POWER CON PCON-CA/CFA Controller Instruction Manual Fifth Edition
POWER CON PCON-CA/CFA Please Read Before Use Thank you for purchasing our product. This Instruction Manual describes all necessary information items to operate this product safely such as the operation procedure, structure and maintenance procedure. Before the operation, read this manual carefully and fully understand it to operate this product safely. The enclosed CD/DVD in this product package includes the Instruction Manual for this product.
POWER CON PCON-CA/CFA
POWER CON PCON-CA/CFA Table of Contents Safety Guide ·····················································································································1 Precautions in Operation ··································································································8 International Standards Compliances ············································································· 11 CE Marking ·····················································································
POWER CON PCON-CA/CFA 2.3 Wiring Method············································································································· 57 2.3.1 Wiring Layout of Power Supply Connector·························································· 57 2.3.2 Connection to Actuator ························································································ 58 2.3.3 Connection of PIO ······························································································· 59 2.3.
POWER CON PCON-CA/CFA 3.3 Pulse Train Control Mode (for Pulse Train Type)······················································ 129 3.3.1 I/O Signal Controls····························································································· 130 3.3.
POWER CON PCON-CA/CFA Chapter 9 Appendix ······································································································217 9.1 Way to Set Multiple Controllers with 1 Teaching Tool ··············································· 217 9.1.1 Connecting Example·························································································· 217 9.1.2 Detailed Connection Diagram of Communication Lines···································· 218 9.1.3 Axis No.
POWER CON PCON-CA/CFA 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.
POWER CON No. 2 2 Operation Description Transportation 3 Storage and Preservation 4 Installation and Start PCON-CA/CFA Description Ɣ When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. Ɣ 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.
POWER CON No. 4 Operation Description Installation and Start PCON-CA/CFA Description (2) Cable Wiring Ɣ Use our company’s genuine cables for connecting between the actuator and controller, and for the teaching tool. Ɣ 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.
POWER CON No. 4 5 4 Operation Description Installation and Start Teaching PCON-CA/CFA Description (4) Safety Measures Ɣ 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.
POWER CON No. 6 7 Operation Description Trial Operation Automatic Operation PCON-CA/CFA Description Ɣ 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. Ɣ After the teaching or programming operation, perform the check operation one step by one step and then shift to the automatic operation.
POWER CON No. 8 9 6 Operation Description Maintenance and Inspection 10 Modification and Dismantle Disposal 11 Other PCON-CA/CFA Description Ɣ 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. Ɣ Perform the work out of the safety protection fence, if possible.
POWER CON PCON-CA/CFA Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the Instruction Manual for each model. Level Degree of Danger and Damage Symbol This indicates an imminently hazardous situation which, if the Danger product is not handled correctly, will result in death or serious injury.
POWER CON PCON-CA/CFA Precautions in Operation 1. Make sure to follow the usage condition, environment and specification range of the product. Not doing so may cause a drop of performance or malfunction of the product. 2. Use the following teaching tools. Use the PC software and the teaching pendant stated in the next clause as applicable for this controller. [Refer to 1.1.2 Teaching Tool.] 3. Backup the data to secure for breakdown.
POWER CON PCON-CA/CFA 7. Attempt not to exceed the actuator specifications in the pulse train control mode. In the pulse train control, the acceleration/deceleration speed is also controlled by the change of the command pulse frequency from the host controller. Do not have an operation exceeding the maximum acceleration/deceleration rate of the actuator. The use of the actuator with excessive acceleration/deceleration rate may cause a malfunction. 8.
POWER CON PCON-CA/CFA 10. Limitations on operation of rotary actuator in index mode Rotary actuators of 360-degree specification can select the normal mode for finite rotations or the index mode enabling multi-rotation control by using parameter No.79 “Rotational axis mode selection”. [Refer to Chapter 7 I/O Parameter.] The following limitations are applied to the index mode: 1) Index Mode cannot be selected in Pulse Train Control Mode.
POWER CON PCON-CA/CFA 12. PLC Timer Setting Do not have the PLC timer setting to be done with the minimum setting. Setting to “1” for 100msec timer turns ON at the timing from 0 to 100msec while 10msec timer from 0 to 10msec for some PLC. Therefore, the same process as when the timer is not set is held and may cause a failure such as the actuator cannot get positioned to the indicated position number in Positioner Mode.
POWER CON 12 PCON-CA/CFA
POWER CON PCON-CA/CFA Name for Each Parts and Their Functions CA Type 5) Controller Status Indicator LED 4) PIO Connector /Field Network Connector 6) LED for Power/Alarm Monitoring 7) Axis Number Setting Switch 8) Operation Mode Setting Switch 9) SIO Connector 3) Absolute Battery Status Indicator LED (For Simple Absolute Type) 2) Absolute Battery (For Simple Absolute Type) 10) Motor • Encoder Connector 11) Brake Release Switch 12) Power Supply Connector 1) Absolute Battery Connector (For Simple Absolute
POWER CON PCON-CA/CFA 1) Absolute Battery Connector [Refer to Chapter 6] It is the connector to plug in the enclosed battery if applicable for Simple Absolute Type (option). 2) Absolute Battery [Refer to Chapter 6] It is enclosed if applicable for Simple Absolute Type (option). It is used to retain the encoder information. Use unit by affixing it on the side of PCON body with fabric hook-and-loop fastener or store it Absolute Battery Unit (option).
POWER CON 6) PCON-CA/CFA LED for Current/Alarm Monitoring In the ordinary use, it shows the command current percentage and shows the alarm code during an alarm being generated. LED STS3 (GN) STS2 (GN) STS1 (GN) STS0 (GN) Operation Status Status Display x During servo-off: it displays the current command current ratio (proportional to the rated current). { : Illuminating × : OFF STATUS 3 2 1 0 ALM8 ALM4 ALM2 ALM1 × × × × { × × × { { × × { { { × { { { { Command Current Ratio Simple alarm code 0.
POWER CON PCON-CA/CFA 11) Brake Release Switch (BK RLS/NOM) For the actuator equipped with a brake, the switch is used to release the brake forcibly. BK RLS ····· Brake forcible release NOM·········· Normal operation (brake is activated) Warning : Always set the switch to “NOM” in normal operation. (Make sure the opportunity to put the switch to RLS side is the minimum and is limited to when startup and adjustment. Make certain to set the switch to NOM side in normal use.
POWER CON PCON-CA/CFA Actuator Axes Refer to the pictures below for the actuator axes that can be controlled by PCON. 0 defines the home position, and items in ( ) are for the home-reversed type (option). Caution : There are some actuators that are not applicable to the origin reversed type. Check further on the catalog or the Instruction Manual of the actuator.
POWER CON PCON-CA/CFA (5) Gripper Type (3-Finger Gripper) Finger Attachment (Note) + + + Note Finger attachment is not included in the actuator package. Please prepare separately. (6) Rotary Type (300q Rotation Specification) 㧜 330q (Multiple Rotation Specification) 㧙 㧗 For Multiple Rotation Type with the origin reversed type, the directions of and are the other way around.
POWER CON PCON-CA/CFA Starting Procedures 1. Positioner Mode When using this product for the first time, make sure to avoid mistakes and incorrect wiring by referring to the procedure below. “PC” stated in this section means “PC software”. Check of Packed Items Are there all the delivered items? No ψ Contact us or our distributor. ωYes Installation and Wiring [Refer to Chapter 1, 2.1, 2.3] Perform the installation of and wiring for the actuator and controller.
POWER CON PCON-CA/CFA 2. Pulse Train Control Mode (for Pulse Train Type) This product is capable for the positioning control using the pulse train of IAI actuators. It is necessary to have the positioning control function able to output the pulse train on the host controller (PLC). When using this product for the first time, make sure to avoid mistakes and incorrect wiring by referring to the procedure below. “PC” stated in this section means “PC software”.
POWER CON PCON-CA/CFA Chapter 1 Specifications Check Product Check 1.1.1 Parts This product is comprised of the following parts if it is of standard configuration. If you find any fault in the contained model or any missing parts, contact us or our distributor. No. 1 Part Name Controller Accessories Model Refer to “How to read the model plate”, “How to read the model”. Quantity 1 2 I/O Flat Cable CB-PAC-PIO*** 1 3 Power Connector FMC1.5/8-ST-3.
POWER CON 1.1.3 Instruction manuals related to this product, which are contained in the instruction manual (CD/DVD). Chapter 1 Specifications Check No. 1 2 3 4 5 6 7 8 9 10 11 1.1.
POWER CON 1.
POWER CON 1.3 Chapter 1 Specifications Check 1.3.1 PCON-CA/CFA Appearance CA Type ·········· For Incremental Screw-fixed Type 84.8 φ5 35 5 24 178.5 170.5 69.
POWER CON 1.3.2 PCON-CA/CFA CA Type ·········· For Incremental DIN rail-fixed Type 93.3 35.4 (Width of 35mm DIN rail) 4 (5) 185 104 from DIN rail center 8.5 178.5 M3 (for FG cable attachment) Chapter 1 Specifications Check 77.
POWER CON 1.3.3 PCON-CA/CFA CA Type ·········· For Simple Absolute Screw-fixed Type Chapter 1 Specifications Check 35 84.8 φ5 5 (40.5) (58) 26 178.5 170.5 69.
