PCON-PL/PO Controller
Pulse-train Input Type
Operation Manual Sixteenth Edition
Please Read Before Use
Thank you for purchasing our product.
This Operation Manual explains the handling methods, structure and maintenance of this product, among others, providing the
information you need to know to use the product safely.
Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of
the product.
The CD or DVD that comes with the product contains operation manuals for IAI products.
When using the product, refer to the necessary portions of the applicable operation manual by printing them out or displaying
them on a PC.
After reading the Operation Manual, keep it in a convenient place so that whoever is handling this product can reference it
quickly when necessary.
[Important]
• This Operation Manual is original.
• The product cannot be operated in any way unless expressly specified in this Operation Manual. IAI shall assume
no responsibility for the outcome of any operation not specified herein.
• Information contained in this Operation Manual is subject to change without notice for the purpose of product
improvement.
• If you have any question or comment regarding the content of this manual, please contact the IAI sales office near
you.
• Using or copying all or part of this Operation Manual without permission is prohibited.
• The company names, names of products and trademarks of each company shown in the sentences are registered
trademarks.
CAUTION
1. Note
A rotary actuator of multi-rotational specification shall be used within a range where the equation below is
satisfied. Also note that the maximum rotational angle is 9999 [deg] (maximum soft stroke limit).
±223≥
Maximum rotational angle [deg]
Unit travel [deg/pulse]
• Maximum rotational angle : Set an appropriate angle based on the applicable conditions of
• Unit travel : Travel per command pulse
Example) The RCP2-RTBL-I-28P-20-360-* is operated to cover the maximum rotational angle
of 9999 [deg] at a unit travel of 0.05 [deg/pulse].
±223≥
±2
±223≥
Accordingly, this actuator can be operated in the condition given.
2. Applicable Models
use.(Max.-9999to9999[deg])
Maximum rotational angle [deg]
Unit travel [deg/pulse]
9999
23
≥
0.05
199980
Actuator
RCP2-RTBL-I-28P-20-360-*
RCP2-RTBL-I-28P-30-360-*
RCP2-RTCL-I-28P-20-360-*
RCP2-RTCL-I-28P-30-360-*
Controller PCON-PL/PO-28PI-*
CAUTION
1. Usage Environment
PCON controllers can be used in an environment of pollution degree 2 or equivalent.
2. PC Software and Teaching Pendant Models
New functions have been added to the entire PCON controller series.
To support these new features, the communication protocol has been changed to the general Modbus
(Modbus-compliant) mode. As a result, the existing PC software programs and teaching pendants
compatible with RCP2 controllers can no longer be used.
If you are using this controller, use a compatible PC software program and/or teaching pendant selected
from the following models.
Model Earliest supporting version Remarks
PC software RCM-101-*** V6.0.0.0
Teaching pendant RCM-T V2.00
Simple teaching pendant RCM-E V2.00
Data setting unit RCM-P V2.00
All are compatible with
existing RCP2
controllers.
3. Recommendation for Backing Up Latest Data
This product uses nonvolatile memory to store parameters. Normally the memory will retain the stored
data even after the power is disconnected. However, the data may be lost if the nonvolatile memory
becomes faulty.
We strongly recommend that the latest parameter data be backed up so that the data can be restored
quickly when the controller must be replaced for a given reason.
The data can be backed up using the following methods:
[1] Save to a CD or FD from the PC software.
[2] Create a parameter sheet and keep a written record of backup.
CE Marking
If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual
(ME0287) that is provided separately.
