action b8 pole sense error this controller will conduct excitation phase detection when the servo is first turned on after the power was input. This alarm indicates that the specified encoder signal level cannot be detected after 100 ms of excita...

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    105 code error name cause/action fb fpga error the fpga (gate array) of the absolute-specification controller is not operating properly. Cause: (1) malfunction due to the effect of noise, etc. (2) faulty fpga (3) defective board installation inside the controller action: reconnect the power. If the ...

  • Page 118

    106 10.5 messages displayed during operation using the teaching pendant or pc software this section explains the warning messages that may be displayed during operation using the teaching pendant or pc software. Code error name cause/action 112 invalid data an inappropriate value was entered in a us...

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    107 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 the actuator was moving, and that duplicate movement commands occurred as a result. 20d stp-off during operation this message indicates that the pause sign...

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    108 10.6 specific problems z i/o signals cannot be exchanged with the plc. Cause: (1) the 24-v i/o power supply is connected in reverse. (this will not affect the input circuits, but the output circuits will be damaged.) (2) if the problem is with an output circuit, a circuit component may have been...

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    109 z home return ends in the middle in a vertical application. Cause: (1) the load exceeds the rating. (2) the ball screw is receiving torsional stress due to the affixing method of the actuator, tightening of bolts only on one side, etc. (3) the slide resistance of the actuator itself is large. Ac...

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    110 z the actuator moves only a half of, or twice as much as, the specified movement. Cause: (1) the combination of controller and actuator is wrong. The lead length of the ball screw varies depending on the actuator type, so a wrong combination will cause the movement and speed to change. (2) facto...

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    111 appendix * appendix example of basic rcp2 positioning sequence given below is an example of basic sequence for creating a positioning sequence using the rcp2. Indicates pio signals of the rcp2 controller. (completed-position decoding circuit) position complete (must be longer than the plc’s scan...

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    112 appendix current positioning completed position (positioning circuit for position 2) positioning start request to position 2 n n m m n positioning start request to position 2 (a) m p o o pend q auxiliary start signal for next positioning p q p b o p q positioning start pulse to position 2 auxili...

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    113 appendix position 3 set signal s r position 5 set signal command position 1 command position 2 pc1 pc2 position 6 set signal position 3 set signal pc4 pc8 command position 4 command position 8 (start signal circuit) j timer 2 waiting for start o start command for positioning to other position ti...

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    114 appendix recording of position-data table recorded date: no. Position [mm] speed [mm/sec] acceleration/ deceleration [g] push [%] positioning band [mm] acceleration only max 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15.

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    115 appendix valid only when [64-point positioning] is selected no. Position [mm] speed [mm/sec] acceleration/ deceleration [g] push [%] positioning band [mm] acceleration only max 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55...

  • Page 128

    116 appendix recording of user parameters recorded date: category a: parameter relating to the actuator stroke range b: parameter relating to the actuator operating characteristics c: parameter relating to the external interface d: servo gain adjustment no. Category name unit recorded data 1 a zone ...

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    Catalog no.: mj0136-4a-e (july 2004) head office: 2690 w. 237th street, torrance, ca 90505 tel (310) 891-6015 fax (310) 891-0815 chicago office: 1261 hamilton parkway, itasca, il 60143 tel (630) 467-9900 fax (630) 467-9912 new jersey office: 7 south main st., suite-f, marlboro, nj 07746 tel (732) 68...