POWER CON 1.3.4 PCON-CA/CFA CA Type ·········· For Simple Absolute DIN rail-fixed Type 93.3 M3 (for FG cable attachment) 185 35.4 (Width of 35mm DIN rail) 4 (5) 178.5 104 from DIN rail center 8.5 (58) 27 Chapter 1 Specifications Check 77.
POWER CON CFA Type ········ For Incremental Screw-fixed Type (Note) When using the attachment hole on the top of the controller, detach the fan unit temporarily. 170.5 190 (7) 35 φ5 Chapter 1 Specifications Check 1.3.5 PCON-CA/CFA 5 28 84.8 69.
POWER CON CFA Type ········ For Incremental DIN rail-fixed Type 93.3 Chapter 1 Specifications Check 77.6 35 190 35.4 (Width of 35mm DIN rail) 104 from DIN rail center (7) 8.5 4 (5) 1.3.
POWER CON 1.3.7 PCON-CA/CFA Absolute Battery Unit (Option for Simple Absolute Type) 30 (5) 100 35.4 (Width of 35mm 110 DIN rail) 72.2 66.2 2) Screw Mounting Type 73.5 30 66.
POWER CON I/O Specifications PIO Input and Output Interface Input Current 5mA 1circuit ON/OFF Voltage External Power Supply 24V DC ON Voltage MIN. 18V DC OFF Voltage MAX. 6V DC PCON PCON P24 680 5.6K NPN Input Terminal Internal Power Source Specification 5.
POWER CON 1.4.2 PCON-CA/CFA Pulse Train Input Output Interface Chapter 1 Specifications Check Line Driver Input Sends input pulse from the host unit that is installed with a line driver 26C31 or equivalent PCON Host Unit Positioning Unit PP /PP Specification NP /NP Pulse Train Form 1.5 1.5.1 Including active high and active low Options Pulse converter : AK-04 The pulse converter converts command pulses in the open collector mode to those in the differential mode.
POWER CON 1.6 PCON-CA/CFA Installation and Storage Environment Chapter 1 Specifications Check This product is capable for use in the environment of pollution degree 2*1 or equivalent. *1 Pollution Degree 2 : Environment that may cause non-conductive pollution or transient conductive pollution by frost (IEC60664-1) [1] Installation Environment Do not use this product in the following environment.
PCON-CA/CFA POWER CON 1.7 Noise Elimination and Mounting Method (1) Noise Elimination Grounding (Frame Ground) Chapter 1 Specifications Check Screw fixed type DIN rail fixed type Connect the ground line together to the main unit using the fixing screw. Connect the ground cable using the tapped hole for FG connection on the main unit. Copper Wire : Connect to an ground cable with 2 diameter 1.6mm (2mm ) or more.
POWER CON PCON-CA/CFA MIN. 100mm MIN. 100mm Ensure enough space for wiring. MIN. 30mm MIN. 30mm MIN. 30mm MIN. 30mm MIN. 50mm (5) Installation of CFA Type For CFA (screw fixed type), detach the fan unit temporarily and use the attachment hole on the top.
Chapter 1 Specifications Check POWER CON 36 PCON-CA/CFA
POWER CON PCON-CA/CFA Chapter 2 Wiring 2.1 2.1.1 Positioner Mode (PIO Control) Wiring Diagram (Connection of devices) Power Source I/O Control (24V DC ̖Please prepare separately) Actuator PC Software (to be purchased separately) Emergency Stop Circuit Control/Driving Power Supply (24V DC ̖Please prepare separately) Caution : Make sure to turn the power to the controller OFF when inserting or removing the connector that connects the PC software or teaching pendant to the controller.
POWER CON 2.1.2 PCON-CA/CFA PIO Pattern Selection and PIO Signal Chapter 2 Wiring (1) PIO Pattern (Control Pattern) Selection The controller provides seven PIO patterns (control patterns). Set the most suitable PIO pattern with the actual use to Parameter No. 25 “PIO Pattern Select”. Refer to “3.2 Operation in Positioner Mode” for the details of PIO patterns. Type Value set in parameter No.
POWER CON PCON-CA/CFA (2) PIO Patterns and Signal Assignment The signal assignment of I/O flat cable by the PIO pattern is as shown below. Follow the following table to connect the external equipment (such as PLC).
POWER CON Chapter 2 Wiring Category Pin No. Input Output 1A 2A 3A 4A 5A 6A 7A 8A 9A 10A 11A 12A 13A 14A 15A 16A 17A 18A 19A 20A 1B 2B 24V 24V Pulse input PCON-CA/CFA PIO Functions Number of positioning points Home return signal Jog signal Teaching signal (Current position writing) Brake release Moving signal Zone signal Position zone signal Parameter No.
POWER CON PCON-CA/CFA (3) List of PIO Signals The table below lists the functions of PIO signals. Refer to the section shown in Relevant Sections for the details of the control of each signal.
POWER CON Category Signal Abbreviation PCON-CA/CFA Signal Name Relevant Sections Turns ON in the positioning band range after actuator operation. 3.2.3 The INP signal will turn OFF if the position deviation exceeds the 3.2.4 in-position range. PEND and INP can be switched over by the 3.2.5 parameter. PM1 to The position No. reached after the positioning completion, is 3.2.3 Completion Position No. PM256 output (binary output). 3.2.4 This signal will turn ON when home return has been completed. 3.2.
POWER CON 2.1.3 PCON-CA/CFA Circuit Diagram Sample circuit diagrams are shown below.
POWER CON PCON-CA/CFA [2] Motor • Encoder Circuit 1) Connection to RCP2 (High Thrust) Series Chapter 2 Wiring PCON-CA Motor/ Encoder Connector 2) Connection Cable(Note1) Connection to RCP3 and RCP4 Series PCON-CA Motor/ Encoder Connector Connection Cable(Note1) Note 1 Applicable Connection Cable Model Codes Model Name RCP2 RCP3 RCP3 RCP4 RCP4 High Thrust High Thrust Cable CB-PSEP-MPAƑƑƑ CB-APSEP-MPAƑƑƑ CB-APSEP-MPAƑƑƑ-LC CB-CA-MPAƑƑƑ-RB CB-CA-MPAƑƑƑ CB-CFA-MPAƑƑƑ CB-CFA-MPAƑƑƑ-RB ƑƑƑ : Cable L
POWER CON PCON-CA/CFA [4] PIO Circuit 1) PIO Pattern 0 ············· Positioning Mode (Standard Type) 0V(NPN Type) 24V DC(PNP Type) Command Position No.1 Command Position No.2 Command Position No.4 Command Position No.8 Command Position No.16 Command Position No.
POWER CON 2) PCON-CA/CFA PIO Pattern 1 ··············· Teaching mode (Teaching type) 0V(NPN Type) 24V DC(PNP Type) Chapter 2 Wiring BR- 1 24V DC RD- 1 Supply OR- 1 Command Position No.1 Command Position No.2 Command Position No.4 Command Position No.8 Command Position No.16 Command Position No.
POWER CON 3) PCON-CA/CFA PIO Pattern 2 ···············256-point mode (Number of positioning points : 256-point type) 0V(NPN Type) 24V DC(PNP Type) Command Position No.1 Command Position No.2 Command Position No.4 Command Position No.8 Command Position No.16 Command Position No.32 Command Position No.64 Command Position No.
POWER CON 4) PCON-CA/CFA PIO Pattern 3 ···············512-point mode (Number of positioning points : 512-point type) 0V(NPN Type) 24V DC(PNP Type) Chapter 2 Wiring BR- 1 24V DC RD- 1 Supply OR- 1 Command Position No.1 Command Position No.2 Command Position No.4 Command Position No.8 Command Position No.16 Command Position No.32 Command Position No.64 Command Position No.128 Command Position No.
POWER CON 5) PCON-CA/CFA PIO Pattern 4 ·················Solenoid Valve Mode 1 (7-point type) 0V(NPN Type) 24V DC(PNP Type) BR- 1 Start Signal 0 Start Signal 1 Start Signal 2 Start Signal 3 Start Signal 4 Start Signal 5 Start Signal 6 Brake Control Release Operation Mode Changeover Home Return Pause Reset Servo ON YW- 1 GN- 1 BL- 1 PL- 1 GY- 1 WT- 1 BK- 1 BR- 2 RD- 2 OR- 2 YW- 2 GN- 2 BL- 2 PL- 2 GY- 2 WT- 2 BK- 2 BR- 3 RD- 3 OR- 3 YW- 3 GN- 3 BL- 3 PL- 3 GY- 3 WT- 3 BK- 3 BR- 4 RD- 4 OR- 4 YW- 4 GN-
POWER CON 6) PCON-CA/CFA PIO Pattern 5 ·················Solenoid Valve Mode 2 (3-point type) 0V(NPN Type) 24V DC(PNP Type) BR- 1 Chapter 2 Wiring 24V DC RD- 1 Supply OR- 1 Start Signal 0 Start Signal 1 Start Signal 2 Brake Control Release Operation Mode Changeover Reset Servo ON YW- 1 GN- 1 BL- 1 PL- 1 GY- 1 WT- 1 BK- 1 BR- 2 RD- 2 OR- 2 YW- 2 GN- 2 BL- 2 PL- 2 GY- 2 WT- 2 BK- 2 PCON PIO Connector 1A P24 LS0 1B 2A P24 LS1 2B 3B 3A LS2 4B 4A 5B 5A ST0 6B 6A ST1 7B 7A ST2 8B 8A ZONE1 PZONE 9B 9A /ZON
POWER CON PCON-CA/CFA 2.2 Pulse Train Control Mode 2.2.1 Wiring Diagram (Connection of devices) Chapter 2 Wiring Host System (PLC, etc.…Please prepare separately) Teaching pendant Touch Panel Teaching (to be purchased separately) Power Source I/O Control (24V DC …Please prepare separately) AK-04 AK-04 (to be purchased separately) Necessary when host positioning unit is open collector output.