Table of Contents
Safety Guide ...........................................................................................................................................1
1. Overview ..........................................................................................................................................9
1.1 Introduction .....................................................................................................................................9
1.2 How to Read Model Name........................................................................................................... 10
1.3 System Configuration................................................................................................................... 11
1.4 Steps from Unpacking to Adjustment by Trial Operation............................................................. 12
1.5 Warranty....................................................................................................................................... 14
1.5.1 Warranty Period
1.5.2
Scope of Warranty
Honoring the Warranty
1.5.3
1.5.4 Limited Liability
1.5.5 Conditions of Conformance with Applicable Standards/Regulations, Etc.,
and Applications
1.5.6 Other Items Excluded from Warranty
2. Specifications .................................................................................................................................16
2.1 Basic Specifications ..................................................................................................................... 16
2.2 Name and Function of Each Part of the Controller...................................................................... 17
2.3 External Dimensions .................................................................................................................... 18
3. Installation and Wiring.................................................................................................................... 19
3.1 Installation Environment............................................................................................................... 19
3.2 Supplied Voltage.......................................................................................................................... 19
3.3 Noise Elimination Measures and Grounding ............................................................................... 19
3.4 Heat Radiation and Installation.................................................................................................... 21
3.5 External Connection Diagram...................................................................................................... 22
3.6 Wiring the Power Supply.............................................................................................................. 23
3.7 Wiring the Brake Forced-release Switch ..................................................................................... 23
3.8 Wiring the Emergency Stop Circuit.............................................................................................. 24
3.8.1 Cutting Off the Drive Signal (Standard) ............................................................................. 24
3.8.2 Cutting Off the Motor Drive Power..................................................................................... 26
3.9 Connecting the Actuator .............................................................................................................. 27
3.9.1 Motor Relay Cable ............................................................................................................. 27
3.9.2 Encoder Relay Cable......................................................................................................... 28
3.10 Connecting the I/O Shield Cable.................................................................................................. 29
3.11 Connecting the Communication Cable ........................................................................................ 30
.............................................................................................................................
.........................................................................................................................
.................................................................................................................
..............................................................................................................................
............................................................................................................................
.........................................................................................
14
14
14
14
15
15
4. Operation Using I/O Signals ..........................................................................................................31
4.1 Interface Circuit............................................................................................................................ 31
4.1.1 External Input Specifications ............................................................................................. 31
4.1.2 External Output Specifications .......................................................................................... 32
4.1.3 Command Pulse Train Input Specifications....................................................................... 33
4.1.4 Recognition of Input Signals.............................................................................................. 34
4.1.5 Notes on the ROBO Gripper.............................................................................................. 35
4.2 Standard Type ............................................................................................................................. 37
4.2.1 Explanation of I/O Signals ................................................................................................. 37
4.2.2 Setting Parameters Required for Operation ...................................................................... 42
4.2.3 Timings after Power On ..................................................................................................... 46
4.3 Push Type .................................................................................................................................... 48
4.3.1 Explanation of I/O Signals ................................................................................................. 48
4.3.2 Setting Parameters Required for Operation ...................................................................... 53
4.3.3 Timings after Power On ..................................................................................................... 57
4.3.4 Correlation Diagram of Current-limiting Value and Push Force for Each Actuator........... 59
5. Parameter Settings ........................................................................................................................
5.1 Parameter List..............................................................................................................................
5.2 Detail Explanation of Parameters ................................................................................................
5.2.1 Parameters Relating to Actuator Stroke Range ................................................................
5.2.2 Parameters Relating to Actuator Operating Characteristics..............................................
5.2.3 Parameters Relating to External Interface.........................................................................
5.2.4 Servo Gain Adjustment......................................................................................................
6. Troubleshooting .............................................................................................................................
6.1 What to Do When A Problem Occurs ..........................................................................................
6.2 Alarm Level Classification............................................................................................................
6.3 Alarms, Causes and Actions........................................................................................................
6.4 Messages Displayed during Teaching Pendant Operation .........................................................
6.5 Common Problems and Recommended Actions.........................................................................
* Appendix.............................................................................................................................................
List of Specifications of Connectable Actuators.....................................................................................
Correlation diagram of speed and load capacity for the slider type (motor-straight type) .....................
Correlation diagram of speed and load capacity for the slider type (motor-reversing type) .................
Correlation diagram of speed and load capacity for the standard rod type ..........................................
Correlation diagram of speed and load capacity for the single-guide type...........................................