POWER CON 2.2.2 PCON-CA/CFA I/O Signals in Pulse Train Control Mode Chapter 2 Wiring The table below shows the signal assignment of the flat cable in the pulse train control mode. Follow the following table to connect the external equipment (such as PLC). Pin No. 1A 2A 3A 4A Category I/O No.
POWER CON 2.2.3 PCON-CA/CFA Circuit Diagram Sample circuit diagrams are shown below.
POWER CON PCON-CA/CFA [2] Motor • Encoder Circuit 1) Connection to RCP2 Series Chapter 2 Wiring PCON-CA Motor/ Encoder Connector 2) Connection Cable(Note1) Connection to RCP3 and RCP4 Series PCON-CA Motor/ Encoder Connector Connection Cable(Note1) Note 1 Applicable Connection Cable Model Codes Model Name RCP2 RCP3 RCP3 RCP4 RCP4 54 Cable CB-PSEP-MPAƑƑƑ CB-APSEP-MPAƑƑƑ CB-APSEP-MPAƑƑƑ-LC CB-CA-MPAƑƑƑ-RB CB-CA-MPAƑƑƑ ƑƑƑ : Cable Length Example) 030 Reference Robot cable from 0.
POWER CON PCON-CA/CFA [3] PIO Circuit 0V(NPN Type) PCON 24V DC(PNP Type) Servo ON Reset Home Return Torque Limit Select Compulsory Stop Deviation Counter Clear Brake Control Release Operation Mode 24V DC RD- 1 OR- 1 YW- 1 GN- 1 BL- 1 PL- 1 GY- 1 WT- 1 BK- 1 BR- 2 RD- 2 OR- 2 YW- 2 GN- 2 BL- 2 PL- 2 GY- 2 WT- 2 BK- 2 BR- 3 RD- 3 OR- 3 YW- 3 GN- 3 BL- 3 PL- 3 GY- 3 WT- 3 BK- 3 BR- 4 RD- 4 OR- 4 YW- 4 GN- 4 BL- 4 PL- 4 GY- 4 WT- 4 BK- 4 0V System Ready Servo ON Status Position Completion Home Return Com
POWER CON PCON-CA/CFA [4] Circuits for Pulse Train Control Ɣ When Host Unit is Differential System It is recommended that PP and /PP and also NP and /NP are twisted with each other so the system can be run safely. Chapter 2 Wiring Host Unit Positioning Unit 3A 4A 17B Pulse Command (Line Driver: 26C31 or equiv.) 18B PCON PIO Connector PP /PP NP /NP Caution : Make short-circuit between the host (positioning unit) and the 0V on PIO connector.
POWER CON 2.3 PCON-CA/CFA Wiring Method 2.3.1 Wiring Layout of Power Supply Connector Chapter 2 Wiring The wires of the power supply and the emergency stop circuit are to be connected to the enclosed connector (plug). Strip the sheath of the applicable wires for 10mm and insert them to the connector. Push a protrusion beside the cable inlet with a small slotted screwdriver to open the inlet. After inserting a cable, remove the screwdriver from the protrusion to fix the cable.
POWER CON Chapter 2 Wiring 2.3.2 PCON-CA/CFA Connection to Actuator Connect the cables to the motor • encoder connectors. 㩷 Motor • Encoder Connector Model Cable Side PADP-24V-1-S Controller Side S24B-PADSS-1 Pin No.
POWER CON 2.3.3 PCON-CA/CFA Connection of PIO Model : CB-PAC-PIOƑƑƑ (ƑƑƑ indicates the cable length L. Example. 020 = 2m) No. 1A 2A 3A 4A 5A 6A 7A 8A 9A 10A 11A 12A 13A 14A 15A 16A 17A 18A 19A 20A Cable Color BR-1 RD-1 OR-1 YW-1 GN-1 BL-1 PL-1 GY-1 WT-1 BK-1 BR-2 RD-2 OR-2 YW-2 GN-2 BL-2 PL-2 GY-2 WT-2 BK-2 Wiring No.
POWER CON 2.3.4 PCON-CA/CFA Connection of Pulse Train Signal Chapter 2 Wiring Pulse train is input to PIO connector. Insert the wires to the indicated pin numbers. [Refer to 2.2.3 [4] Circuits for Pulse Train Control] If the output pulse of the host controller is open collector type, use the following pulse converter. Ɣ Pulse converter : AK-04 (to be purchased separately) It converts the command pulse of the open collector type to the differential type. Host Controller (PLC etc.
POWER CON 2.3.5 PCON-CA/CFA SIO Connector Connection SIO connectors can be used not only for the connection of teaching tool, but also for the connection of the host controller (PLC, touch panel and PC). For the operation, refer to the instruction manual of each module. [Refer to 1.1.3 Instruction manuals related to this product, which are contained in the instruction manual (CD/DVD).
Chapter 2 Wiring POWER CON 62 PCON-CA/CFA
PCON-CA/CFA POWER CON Chapter 3 Operation 3.1 3.1.1 Basic Operation Basic Operation Methods (1) Positioner Mode PLC Position Number + Start Signal Completion Signal Signal Position [mm] No. 0 1 2 Velocity [mm/s] 100.00 200.00 100.00 200.00 Actuator Acceleration [G] Deceleration [G] 0.30 0.30 0.30 0.30 Signal Enter a data including position, velocity, acceleration or deceleration, etc.
POWER CON PCON-CA/CFA (2) Pulse Train Control Mode PLC Chapter 3 Operation Command Pulse Complete Signal Signal Enter an electronic gear ratio. Edit Parameters of controller Actuator Controller Teaching Tool 1) Set the pulse train format and the electric gear ratio (the distance of actuator movement in mm against 1 pulse) to the parameters in the controller with using a teaching tool such as PC software.
POWER CON 3.1.2 PCON-CA/CFA Parameter Settings Parameter data should be set to be suited to the system or application. Parameters are variables to be set to meet the use of the controller in the similar way as settings of the ringtone and silent mode of a cell phone and settings of clocks and calendars. (Example) Soft Stroke Limit Parameters should be set to meet the use of the controller prior to operation. Once set, they may not set every operation.
POWER CON Operation in Positioner Mode This controller can switch over the mode between positioner mode and pulse train control mode with the parameters. In the positioner mode, the following 6 types of PIO pattern can be selected with a proper parameter. This Operational PIO Pattern cannot be switched over after the system is finished to be established or during the actuator operation.
POWER CON PCON-CA/CFA [2] Overview of major Functions Description Number of positioning points which can be set in the position table. Normal operation started by turning the start signal ON after position No. is entered with binary data. Operation enabled by turning the signal directly corresponding to a position No. ON Positioning enabled at an arbitrary position by the data set in the position table Velocity change during Velocity change enabled by activating another position No.
POWER CON 3.2.1 PCON-CA/CFA Set of Position Table (This section is not required in selection of pulse train control mode.) Chapter 3 Operation The values in the position table can be set as shown below. For only positioning, only the position data may be written if specifying the speed, acceleration, and deceleration is not required. The speed, acceleration, and deceleration are automatically set to the data defined by the relevant parameters.
POWER CON 3) Velocity [mm/s]········· Set the velocity in the operation. Do not attempt to input a value more than the maximum velocity [refer to the caution note below] or minimum velocity (Note 1). (Note) The minimum velocity differs depending on the type of the actuator. Refer to the values stated in the appendix in Chapter 9 or the following for the calculation. Min. Speed [mm//s^2] = Lead Length [mm] / No. of Encoder Pluses / 0.001[s] Acceleration [G] ······· Set the acceleration at start.
POWER CON PCON-CA/CFA Positioning width [mm] ······For positioning in PIO patterns*1 0 to 4, the positioning complete signal is output if the remaining moving distance is entered within the zone set here. For pressing, the actuator is moved at the setup velocity and acceleration/deceleration in the same way as normal positioning to the position of the coordinate value set in 2) and then performs pressing movement by the data set here.
POWER CON PCON-CA/CFA 11) Acceleration / deceleration mode········Select a proper acceleration/deceleration pattern depending on the load. Set Value 0 Acceleration/ Deceleration Pattern Trapezoid Operation Velocity 1 S-motion (Refer to Caution at S-shaped Motion) Velocity Time 2 First-Order Lag Filter Set the S-motion rate with parameter No.56. Velocity Time Set the delay time constant with parameter No.55.
POWER CON PCON-CA/CFA 13) Transported load ······Register 4 types of load weights with using the teaching tool, and choose the number from the registered numbers (0 to 3) that is to be used. From the numbers (load weights) registered in this section, the shortest tact time function calculates the optimum speed and acceleration/deceleration. Chapter 3 Operation [Refer to the instruction manual of smart teaching tool for how to register the load weights and shortest tact time.
POWER CON 3.2.2 PCON-CA/CFA Control of Input Signal The input signal of this controller has the input time constant of 6ms considering the prevention of wrong operation by chattering and noise. Therefore, input each input signal for 6ms or more (Note) continuously. The signal cannot be identified if it is less than 6ms. 6ms Identify Not Identify Input Signal (Note) It is necessary to input 26ms or more for PWRT Signal of PIO Pattern 1. [Refer to 3.2.4 Operation with the Position No.
POWER CON PCON-CA/CFA [2] Operation Mode (RMOD, RMDS) PIO signal Common to Patterns 0 to 5 Input RMOD Output RMDS { { { : Available, u: Unavailable Chapter 3 Operation Two operation modes are provided so that the operation by PIO signals does not overlap with the operation by a teaching tool such as PC software through SIO (serial) communication. The mode change is normally done by the operation mode setting switch ON the front panel of the controller.
POWER CON PCON-CA/CFA [3] Servo ON (SON, SV, PEND) PIO signal Other than pattern 5 Pattern 5 3) Output SV SON { { { u { : Available, u: Unavailable Servo ON signal SON is the input signal making the servo motor of the actuator operable. If the servo-on is performed to enable operation, the SV output signal is turned ON. Concurrently positioning completion signal PEND is turned ON. With the power being supplied, then controller cannot be operated while the SV signal remains OFF.
POWER CON PCON-CA/CFA [4] Home Return (HOME, HEND, PEND, MOVE) Output PEND MOVE { { Patterns 0 and 1 { Patterns 2 to 4 u Pattern 5 u u { : Available, u: Unavailable Note 1: For pattern 5, the home return by the HOME signal is not allowed. Refer to 3.2.6 [1] Home return (ST0, HEND) for how to perform a home-return operation. Chapter 3 Operation PIO signal Input HOME { { u (Note1) HEND { { { The HOME signal is intended for automatic home return.
POWER CON PCON-CA/CFA [Operation of Slider Type/Rod Type Actuator] Home 1) 2) 2) With the HOME signal being ON, the actuator moves toward the mechanical end at the home return speed. The moving speed is 20mm/s for most actuators but less than 20mm/s for some actuators. Refer to the instruction manual of each actuator. The actuator is turned at the mechanical end and stopped at the home position. The moving distance is the value set by Parameter No.22 “Home return offset level”.
POWER CON PCON-CA/CFA (2) Multi-Rotation Specification 1) Chapter 3 Operation Home (Forward Rotation End) Offset Movement Amount 12) 11) (Home Position Side) 10) Datum Point for Offset (Center of 6), 7), 9) and 10)) Home Sensor Detection Range 1) 5) 4) 2) 3) 6) 7) Rotary Axis 9) 8) (Opposite Side of Home Position) 1) Once the home-return command is issued, the actuator rotates in CCW (counterclockwise) direction from the view point of the load side. The velocity is 20deg/s.
POWER CON PCON-CA/CFA [Operation of Actuator of Gripper Type] Finger Attachment (Note) Finger Attachment (Note) 1) 2) 2) 1) + 1) + 2) + 1) 2) 1) 2) If the HOME signal is turned ON, the actuator moves toward the mechanical end (to end side) at the home return speed (20mm/s). The actuator is turned at the mechanical end and stopped at the home position. The moving distance is the value set by Parameter No.22 “Home return offset level”. Caution: Make sure to refer to Section 7.
POWER CON PCON-CA/CFA [5] Zone Signal and Position Zone Signal (ZONE1,ZONE2, PZONE) Output ZONE1 ZONE2(Note 2) PZONE(Note 2) { { { Pattern 0 (Note 2) { Pattern 1 { × { Pattern 2 {(Note 2) × (Note 1) Pattern 3 × × × { { { Pattern 4 { { { Pattern 5 { : Available, u: Unavailable Note 1 Pattern 3 does not have the zone signal output feature. Note 2 In Parameter No.149 Zone Output Switchover, ZONE can be selected instead of PZONE.
POWER CON PCON-CA/CFA (2) Position zone signal (PZONE) No. 0 1 2 3 Position [mm] Velocity [mm/s] 0.00 100.00 50.00 250.00 250.00 250.00 Acceleration [G] 0.20 0.20 0.20 Deceleration [G] Pressing [%] Threshold [%] Positioning width [mm] Zone+ [mm] 0 0 50 0 0 0 0.10 0.10 20.00 50.00 70.00 60.00 0.20 0.20 0.20 Zone[mm] Acceleration/ Deceleration mode 30.00 60.00 65.00 0 0 0 Incre- Transported mental load 0 0 0 Stop mode 0 0 0 0 0 0 Zone ranges should be set in the position table.
POWER CON PCON-CA/CFA [6] Alarm, Alarm Reset (*ALM, RES) PIO signal Common to Patterns 0 to 5 Input RES Output *ALM { { { : Available, u: Unavailable Alarm signal *ALM is set to ON in the normal status but turned OFF at the occurrence of an alarm at a level equal to or higher than the operation release level. 2) Turning reset signal RES ON under occurrence of an alarm at the operation release level allows the alarm(Note 1) to be released. The action is taken at the rising edge (ON edge).
POWER CON PCON-CA/CFA [7] Binary Output of Alarm Data Output (*ALM, PM1 to 8) PIO signal Common to Patterns 0 to 3 Pattern 4(Note 1) Pattern 5(Note 1) Output *ALM PM1 to 8 { { { { u u 1) If an alarm at a level equal to or higher than the operation release level occurs, completed position number output signals PM1 to PM8 output the alarm information in the binary code format. 2) The PLC can read the binary code of alarm signal *ALM as the strobe signal to refer to alarm information.
Chapter 3 Operation POWER CON PCON-CA/CFA {: ON z: OFF ALM8 ALM4 ALM2 ALM1 *ALM Binary Code Description: Alarm code is shown in ( ).
POWER CON PCON-CA/CFA [8] Brake release (BKRL) Input BKRL { Pattern 0 Pattern 1(Note 1) u { Pattern 2 to 5 { : Available, u: Unavailable (Note 1) Pattern 1 does not have this feature PIO signal Warning: (1) Take sufficient care to release the brake. Inappropriate brake release may cause people to be injured and/or the actuator, the work and/or the machine to be damaged. (2) After the brake is released, always make the brake applied again.
POWER CON 3.2.4 PCON-CA/CFA Operation with the Position No. Input = Operations of PIO Patterns 0 to 3 This section describes the methods of operations of PIO patterns 0 to 3. These patterns provide normal controller operation methods in which the controller is operated by turning the start signal ON after a position No. is entered. The control methods of positioning, pitch feed, and pressing are the same as those described before.
POWER CON PCON-CA/CFA Sample use 1) 2) Velocity 3) 4) 5) 6) 2) 3) 5) 6) 7) Chapter 3 Operation 1) 7) 8) 4) Positioning Completion Signal Output 8) Positioning Completion Signal Output No. 0 1 2 Position [mm] Velocity [mm/s] 70.00 150.00 100.00 200.00 Acceleration [G] 0.20 0.20 Deceleration [G] 0.20 0.20 Pressing [%] Threshold [%] Positioning width [mm] Zone+ [mm] 0 0 0 0 0.10 0.10 0.00 0.00 Zone[mm] 0.00 0.
POWER CON PCON-CA/CFA Command position No. PC1 to PC** (PLCĺController) T1t6ms Chapter 3 Operation Start signal CSTR (PLCĺController) Completed position PM1 to PM** (ControllerĺPLC) Positioning Completion Signal PEND (ControllerĺPLC) Turned OFF by turning PEND OFF PM1 to PM**㧩0(Note 1) PM1 to PM**㧩0(Note 1) Turned ON after entering into positioning width zone Target Position Moving Signal MOVE (ControllerĺPLC) (Note 1) The completion position No.
POWER CON PCON-CA/CFA [Shortcut control of rotary actuator of multi-rotation specification] (1) Set of shortcut selection The shortcut selection can be made valid/invalid by Parameter No.80 “shortcut selection during rotation”. If the shortcut selection is made valid, the actuator can be moved only in a single direction. [Operation Examples] Chapter 3 Operation Position No.1 Position No.2 Position No.4 Position No.3 Position No. 1 2 3 4 Position 0 90 180 270 Enter position data assuming 1q = 1mm.
POWER CON PCON-CA/CFA (2) Infinite Rotation Control Making the shortcut selection valid and moving the actuator in a specific direction continuously allows the actuator to be rotated continuously as a motor. The continuous operation can be done as described below. Chapter 3 Operation [Operation Examples] This example rotates the actuator by 2 turns and finally stops it at position No.4. Position No.1 Position No. 1 2 3 4 Position No.4 Position No.3 Enter position data assuming 1q = 1mm. (Example) 1.
POWER CON PCON-CA/CFA [2] Speed change during the movement Sample use 5) 4) 1) 2) 3) Positioning complete width at position 2 6) 7) Chapter 3 Operation Velocity 1) 2) 3) Positioning Completion Signal Output 4) 5) 6) 7) Positioning Completion Signal Output No. 0 1 2 3 Position [mm] Velocity [mm/s] 150.00 0.00 0.00 250.00 50.00 100.00 Acceleration [G] 0.20 0.20 0.20 Deceleration [G] 0.20 0.20 0.20 Pressing [%] 0 0 0 Threshold [%] 0 0 0 Positioning width [mm] 0.10 100.00 0.