Correlation diagram of speed and load capacity for the double-guide type.........................................
Correlation diagram of speed and load capacity for the dustproof/splash-proof type ..........................
Push Force and Current-limiting Value .................................................................................................
Parameter Record................................................................................................................................
Change History ....................................................................................................................................
63
63
64
64
66
70
73
75
75
76
77
81
83
87
87
99
100
101
102
103
104
105
112
113
Safety Guide
“Safety Guide” has been written to use the machine safely and so prevent personal injury or property
damage beforehand. Make sure to read it before the operation of this product.
Safety Precautions for Our Products
The common safety precautions for the use of any of our robots in each operation.
No.
1 Model
Operation
Description
Selection
Description
This product has not been planned and designed for the application where
high level of safety is required, so the guarantee of the protection of
human life is impossible. Accordingly, do not use it in any of the following
applications.
1) Medical equipment used to maintain, control or otherwise affect human
life or physical health.
2) Mechanisms and machinery designed for the purpose of moving or
transporting people (For vehicle, railway facility or air navigation facility)
3) Important safety parts of machinery (Safety device, etc.)
Do not use the product outside the specifications. Failure to do so may
considerably shorten the life of the product.
Do not use it in any of the following environments.
1) Location where there is any inflammable gas, inflammable object or
explosive
2) Place with potential exposure to radiation
3) Location with the ambient temperature or relative humidity exceeding
the specification range
4) Location where radiant heat is added from direct sunlight or other large
heat source
5) Location where condensation occurs due to abrupt temperature
changes
6) Location where there is any corrosive gas (sulfuric acid or hydrochloric
acid)
7) Location exposed to significant amount of dust, salt or iron powder
8) Location subject to direct vibration or impact
For an actuator used in vertical orientation, select a model which is
equipped with a brake. If selecting a model with no brake, the moving part
may drop when the power is turned OFF and may cause an accident such
as an injury or damage on the work piece.
1
No.
Operation
Description
Description
2 Transportation When carrying a heavy object, do the work with two or more persons or
utilize equipment such as crane.
When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
When in transportation, consider well about the positions to hold, weight
and weight balance and pay special attention to the carried object so it
would not get hit or dropped.
Transport it using an appropriate transportation measure.
The actuators available for transportation with a crane have eyebolts
attached or there are tapped holes to attach bolts. Follow the instructions
in the operation manual for each model.
Do not step or sit on the package.
Do not put any heavy thing that can deform the package, on it.
When using a crane capable of 1t or more of weight, have an operator
who has qualifications for crane operation and sling work.
When using a crane or equivalent equipments, make sure not to hang a
load that weighs more than the equipment’s capability limit.
Use a hook that is suitable for the load. Consider the safety factor of the
hook in such factors as shear strength.
Do not get on the load that is hung on a crane.
Do not leave a load hung up with a crane.
Do not stand under the load that is hung up with a crane.
3 Storage and
Preservation
The storage and preservation environment conforms to the installation
environment. However, especially give consideration to the prevention of
condensation.
Store the products with a consideration not to fall them over or drop due to
an act of God such as earthquake.
4 Installation
and Start
(1) Installation of Robot Main Body and Controller, etc.
Make sure to securely hold and fix the product (including the work part). A
fall, drop or abnormal motion of the product may cause a damage or injury.
Also, be equipped for a fall-over or drop due to an act of God such as
earthquake.
Do not get on or put anything on the product. Failure to do so may cause
an accidental fall, injury or damage to the product due to a drop of
anything, malfunction of the product, performance degradation, or
shortening of its life.
When using the product in any of the places specified below, provide a
sufficient shield.
1) Location where electric noise is generated
2) Location where high electrical or magnetic field is present
3) Location with the mains or power lines passing nearby
4) Location where the product may come in contact with water, oil or
chemical droplets
2
No.
Operation
Description
4 Installation
and Start
Description
(2) Cable Wiring
Use our company’s genuine cables for connecting between the actuator
and controller, and for the teaching tool.
Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not
coil it around. Do not insert it. Do not put any heavy thing on it. Failure to
do so may cause a fire, electric shock or malfunction due to leakage or
continuity error.
Perform the wiring for the product, after turning OFF the power to the unit,
so that there is no wiring error.
When the direct current power (+24V) is connected, take the great care of
the directions of positive and negative poles. If the connection direction is
not correct, it might cause a fire, product breakdown or malfunction.
Connect the cable connector securely so that there is no disconnection or
looseness. Failure to do so may cause a fire, electric shock or malfunction
of the product.
Never cut and/or reconnect the cables supplied with the product for the
purpose of extending or shortening the cable length. Failure to do so may
cause the product to malfunction or cause fire.
(3) Grounding
The grounding operation should be performed to prevent an electric shock
or electrostatic charge, enhance the noise-resistance ability and control
the unnecessary electromagnetic radiation.
For the ground terminal on the AC power cable of the controller and the
grounding plate in the control panel, make sure to use a twisted pair cable
with wire thickness 0.5mm
2
(AWG20 or equivalent) or more for grounding
work. For security grounding, it is necessary to select an appropriate wire
thickness suitable for the load. Perform wiring that satisfies the
specifications (electrical equipment technical standards).
Perform Class D Grounding (former Class 3 Grounding with ground
resistance 100 or below).
3
No.
4 Installation
Operation
Description
and Start
Description
(4) Safety Measures
When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
When the product is under operation or in the ready mode, take the safety
measures (such as the installation of safety and protection fence) so that
nobody can enter the area within the robot’s movable range. When the
robot under operation is touched, it may result in death or serious injury.
Make sure to install the emergency stop circuit so that the unit can be
stopped immediately in an emergency during the unit operation.
Take the safety measure not to start up the unit only with the power turning
ON. Failure to do so may start up the machine suddenly and cause an
injury or damage to the product.
Take the safety measure not to start up the machine only with the
emergency stop cancellation or recovery after the power failure. Failure to
do so may result in an electric shock or injury due to unexpected power
input.
When the installation or adjustment operation is to be performed, give
clear warnings such as “Under Operation; Do not turn ON the power!” etc.
Sudden power input may cause an electric shock or injury.
Take the measure so that the work part is not dropped in power failure or
emergency stop.
Wear protection gloves, goggle or safety shoes, as necessary, to secure
safety.
Do not insert a finger or object in the openings in the product. Failure to do
so may cause an injury, electric shock, damage to the product or fire.
When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
5 Teaching When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
Perform the teaching operation from outside the safety protection fence, if
possible. In the case that the operation is to be performed unavoidably
inside the safety protection fence, prepare the “Stipulations for the
Operation” and make sure that all the workers acknowledge and
understand them well.
When the operation is to be performed inside the safety protection fence,
the worker should have an emergency stop switch at hand with him so that
the unit can be stopped any time in an emergency.
When the operation is to be performed inside the safety protection fence,
in addition to the workers, arrange a watchman so that the machine can
be stopped any time in an emergency. Also, keep watch on the operation
so that any third person can not operate the switches carelessly.
Place a sign “Under Operation” at the position easy to see.
When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
4
No.
Operation
Description
Description
6 Trial Operation When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
After the teaching or programming operation, perform the check operation
one step by one step and then shift to the automatic operation.
When the check operation is to be performed inside the safety protection
fence, perform the check operation using the previously specified work
procedure like the teaching operation.
Make sure to perform the programmed operation check at the safety
speed. Failure to do so may result in an accident due to unexpected
motion caused by a program error, etc.
Do not touch the terminal block or any of the various setting switches in
the power ON mode. Failure to do so may result in an electric shock or
malfunction.
7 Automatic
Operation
Check before starting the automatic operation or rebooting after operation
stop that there is nobody in the safety protection fence.
Before starting automatic operation, make sure that all peripheral
equipment is in an automatic-operation-ready state and there is no alarm
indication.
Make sure to operate automatic operation start from outside of the safety
protection fence.
In the case that there is any abnormal heating, smoke, offensive smell, or
abnormal noise in the product, immediately stop the machine and turn
OFF the power switch. Failure to do so may result in a fire or damage to
the product.
When a power failure occurs, turn OFF the power switch. Failure to do so
may cause an injury or damage to the product, due to a sudden motion of
the product in the recovery operation from the power failure.
5
No.
8 Maintenance
Operation
Description
and Inspection
Description
When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
Perform the work out of the safety protection fence, if possible. In the case
that the operation is to be performed unavoidably inside the safety
protection fence, prepare the “Stipulations for the Operation” and make
sure that all the workers acknowledge and understand them well.
When the work is to be performed inside the safety protection fence,
basically turn OFF the power switch.
When the operation is to be performed inside the safety protection fence,
the worker should have an emergency stop switch at hand with him so that
the unit can be stopped any time in an emergency.
When the operation is to be performed inside the safety protection fence,
in addition to the workers, arrange a watchman so that the machine can
be stopped any time in an emergency. Also, keep watch on the operation
so that any third person can not operate the switches carelessly.
Place a sign “Under Operation” at the position easy to see.
For the grease for the guide or ball screw, use appropriate grease
according to the Operation Manual for each model.
Do not perform the dielectric strength test. Failure to do so may result in a
damage to the product.
When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
The slider or rod may get misaligned OFF the stop position if the servo is
turned OFF. Be careful not to get injured or damaged due to an
unnecessary operation.
Pay attention not to lose the cover or untightened screws, and make sure
to put the product back to the original condition after maintenance and
inspection works.
Use in incomplete condition may cause damage to the product or an injury.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
9 Modification
and Dismantle
Do not modify, disassemble, assemble or use of maintenance parts not
specified based at your own discretion.
10 Disposal When the product becomes no longer usable or necessary, dispose of it
properly as an industrial waste.
When removing the actuator for disposal, pay attention to drop of
components when detaching screws.
Do not put the product in a fire when disposing of it.
The product may burst or generate toxic gases.
11 Other Do not come close to the product or the harnesses if you are a person
who requires a support of medical devices such as a pacemaker. Doing so
may affect the performance of your medical device.
See Overseas Specifications Compliance Manual to check whether
complies if necessary.
For the handling of actuators and controllers, follow the dedicated
operation manual of each unit to ensure the safety.
6
Alert Indication
The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the
warning level, as follows, and described in the Operation Manual for each model.
Level Degree of Danger and Damage Symbol
Danger
Warning
Caution
Notice
This indicates an imminently hazardous situation which, if the
product is not handled correctly, will result in death or serious injury.
This indicates a potentially hazardous situation which, if the product
is not handled correctly, could result in death or serious injury.
This indicates a potentially hazardous situation which, if the product
is not handled correctly, may result in minor injury or property
damage.
This indicates lower possibility for the injury, but should be kept to
use this product properly.
Danger
Warning
Caution
Notice
7
8
1. Overview
1.1 Introduction
This product is a pulse-train input controller used exclusively with RCP2 actuators.
It can control actuators using the positioning control function of the host controller (PLC).
This controller also provides power-saving functions to address the growing need for saving energy.
The key features and functions of this controller are summarized below.
Dedicated Homing Signal
This signal supports IAI’s original homing operation based on push motion at the stroke end.
With this signal, homing can be performed automatically without having to program a complex sequence or using
an external sensor, etc.
Brake Control Function
The electromagnetic brake power is supplied internally from the controller. However, 24 V must be supplied
externally to forcibly release the brake when the servo is off.
Torque Limiting Function
This controller lets you limit torque using an external signal (set by a parameter). A signal is output when the
specified torque is reached. This function enables push-motion operation, press-fit operation, etc.
Full Servo Control Function
The holding current can be reduced via servo-control of the pulse motor.
Although the exact level of current reduction varies in accordance with the actuator type and load condition,
normally the holding current drops to approx. one-half to one-fourth.