POWER CON PCON-CA/CFA [3] Pitch Feeding (relative movement = incremental feed) Sample use Chapter 3 Operation 1) 2) 3) Velocity 4) 100 1) No. 0 1 2 Position [mm] Velocity [mm/s] 100.00 25.00 250.00 250.00 Acceleration [G] 0.20 0.20 Deceleration [G] 2) Pressing [%] Threshold [%] Positioning width [mm] Zone+ [mm] 0 0 0 0 0.10 0.10 0.00 0.00 0.20 0.20 3) Zone[mm] 0.00 0.
POWER CON PCON-CA/CFA Caution: (1) If the actuator reaches the software limit corresponding to the stroke end in the pitch feed operation, the actuator stops at the position and positioning complete signal PEND is turned ON. (2) Note that, in pitch feed just after pressing operation (to be in the pressing state), the start position is not the stop position at the completion of pressing but the coordinate value entered in “Position” of the pressing position data.
POWER CON PCON-CA/CFA [4] Pressing operation Sample use Chapter 3 Operation 3) 1) 2) 4) 5) Positioning width 50 Velocity Press-fitting process 1) 2) 3) 4) 5) Caulking process No. 0 1 2 Position [mm] Velocity [mm/s] 0.00 100.00 250.00 250.00 Acceleration [G] 0.20 0.20 Deceleration [G] 0.20 0.20 Pressing [%] Threshold [%] Positioning width [mm] Zone+ [mm] 0 50 0 0 0.10 50.00 0.00 0.00 Zone[mm] 0.00 0.
POWER CON Command position No.
POWER CON Chapter 3 Operation PCON-CA/CFA Caution: (1) The speed during pressing operation is set in Parameter No.34. Check the 9.4 List of Specifications of Connectable Actuators for the pressing operation speed. Do not set any value larger than the value in the list. If the speed set in the position table is equal to or less than the pressing speed, the pressing is performed at the setup speed.
POWER CON PCON-CA/CFA Judging completion of pressing operation The operation monitors the torque (current limit value) in percent in “Pressing” of the position table and turns pressing complete signal PEND ON when the load current satisfies the condition shown below during pressing. PEND is turned ON at satisfaction of the condition if the work is not stopped.
Chapter 3 Operation POWER CON PCON-CA/CFA Command Torque Level Detection at Pressing [Function dedicated for High-Thrust Actuator Type] This is a function to detect whether the specified load is applied to the actuator by checking the torque while in press-fitting operation when having a press-fitting process with the pressing operation.
POWER CON PCON-CA/CFA [5] Tension Operation Image diagram Position No.1 Chapter 3 Operation Position No.2 No. Position [mm] Velocity [mm/s] 0 1 2 3 100.00 80.00 250.00 250.00 Acceleration [G] 0.20 0.20 Deceleration [G] Pressing [%] Threshold [%] Positioning width [mm] Zone+ [mm] 0 50 0 0 0.10 –50.00 0.00 0.00 0.20 0.20 Approach Operation 0.00 0.
POWER CON 3) Chapter 3 Operation 4) PCON-CA/CFA First define the positioning in position No.1. Next, the operation in position No.2 moves the actuator to the position of 80mm at the setting speed and rating torque and change to the tension operation. The actuator moves by 50mm in the negative direction in the tension operation. The upper limit of the tensile force is the torque set in percent.
POWER CON PCON-CA/CFA [6] Multi-step pressing Image diagram Chapter 3 Operation Position No.1 Position No.2 Position No.3 No. Position [mm] Velocity [mm/s] 0 1 2 3 4 0.00 50.00 50.00 250.00 250.00 250.00 Acceleration [G] 0.20 0.20 0.20 Deceleration [G] 0.20 0.20 0.20 Pressing [%] Threshold [%] Positioning width [mm] Zone+ [mm] 0 30 50 0 0 0 0.10 20.00 20.00 0.00 0.00 0.00 Zone[mm] 0.00 0.00 0.
POWER CON PCON-CA/CFA [7] Teaching by PIO (MODE, MODES, PWRT, WEND, JISL, JOG+, JOG-) PIO signal Other than pattern 1 Pattern 1 MODE JISL Input JOG+ u u u u { { { { Output MODES WEND JOG- PWRT u u u { { { Chapter 3 Operation {: Existence of signal, u: No signal (Note) The feature is available only in pattern 1. Teaching by PIO is enabled.
POWER CON PCON-CA/CFA Warning: (1) In home return incomplete state, software limit cannot stop the actuator. Take interlock and prohibit the operation or perform the operation carefully. (2) If the JISL signal is changed during inching operation, the inching being operated is continued. If JISL is changed during job operation, the jog is stopped. Command position No.
POWER CON PCON-CA/CFA Caution: (1) Set the period taken from entering position No. to turning the PWRT ON to 6ms or longer. In spite of 6ms timer process in the PLC, commands may be input to the controller concurrently to cause writing to another position. Take the scanning time in the PLC into account, set a period as 2 to 4 times as the scanning time.
POWER CON PCON-CA/CFA Pause signal *STP (PLCoController) PEND not turned ON Positioning Completion Signal PEND (ControlleroPLC) Moving Signal MOVE (ControlleroPLC) Operation of actuator PEND turned OFF Before operation Positioning complete state Operation Temp. stop Cont. Op. Position complete Turning RES ON here allows continuous operation to be cancelled Caution: (1) At occurrence of an alarm in the release level(Note 1), RES can reset the alarm.
POWER CON Chapter 3 Operation 3.2.5 PCON-CA/CFA Direct Position Specification (Solenoid Valve Mode 1) = Operation of PIO Pattern 4 The start signal is provided for every position number. Only turning ON the relevant input signal according to the table shown below allows the operation based on the data in the target position number to be performed. The operation mode is called the solenoid valve mode because solenoid valves can directly drive air cylinders.
POWER CON PCON-CA/CFA Turned ON by turning PEND ON Start signal ST* (PLCoController) Current Position No. PE* (ControlleroPLC) Turned ON after entering into positioning width zone Positioning Completion Signal PEND (ControlleroPLC) Target Position Caution: (1) If the ST* signal is turned ON for the position after completion of positioning, both the PE* and PEND signals remain ON (except the pitch feed operation). (2) Both the PE* and PEND signals are set to ON in the positioning width zone.
POWER CON PCON-CA/CFA [2] Pitch Feeding (relative movement = incremental feed) Sample use 1) 2) 3) Chapter 3 Operation Velocity 4) 1) No. 0 1 2 Position [mm] Velocity [mm/s] 100.00 25.00 250.00 250.00 Acceleration [G] Deceleration [G] 0.20 0.20 0.20 0.20 2) Pressing [%] Threshold [%] Positioning width [mm] Zone+ [mm] 0 0 0 0 0.10 0.10 0.00 0.00 3) Zone[mm] 0.00 0.00 4) Acceleration/ Deceleration mode 0 0 Incre- Transported mental load 0 1 0 0 Stop mode 0 0 (Position No.
POWER CON PCON-CA/CFA 109 Chapter 3 Operation Caution: (1) Because pitch feed is repeated, turning ON the ST* signal of the same position after completion of positioning causes both the PE* and PEND signals to be turned OFF at operation start and turned ON again at completion of positioning in the same way as [1] Positioning. (2) If the actuator reaches the software limit (stroke end) in pitch feed, the actuator is decelerated to be stopped and current position No.
POWER CON PCON-CA/CFA [3] Pressing operation Sample use Chapter 3 Operation 2) 1) Press-fitting process 3) 4) Positioning width 50 Velocity 1) 2) 3) 4) Positioning Completion Caulking process No. 0 1 2 Position [mm] Velocity [mm/s] 0.00 100.00 250.00 250.00 Acceleration [G] 0.20 0.20 Deceleration [G] 0.20 0.20 Pressing [%] Threshold [%] Positioning width [mm] Zone+ [mm] 0 50 0 0 0.10 50.00 0.00 0.00 Zone[mm] 0.00 0.
POWER CON PCON-CA/CFA Turned OFF by turning PEND ON Start signal ST* (PLCoController) Turned on even in miss-pressing Not turned ON for miss-pressing Positioning Completion Signal PEND (ControlleroPLC) Operation of actuator Approach operation Positioning be setting of coordinate Value Chapter 3 Operation Current Position No.
POWER CON PCON-CA/CFA Chapter 3 Operation Judging completion of pressing operation The operation monitors the torque (current limit value) in percent in “Pressing” of the position table and turns pressing complete signal PEND ON when the load current satisfies the condition shown below during pressing. PEND is turned ON at satisfaction of the condition if the work is not stopped.
POWER CON PCON-CA/CFA This function is able to make a judgment (Note 2) in a required range within the pressing operation range. Note 1 Note 2 Establish the setting in Parameter No.50 Load Output Judgment Time Set Parameter No.51 Torque Detection Range effective, and indicate the range in “Position Zone” in the position data.
POWER CON PCON-CA/CFA [4] Tension Operation Image diagram Chapter 3 Operation Position No.1 Position No.2 No. Position [mm] Velocity [mm/s] 0 1 2 3 100.00 80.00 250.00 250.00 Acceleration [G] 0.20 0.20 Deceleration [G] Pressing [%] Threshold [%] Positioning width [mm] Zone+ [mm] 0 50 0 0 0.10 –50.00 0.00 0.00 0.20 0.20 Tension start position 80mm ST* Approach Operation Zone[mm] 0.00 0.
POWER CON 3) 4) First define the positioning in position No.1. Next, the operation in position No.2 moves the actuator to the position of 80mm at the setting speed and rating torque and change to the tension operation. The actuator moves by 50mm in the negative direction in the tension operation. The upper limit of the tensile force is the torque set in percent. In the similar way as pressing, the positioning complete signal is output when the shaft is stopped by tension (pressing complete).
POWER CON PCON-CA/CFA [5] Multi-step pressing Chapter 3 Operation Image diagram Position No.1 Position No.2 Position No.3 No. Position [mm] Velocity [mm/s] 0 1 2 3 4 0.00 50.00 50.00 250.00 250.00 250.00 Acceleration [G] 0.20 0.20 0.20 Deceleration [G] 0.20 0.20 0.20 Pressing [%] Threshold [%] Positioning width [mm] Zone+ [mm] 0 30 50 0 0 0 0.10 20.00 20.00 0.00 0.00 0.00 Zone[mm] 0.00 0.00 0.
POWER CON PCON-CA/CFA [6] Pause and Operation Interruption (ST*, *STP, RES, PE*, PEND) (1) Use of pause signal *STP 2) 1) Velocity 1) 2) 3) 3) 4) 4) 5) 5) Positioning Completion Signal Output Control method The pause signal is an input signal always set to ON. So, it is normally used to remain ON. Use this function for interlock in case where an object is invaded into the moving direction of the actuator being moved.
POWER CON Chapter 3 Operation PCON-CA/CFA Caution: (1) At occurrence of an alarm in the release levelNote 1, RES can reset the alarm. Cancel the remaining moving distance after confirmation that alarm signal *ALM (being ON in normal state and OFF at occurrence of an alarm) is set to ON. Note 1: [Refer to 8.4 Alarm List for details of alarms.] (2) Turning *STP OFF with the actuator being in the positioning complete state causes PEND to be turned OFF.
POWER CON 3.2.6 PCON-CA/CFA Direct Position Specification (Solenoid Valve Mode 2) = Operation of PIO Pattern 5 Positioning and speed change during operation are possible. Their control methods are the same as those of other patterns. Caution: This pattern does not allow pressing and pitch feed. [1] Home return (ST0, HEND) The I/O of PIO varies as shown in the table below depending on the position number before home return. Position No.
POWER CON PCON-CA/CFA [Operation of Slider Type/Rod Type Actuator] Home Chapter 3 Operation 1) 1) 2) Mechanical end 2) With the ST0 signal being ON, the actuator moves toward the mechanical end at the home return speed. The moving speed is 20mm/s for most actuators but less than 20mm/s for some actuators. Check the instruction manual of actuator. The actuator is turned at the mechanical end and stopped at the home position. The moving distance is the value set by Parameter No.
POWER CON PCON-CA/CFA (2) Multi-Rotation Specification 1) Offset Movement Amount 12) 11) (Home Position Side) 10) Datum Point for Offset (Center of 6), 7), 9) and 10)) Home Sensor Detection Range 1) Chapter 3 Operation Home (Forward Rotation End) 5) 4) 2) 3) 6) 7) Rotary Axis 9) 8) (Opposite Side of Home Position) 1) Once the home-return command is issued, the actuator rotates in CCW (counterclockwise) direction from the view point of the load side. The velocity is 20deg/s.
POWER CON PCON-CA/CFA [Operation of Actuator of Gripper Type] Finger Attachment (Note) Chapter 3 Operation Finger Attachment (Note) 2) 1) 2) 2) 1) + 1) + 2) + 1) 2) 1) 2) If the HOME signal is turned ON, the actuator moves toward the mechanical end (to end side) at the home return speed (20mm/s). The actuator is turned at the mechanical end and stopped at the home position. The moving distance is the value set by Parameter No.22 “Home return offset level”.
POWER CON PCON-CA/CFA [2] Features of LS signals (LS0 to 2) The LS* signals are not complete signals for positioning commands such as those for other PIO patterns. Despite the specified position No., the corresponding LS* signal is turned ON when the actuator is entered into the setup value range as if the actuator were detected by a sensor installed. (Example) No. Position [mm] Velocity [mm/s] 0 1 2 0.00 70.00 150.00 250.00 250.00 250.00 Acceleration [G] 0.20 0.20 0.
POWER CON PCON-CA/CFA [3] Positioning [Basic] (ST0 to ST2, LS0 to LS2) Chapter 3 Operation Position No. Input Output 0 ST0 LS0 1 ST1 LS1 2 ST2 LS2 [Caution] Pressing and pitch feed are unavailable. Sample use 1) Velocity No. Position [mm] Velocity [mm/s] 0 1 2 0.00 70.00 150.00 100.00 100.00 200.00 Acceleration [G] 0.20 0.20 0.20 Deceleration [G] 0.20 0.20 0.20 Pressing [%] 0 0 0 Threshold [%] 0 0 0 2) 3) 4) 5) 6) 1) 2) 3) 4) 5) 6) Positioning width [mm] 0.10 0.10 0.
POWER CON PCON-CA/CFA (Example) Repetition of ST1 o ST2 o ST1 o Insert timer 't if necessary. Start signal ST1 (PLCoController) Ǎt Ǎt Ǎt Chapter 3 Operation Start signal ST2 (PLCoController) Position sensing output LS1 (ControlleroPLC) Position sensing output LS2 (ControlleroPLC) Turned ON after entering into positioning width zone Target Position Ǎt : Time required to certainly reach the target position after the position sensing output LS1 or 2 is turned on.
POWER CON PCON-CA/CFA [4] Speed change during the movement Sample use 2) 3) Chapter 3 Operation 1) 4) 5) Positioning complete width at position 1 Velocity 1) No. Position [mm] Velicoty [mm/s] 0 1 2 0.00 0.00 150.00 100.00 50.00 200.00 Acceleration [G] 0.20 0.20 0.20 Deceleration [G] 0.20 0.20 0.20 Pressing [%] 0 0 0 2) Threshold [%] 0 0 0 Positioning width [mm] 0.10 100.00 0.10 3) Zone+ [mm] 0.00 0.00 0.00 Zone[mm] 0.00 0.00 0.
POWER CON PCON-CA/CFA The timing chart shown below indicates that the actuator changes its speed while it moves to position No.1 after the completion of positioning at position No.2 and moves to position No.0.
POWER CON PCON-CA/CFA [5] Pause and Operation Interruption (ST*, *STP, RES, PE*, PEND) Chapter 3 Operation Turning start signal ST* OFF allows the actuator to be paused while it is moved. To restart it, turn the same ST* signal ON. Velocity Control method If start signal ST* is turned OFF during movement, the actuator can be paused. Use the control method for interlock in case where an object is invaded into the moving direction of the actuator being moved.
POWER CON 3.3 PCON-CA/CFA Pulse Train Control Mode (for Pulse Train Type) This controller can switch over the mode between positioner mode and pulse train control mode with the parameters. In Pulse Train Mode, the actuator can be operated by the pulse train output of the host controller (PLC) positioning control function. This operation mode is not to be changed after the system is complete to be established or during an operation.
POWER CON 3.3.1 PCON-CA/CFA I/O Signal Controls The input signals of this controller incorporate an input time constant to prevent malfunction due to chattering, noise, etc. Make sure to input the signals continuously for 6ms or more. (Note) Command pulse train inputs (PP•/PP, NP•/NP) do not have input time constants. Also, it is necessary to input 16ms or more for CSTP Signal.
POWER CON PCON-CA/CFA [3] Operation Mode (RMOD, RMDS) Input Output RMOD RMDS { : Available, u: Unavailable PIO signal AUTO·········· Operation by PIO signals is valid. MANU ········· Operation through SIO (serial) communication is valid. However, the controller is subject to link connection(Note 1) to connect with a teaching tool such as PC software by using a SIO converter, the controller may be far apart from the teaching tool.
POWER CON PCON-CA/CFA [4] Compulsory Stop (CSTP) Input CSTP Chapter 3 Operation PIO signal This signal is used to forcibly stop the actuator. Input the CSTP signal continuously for 16ms or longer. Once the CSTP signal is received, the actuator decelerates and stops with the maximum torque, and then turns the servo OFF. At this time, the deviation counter is cleared.
POWER CON PCON-CA/CFA z Servo OFF status 1. Once the actuator stops, no retaining torque will be supplied. 2. The pulse train input, HOME (home return signal), TL (torque-limiting selection signal) and CSTP (external forced stop signal) are all ignored. 3. Output signals SV (ready signal), HEND (home return complete signal) and TLR (torque limiting signal) are all cleared (turned OFF). 4. INP (Positioning Completion Signal) The INP (Positioning Completion Signal) is OFF when the servo is OFF.
POWER CON PCON-CA/CFA [Operation of Slider Type/Rod Type Actuator] Home Chapter 3 Operation 1) 1) 2) Mechanical end 2) With the HOME signal being ON, the actuator moves toward the mechanical end at the home return speed. The moving speed is 20mm/s for most actuators but less than 20mm/s for some actuators. Check the instruction manual of each actuator. The actuator is turned at the mechanical end and stopped at the home position. The (Note 1) moving distance is the value set by Parameter No.
POWER CON PCON-CA/CFA (2) Multi-Rotation Specification 1) Offset Movement Amount 12) 11) (Home Position Side) 10) Datum Point for Offset (Center of 6), 7), 9) and 10)) Home Sensor Detection Range 1) Chapter 3 Operation Home (Forward Rotation End) 5) 4) 2) 3) 6) 7) Rotary Axis 9) 8) (Opposite Side of Home Position) 1) Once the home-return command is issued, the actuator rotates in CCW (counterclockwise) direction from the view point of the load side. The velocity is 20deg/s.