When actually starting your system or if you have encountered any problem, also refer to the manuals for the actuator,
teaching pendant, PC software and/or any other component you are using, in addition to this manual.
1. Overview
This manual does not cover all possible deviations from normal operations or unexpected phenomena such as
complex signal changes resulting from critical timings.
Therefore, the reader should assume that items not described in this manual are “not permitted,” as a rule.
* This manual has been prepared with the utmost attention to ensure accuracy and completeness. However, there
may still be inaccuracies and omissions. Should you find any inaccurate description or if you have any comment,
please contact IAI.
Keep this manual in a convenient place so that you can easily reference it whenever necessary.
9
1.2 How to Read Model Name
1. Overview
<Series>
<Type>
PL: Line driver input (pulse train control)
PO: Open collector input
(pulse train control)
<Actuator characteristics>
[Motor flange size]
20P: 20, square
28P: 28, square
28SP: 28, square (Only for RA3 type)
42P: 42, square
56P: 56, square
[Encoder type]
I: Incremental
High-acceleration, loading
specification
<Power-supply voltage>
0: 24 VDC
<I/O cable>
0: No cable
2: 2 m
3: 3 m
5: 5 m
<I/O signal type>
NPNPN [Sink]
PNPNP [Source]
10
1.3 System Configuration
1. Overview
PC software
(Optional)
RS232C type
USB type
Standard teaching pendant
<RCM-T>
Host system <PLC>
PCON-P controller
I/O cable
<supplied with
the controller>
Cable length: 2 m
24-VDC I/O
power supply
PC
RCP2 actuator
Brake forced-release
switch
Input power
supply
24 VDC
External EMG switch
Power-supply
terminal block
Caution: The BK terminal need not be connected if the actuator has no brake.
11
1.4 Steps from Unpacking to Adjustment by Trial Operation
If you are using this controller for the first time, refer to the steps explained below and perform the specified tasks
carefully by making sure you check all necessary items and connect all required cables.
1. Overview
1.
Should you find any of the following items missing or of a wrong model type, please contact your IAI sales agent.
Controller Actuator I/O shield cable Motor cable Encoder cable
PCON-PL/PO CB-PACPU-PIO *** CB-RCP2-MA *** CB-RCP2-PA ***
Operation manual
Teaching pendant <Options> PC software <Options>
RCM-T (standard) RS-232C type <RCM-101-MW>
RCM-E (simple) USB type <RCM-101-USB>
RCM-P (data setting) (Includes attached cable)
CON-T (standard) Touch-screen panel display
2.
[1] Affix the actuator and install the robot hand → Refer to the operation manual for your actuator.
[2] Install the controller → Chapter 3, “Installation and Wiring”
3.
• Wire the 24-V power supply.
• Wire the brake forced-release switch (if the actuator is equipped with a brake).
• Connect the grounding wire to ground.
• Wire the emergency stop circuit and motor drive power supply. → Chapter 3, “Installation and Wiring”
• Connect the motor cable and encoder cable.
• Connect the I/O shield cable.
Checking the items in the package
RCM-PM-01
Installation
Wiring/connection
4.
Confirm first that the emergency stop circuit is not actuated, and then supply the 24-V power.
If the monitor LED [SV/ALM] on the front face of the controller illuminates in orange for 2 seconds and then turns off,
the controller is normal. (The LED remains unlit when the servo is off.)
If the [SV/ALM] illuminates in red, it means that an alarm is present.
In this case, connect a PC or teaching pendant and check the nature of the alarm, and remove the cause by referring to
Chapter 6, “Troubleshooting.”
5.
If you want to use the “standard type” PIO pattern, change the value of Parameter No. 25 to “1.”
* The factory setting is to use the “standard type.”
Turning on the power and checking for alarms
Setting a mode
→ Chapter 4, “Operation Using I/Os”
12
Setting an electronic gear
6.
Determine the unit travel distance of the actuator per one pulse in input command pulse train.
→ Chapter 4, “Setting Parameters Required for
Operation”
Setting the command pulse-train input mode
7.