POWER CON PCON-CA/CFA [Operation of Actuator of Gripper Type] Finger Attachment (Note) Chapter 3 Operation Finger Attachment (Note) 2) 1) 2) 2) 1) + 1) + 2) + 1) 2) 1) 2) If the HOME signal is turned ON, the actuator moves toward the mechanical end (to end side) at the home return speed (20mm/s). The actuator is turned at the mechanical end and stopped at the home position. The moving distance is the value set by Parameter No.22 “Home return offset level”.
POWER CON PCON-CA/CFA [7] Zone (ZONE1, ZONE2) Output ZONE1 ZONE2 PIO signal z Setting values and signal output range The zone output range varies depending on the difference between the value set for the plus side of the zone and that for the minus side. 1) 2) Value set for plus side > value set for minus side: The output signal is set to ON in the range and OFF out of the range. Value set for plus side < value set for minus side: The output signal is set to OFF in the range and ON out of the range.
POWER CON PCON-CA/CFA [8] Alarm, Alarm Reset (*ALM, RES) PIO signal 1) 2) Chapter 3 Operation 3) Input RES Output *ALM Alarm signal *ALM is set to ON in the normal status but turned OFF at the occurrence of an alarm at a level equal to or higher than the operation release level. Turning reset signal RES ON under occurrence of an alarm at the operation release level allows the alarm(Note 1) to be released. The action is taken at the rising edge (ON edge).
POWER CON PCON-CA/CFA [10] Brake Forcible Release (BKRL) PIO signal Output BKRL The brake can be released while BKRL signal is turned ON. For the actuator equipped with a brake, the brake can be controlled by turning the servo ON/OFF, however, a release of the brake may be necessary in the case of installing the unit to a system so the slider or rod can be moved by hand.
POWER CON 3.3.3 PCON-CA/CFA Pulse Train Input Operation [1] Command Pulse Input (PP•/PP, NP•/NP) Chapter 3 Operation In the differential type, it is able to have 200kpps of pulse train input at maximum. When the host controller possesses only the pulse output function of the open collector, it is able to input 60kpps pulse at maximum by connecting AK-04 (option). 6 types of command pulse train can be selected. Set the pulse train format in Parameter No.63 and active high/low in Parameter No.64.
POWER CON PCON-CA/CFA Caution: Consider the electric gear ratio of the host side and that of the controller side via the following calculation. (Reference) Acceleration/deceleration settings of general positioning device Chapter 3 Operation Motor Rotation Motor Rotation [rpm] = Velocity [mm/s] Ball Screw • Lead Length [mm/rev] u 60 Time Constant 2 1G = 9800mm/s : Acceleration capable to accelerate up to 9800mm/s per second 0.3G : Acceleration capable to accelerate up to 9800mm/s × 0.
POWER CON PCON-CA/CFA [3] Torque Limit Select (TL, TLR) PIO signal Input TL Output TLR Chapter 3 Operation This signal is used to limit the torque of the motor. While the TL signal is ON, the actuator thrust (motor torque) can be limited to the torque set in Parameter No.57 “Torque limit”. With the TL signal being ON, the TLR signal (torque limiting) will turn ON when the actuator thrust reaches the torque limit. The TL signal is disabled during home return or forced stop.
POWER CON 3.3.4 PCON-CA/CFA Settings of Basic Parameters Required for Operation It is a mandatory parameter to perform an operation. (The parameters listed in the table below may only be set if the actuator performs only positioning operation.) Details This parameter determines the unit travel distance of the actuator per command pulse train input 1 pulse. Specifies the command pulse train input mode.
POWER CON PCON-CA/CFA Examples of electronic gear calculations: To set the unit travel distance to 0.01 (1/100) mm for an actuator a ball screw lead of 3mm, equipped with an encoder of 800pulses/rev. Chapter 3 Operation Electronic Gear Numerator (CNUM) No.
POWER CON PCON-CA/CFA [2] Format Settings of Command Pulse Train Set the format of command pulse train in Parameter No.63 and active high/low in No.64. (1) Command Pulse Mode User Parameter No.63 Command PulseInput Mode Name Command Pulse Input Mode Unit Input Range Initial Value CPMD – 0 to 2 1 Input Terminal In Normal Rotation In Reverse Rotation Setting Value of Parameter No.
POWER CON 3.3.5 PCON-CA/CFA Parameter Settings Required for Advanced Operations Depending on systems and/or loads, set the following parameters if necessary. Chapter 3 Operation [1] Position command primary filter time constant No. Name Symbol Unit 55 Position command primary filter time constant PLPF msec Input Range 0.0 to 100.0 Initial Value Input Range 0 to 70 Initial Value 70 0.0 The acceleration/deceleration of the actuator can be set in S-shaped curve with this parameter setting.
POWER CON PCON-CA/CFA [4] Error monitor during torque limiting No. Name Symbol Unit Initial Value 0 Input Range 0 to 1 Initial Value 0 Input Range 0 to 1 Initial Value 0 Initial Value Set individually Error monitor during torque limiting FSTP – 59 You can select whether to enable or disable the function to monitor deviation while torque is being limited (the TL signal is ON).
Chapter 3 Operation POWER CON 148 PCON-CA/CFA
POWER CON PCON-CA/CFA Chapter 4 Field Network PCON-CA/CFA are applicable for the field networks shown in the list below. Except for RS485 (Modbus), it is the option which can be selected when purchasing. It cannot be changed after the product is delivered. Also, for the field networks other than RS485, PIO cannot be equipped. And Pulse Train Mode cannot be operated.
Chapter 4 Field Network POWER CON 150 PCON-CA/CFA
POWER CON PCON-CA/CFA Chapter 5 Power-saving Function (Automatic Servo-off and Full Servo Functions) Setting Status Standby after home return is complete (Positioning to the target point is not done) Standby with the servo turned ON after the power is supplied (Positioning to the target point is not done) Standby after the positioning is complete to the target position set in the position table PIO Pattern 0 to 4 Power saving function executed with the values set in Parameter No.
POWER CON PCON-CA/CFA (1) Setting of periods taken until automatic servo OFF Three periods from completion of positioning to automatic servo OFF can be set in the following parameters in seconds [sec]. Parameter No.
POWER CON PCON-CA/CFA [For Parameter No.39 = 0] Operation of actuator Positioning operation Automatic servo OFF standby Servo OFF Positioning operation Servo Condition ON ON OFF ON Completed Position No. Output (Current position number output) PM1 to ** =0 (PE** = OFF) PM1 to ** = Output (PE** = ON) PM1 to ** = 0 (PE** = OFF) PM1 to ** = 0 (PE** = OFF) Positioning Completion Signal PEND OFF ON OFF OFF [For Parameter No.
Chapter 5 Power-saving Function (Automatic Servo-off and Full Servo Functions) POWER CON 154 PCON-CA/CFA
POWER CON PCON-CA/CFA Chapter 6 Absolute Reset and Absolute Battery 6.1 Absolute Reset The controller of simple absolute specification holds encoder position information by battery backup. It is not necessary to perform the home-return operation every time the power is turned ON. In order to hold the encoder position information, absolute reset is required.
POWER CON PCON-CA/CFA (2) For CON-PTA 1) Press Reset Alm. 2) Chapter 6 Absolute Reset and Absolute Battery Press Trial Operation on the Menu 1 screen. 3) Press Jog_Inching on Trial screen. 4) Press Home on Job/Inching screen.
POWER CON PCON-CA/CFA [2] Absolute reset using PIO 1) 2) Turn the reset signal RES from OFF to ON. (Processed with ON edge.) Check that the alarm signal *ALM is ON (controller’s alarm(Note 1) is cancelled). (Note 1) If the cause of the alarm is not removed, an alarm will be present again (*ALM signal OFF). Check the condition including other alarm causes. 3) Turn ON the pause signal *STP. 4) Turn the servo-on signal SON ON. 5) Wait until the servo-on status SV turns ON.
POWER CON PCON-CA/CFA [Absolute Reset Process] Safety Circuit Condition Emergency stop actuated or cancelled (Status of power supply to the motor drive source) (Note 1) 24V DC PIO Power Input Brake Power Input (Note 2) Control Power Input Motor Power Input Chapter 6 Absolute Reset and Absolute Battery Alarm reset Alarm Signal (*ALM) Alarm Code Output (PM8 to PM1) ALM LED * Pause Signal (STP) Servo ON Signal (SON) Servo ON Status (SV) Positioning Completion Signal (PEND) Home Return Signal (HOME)
POWER CON 6.2 PCON-CA/CFA Absolute Battery [1] For the Type to Attach Battery to Controller Side Absolute battery and fabric hook-and-loop faster are enclosed in the simple absolute type controllers. The absolute battery is used to back up the absolute data. Separate the faster and attach one on the side surface of the controller and the other on the absolute battery. Join the 2 pieces of the faster, one on the controller and the other on the battery, to affix the battery.
POWER CON PCON-CA/CFA (Example) From Monday to Friday ; charge for 8 hours per day, discharge for 16 hours, Saturday and Sunday ; use with discharge 1) If the upper limit setting for the number of encoder revolution is 800 [PRM]; Full charge amount ; 24 [h] *5 [day] = 120 [h] Total charge amount ; 8 [h] *1.6 [h] *5 [day] = 64 [h] Total discharge amount ; 16 [h] *5 [day] + 48 [h] = 128 [h] ψ Assuming a start with full charge on Monday, it is necessary to fully charge the battery every 10 days.