Set a pulse-train input pattern for command pulse input (PP•/PP, NP•/NP).
→ Chapter 4, “Setting Parameters Required for
Operation”
8.
Confirm that the slider or rod is not contacting a mechanical end.
If the slider/rod is contacting a mechanical end, move the slider/rod in the opposite direction to provide a space in
between.
If a brake is equipped, turn on the brake release switch to forcibly release the brake before moving the slider/rod.
At this time, be careful not to pinch your hand or damage the robot hand by the slider/rod, as the slider/rod may drop
unexpectedly by its dead weight.
Turn servo on by operating the PC or the teaching pendant.
The actuator enters a servo lock mode. If the monitor LED [SV/ALM] on the front face of the controller illuminates in
green, the controller is functioning normally.
9.
Confirm that the drive-signal cutoff circuit (or motor drive-power cutoff circuit) operates normally.
10.
Checking the servo-on status
Confirming the safety circuit operation
→ Chapter 3, “Installation and Wiring”
Adjustment by test operation
1. Overview
• Carry out operation check under the actual load using the host controller to check the operating characteristics.
Adjust the parameters, if necessary.
→ Chapter 5, “Parameter Settings”
• Confirm that the entire system operates properly without presenting any abnormality.
13
1. Overview
1.5 Warranty
1.5.1 Warranty Period
One of the following periods, whichever is shorter:
Elapse of 18 months after the shipment from IAI
Elapse of 12 months after the delivery to the specified location
1.5.2 Scope of Warranty
Our products are covered by warranty when all of the following conditions are met. Faulty products covered by
warranty will be replaced or repaired free of charge:
(1) The breakdown or problem in question pertains to our product as delivered by us or our authorized dealer.
(2) The breakdown or problem in question occurred during the warranty period.
(3) The breakdown or problem in question occurred while the product was in use for an appropriate purpose under
the conditions and environment of use specified in the operation manual and catalog.
(4) The breakdown or problem in question was caused by a specification defect or problem, or by the poor quality
of our product.
Note that breakdowns due to any of the following reasons are excluded from the scope of warranty:
[1] Anything other 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 science and technology available at the time of
shipment from our company
[4] A natural disaster, man-made disaster, incident or accident for which we are not liable
[5] Natural fading of paint or other symptoms of aging
[6] Wear, depletion or other expected result of use
[7] Operation noise, vibration or other subjective sensation not affecting function or maintenance
Note that the warranty only covers our product as delivered and that any secondary loss arising from a breakdown of
our product is excluded from the scope of warranty.
1.5.3 Honoring the Warranty
As a rule, the product must be brought to us for repair under warranty.
1.5.4 Limited Liability
[1] We shall assume no liability for any special damage, consequential loss or passive loss such as a loss of expected
profit arising from or in connection with our product.
[2] We shall not be liable for any program or control method created by the customer to operate our product or for the
result of such program or control method.
14
1.5.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications
(1) If our product is combined with another product or any system, device, etc., used by the customer, the
customer must first check the applicable standards, regulations and/or rules. The customer is also responsible
for confirming that such combination with our product conforms to the applicable standards, etc. In such a case
we will not be liable for the conformance of our product with the applicable standards, etc.
(2) Our product is for general industrial use. It is not intended or designed for the applications specified below,
which require a high level of safety. Accordingly, as a rule our product cannot be used in these applications.
Contact us if you must use our product for any of these applications:
[1] Medical equipment pertaining 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 safety parts of mechanical equipment (such as safety devices)
[4] Equipment used to handle cultural assets, art or other irreplaceable items
(3) Contact us at the earliest opportunity if our product is to be used in any condition or environment that differs
from what is specified in the catalog or operation manual.
1.5.6 Other Items Excluded from Warranty
The price of the product delivered to you does not include expenses associated with programming, the dispatch of
engineers, etc. Accordingly, a separate fee will be charged in the following cases even during the warranty period:
[1] Guidance for installation/adjustment and witnessing of test operation
[2] Maintenance and inspection
[3] Technical guidance and education on operating/wiring methods, etc.
[4] Technical guidance and education on programming and other items related to programs
1. Overview
15
2. Specifications
2.1 Basic Specifications
Number of controlled axes 1 axis per unit
Power-supply voltage 24 VDC +10%/-10%
Power-supply current 2 A max.
Control method Field-weakening vector control (patent pending)
2. Specifications
Encoder resolution 800 P/rev
noitpircseDmetinoitacificepS
OP/LP-NOCPledoM
Control mode Position control by pulse train input
Maximum input pulse frequency 60 kpps max. (open collector) / 200 kpps max. (differential)
Command pulse multiplier
mance
(Electronic gear: )
Function/perfor
Positioning complete band 0.1 mm to 999.999 mm (set by parameters)
Power supply for I/O signal I/F
LED indicator
Serial communication RS485, 1 channel (for teaching pendant/dedicated PC software)
Encoder interface Incremental specification conforming to EIA RS-422A/423A
Forced release of electromagnetic brake 24 V is applied to the BK terminal on the power-supply terminal block.
Cable length
Dielectric strength
Surrounding air temperature
Surrounding humidity 85% RH or below (non-condensing)
Surrounding environment Refer to 3.1 Installation Environment
Storage temperature
Storage humidity 90% RH or below (non-condensing)
Environment
Vibration resistance
Protection class Natural air cooling (IP20)
Weight 128 g or below
External dimensions 35 (W) x 120 (H) x 68 (D) mm
24 VDC 10%
Some open collector output has a built-in pull-up resistor, but in such case,
either remove the pull-up resistor or use a port that does not have a pull-up
resistor.
SV (green) --- Whether or not the servo is on / ALM (red) --- Whether or not an
alarm is present or emergency stop is actuated.
Actuator cable: 20 m or shorter
I/O shield cable: 2 m or shorter (open collector) or 10 m or shorter (differential)
500 VDC 10 m
0to40 C
-10 to 65
10 to 57 Hz in all X/Y/Z directions / Single amplitude: 0.035 mm (continuous),
0.075 mm (intermittent)
C
(set by parameters)
16
2.2 Name and Function of Each Part of the Controller
PIO connector
Connects the PLC and PIO.
SIO connector
Connects the teaching pendant/PC.
The model of the connected
actuator is indicated here.
Motor connector
Connects the motor cable.
Status indicator LED
SV (Green) --- Indicates whether or not the
servo is on.
ALM (Red) --- Indicates whether or not an
alarm is present or
emergency stop is actuated
Input pulse format
DIF --- Indicates differential line driver
mode.
OC --- Indicates open collector mode.
The I/O signal type is indicated here.
NPN --- Sink type
PNP --- Source type
Encoder connector
Connects the encoder cable.
2. Specifications
Power-supply terminal block
BK
MPI, MPO
24 V Positive side of the 24-VDC input power supply.
0 V Negative side of the 24-VDC input power supply.
EMG-
Model indication of the connected actuator type
The type, ball screw lead and stroke of the actuator are indicated. When connecting the cables, confirm that the
actuator is of the correct specifications.
Example of indication:
Connection terminal for the brake forced-release switch to be used when the actuator is equipped with a
brake. Connect the opposite side of the switch to 24 VDC.
Contacts for cutting off the motor drive power to achieve a safety level of safety category 1.
MPI and MPO connect to the input side and output side of the motor power supply, respectively.
(If these contacts are not used, connect them using a jumper cable. The controller is shipped with MPI and
MPO connected by a jumper cable.)
Connection terminal for the emergency stop circuit (for cutting of motor drive signals).
A common ground is used, so connect the opposite side of the emergency stop switch (or contacts) to the
positive side of the 24-VDC input power supply.
The actuator type is RA4C.
The ball screw lead is 5 mm.
The stroke is 200 mm.
17
2.3 External Dimensions
An external view and dimensions of this product are shown below.
2. Specifications
∅5
18
Loading...