POWER CON 6.2.4 PCON-CA/CFA Replacement of absolute battery When replacing the battery, leave the power to the controller ON, remove the battery connector and replace with a new battery. [1] For the Type to Attach Battery to Controller Side [Removal] Chapter 6 Absolute Reset and Absolute Battery Pull the connector to remove the battery. [Attachment] Attach the fastener enclosed in the new battery to the side surface of the new battery.
POWER CON PCON-CA/CFA [2] When Using Absolute Battery Unit 1) Detach the absolute battery connector first, and then remove the absolute battery unit cover retaining screws (2 places) to detach the cover. At this time, pull out the battery cables from the opening on the cover. 2) Take out the battery. Follow the reversed steps to put the battery back ON.
POWER CON PCON-CA/CFA Chapter 7 I/O Parameter Parameters are the data to set up considering the system and application. When a change is required to the parameters, make sure to back up the data before the change so the settings can be returned anytime. With using PC software, it is able to store the backup to the PC. Take a note if using a teaching pendant such as the touch panel teaching pendant.
POWER CON Chapter 7 I/O Parameter No. I/O Parameter List The categories in the table below indicate whether parameters should be set or not. There are five categories as follows: A : Check the settings before use. B : Use parameters of this category depending on their uses. C : Use parameters of this category with the settings at shipments leaving unchanged as a rule. Normally they may not be set. D : Parameters of the category are set at shipment in accordance with the specification of the actuator.
POWER CON PCON-CA/CFA No.
POWER CON PCON-CA/CFA Chapter 7 I/O Parameter No.
POWER CON PCON-CA/CFA No.
POWER CON 7.2 PCON-CA/CFA Detail Explanation of Parameters Caution: • If parameters are changed, provide software reset or reconnect the power to reflect the setting values. • The unit (deg) is for rotary actuator and lever type gripper. Pay attention that it is displayed in mm in the teaching tools. [1] Zone 1+, Zone 1- (Parameter No.1, No.2) Zone 2+, Zone 2- (Parameter No.23, No.24) Chapter 7 I/O Parameter No.
POWER CON [2] PCON-CA/CFA Soft limit +, Soft limit - (Parameter No.3, No.4) No. Name Symbol 3 Soft limit + LIMM 4 Soft limit - LIML Unit Input Range mm (deg) mm (deg) -9999.99 to 9999.99 -9999.99 to 9999.99 Default factory setting Actual stroke on + side Actual stroke on side Soft limits set in the parameter Approx. 0.3mm Approx. 0.3mm Effective stroke 0.2mm Allowable jogging/inching range after home return 0.2mm The operational range for jog and inching after the home return is 0.
POWER CON [4] PCON-CA/CFA Press & hold stop judgment period (Parameter No.6) No. 6 Name Press & hold stop judgment period Symbol Unit Input Range Default factory setting PSWT msec 0 to 9999 255 Judging completion of pressing operation (1) For Standard type (PIO pattern 0 to 3) The operation monitors the torque (current limit value) in percent in “Pressing” of the position table and turns pressing complete signal PEND ON when the load current satisfies the condition shown below during pressing.
POWER CON [6] PCON-CA/CFA Default velocity (Parameter No.8) No. 8 Name Default velocity Symbol Unit VCMD mm/s (deg/s) Input Range 1 to Actuator’s max. verocity Default factory setting Rated actuator speed The factory setting is the rated velocity of the actuator. When a target position is set in an unregistered position table, the setting in this parameter is automatically written in the applicable position number. It is convenient to set the velocity often used.
POWER CON PCON-CA/CFA [10] Current-limiting value during home return (Parameter No.13) No. 13 Name Current-limiting value during home return Symbol Unit Input Range ODPW % 1 to 100 Default factory setting In accordance with actuator The factory setting conforms to the standard specification of the actuator. Increasing this setting will increase the home return torque. Normally this parameter need not be changed.
POWER CON PCON-CA/CFA [14] Home position check sensor input polarity (Parameter No.18) No. Name Symbol Unit Input Range 18 Home position check sensor input polarity AIOF – 0 to 2 Default factory setting In accordance with actuator The home sensor is an option. Set Value Description 0 Standard specification (sensor not used) 1 Input is a contact 2 Input is b contact [15] Servo ON input disable (Parameter No.21) No.
PCON-CA/CFA POWER CON [17] Zone 2+, Zone 2- (Parameter No.23, No.24) [Refer to 7.2 [1].] [18] PIO pattern selection (Parameter No.25) No. 25 Name Symbol Unit Input Range IOPN – 0 to 6 PIO pattern selection Default factory setting 0 (Standard Type) Select the PIO operation pattern in Parameter No.25. For the details of PIO patterns, refer to 3.2 Operation in Positioner Mode and 3.3 Operation in Pulse Train Control Mode. Chapter 7 I/O Parameter Value set in Pattern type Parameter No.
POWER CON PCON-CA/CFA [19] PIO jog velocity (Parameter No.26) No. 26 Name PIO jog velocity Symbol Unit Input Range IOJV mm/s (deg/s) 1 to Actuator’s max. (note1) speed Default factory setting 100 This is the jog operation velocity setting with PIO signal (jog input command) when PIO pattern = 1 (Teaching Mode) is selected. Set an appropriate value in Parameter No.26 in accordance with the purpose of use. Note 1 The maximum speed is limited to 250mm/s. [20] Movement command type (Parameter No.
POWER CON PCON-CA/CFA [21] Default movement direction for excitation-phase signal detection (Parameter No.28) No. Name Symbol Unit 28 Default movement direction for excitation-phase signal detection PHSP – Input Range 0 : Reversed direction 1 : Forward direction Default factory setting In accordance with actuator Chapter 7 I/O Parameter Excitation detection(Note) starts when the servo is turned ON for the first time after the power is supplied. Define the detection direction at this time.
POWER CON PCON-CA/CFA [24] Velocity loop proportional gain (Parameter No.31) No. 31 Name Velocity loop proportional gain Symbol Unit Input Range VLPG – 1 to 27661 Default factory setting In accordance with actuator This parameter determines the response of the speed control loop. When the set value is increased, the follow-up ability to the velocity command becomes better (the servo-motor rigidity is enhanced). The higher the load inertia becomes, the larger the value should be set.
POWER CON PCON-CA/CFA [26] Torque filter time constant (Parameter No.33) No. 33 Name Torque filter time constant Symbol Unit Input Range TRQF – 0 to 2500 Default factory setting In accordance with actuator This parameter decides the filter time constant for the torque command. When vibration and/or noises occur due to mechanical resonance during operation, this parameter may be able to suppress the mechanical resonance.
POWER CON PCON-CA/CFA [29] Auto servo motor OFF delay time 1, 2, 3 (Parameter No.36, No.37, No.38) No. Name Symbol Unit Input Range 36 37 38 Auto servo motor OFF delay time 1 Auto servo motor OFF delay time 2 Auto servo motor OFF delay time 3 ASO1 ASO2 ASO3 sec sec sec 0 to 9999 0 to 9999 0 to 9999 Default factory setting 0 0 0 Set the duration before the servo turns OFF after positioning process is complete when the power saving function is used. [Refer to Chapter 5 Power-saving Function.
POWER CON PCON-CA/CFA [32] Operating-mode input disable (Parameter No.41) No. 41 Name Operating-mode input disable Symbol Unit FPIO – Input Range 0 : Enabling 1 : Disabling Default factory setting 0 This parameter defines whether the operation mode input signal is disabled or enabled. Normally this parameter need not be changed. Set Value 0 1 Description Enable (Use the input signal) Disable (Does not use the input signal) [33] Enable function (Parameter No.42) Chapter 7 I/O Parameter No.
POWER CON PCON-CA/CFA [36] Velocity override (Parameter No.46) No. 46 Name Velocity override Symbol Unit Input Range OVRD % 0 to 100 Default factory setting 100 When move commands are issued from the PLC, the moving speed set in the “Velocity” field of the position table can be overridden by the value set by this parameter. Actual movement velocity = [Velocity set in the position table] × [setting value in Parameter No.
POWER CON PCON-CA/CFA [40] Torque inspected range (Parameter No.51) No. 51 Name Torque inspected range Symbol Unit TRQZ – Input Range 0 : Enabling 1 : Disabling Default factory setting 0 The load output (LOAD) turns ON when it exceeds the current [%] set as the position table threshold in the range (check range) set with Zone +/Zone – in the position table during the pressing operation. Chapter 7 I/O Parameter [41] Default acceleration/deceleration mode (Parameter No.52) No.
POWER CON PCON-CA/CFA [44] S-motion rate (Parameter No.56) No. 56 Name S-motion rate Symbol Unit Input Range SCRV % 0 to 100 Default factory setting 0 This parameter is used when the value in the “Acceleration/deceleration mode” field of the position table is set to “1 [S-motion]”. This enables to ease the impact at acceleration and deceleration without making the takt time longer. Velocity Swing width Time 0 The S-motion is a sine curve that has the acceleration time as 1 cycle.
POWER CON PCON-CA/CFA [45] Torque limit (Parameter No.57) This parameter is exclusively used for the pulse-train control mode. [Refer to 3.3.5 Parameter Settings Required for Advanced Operations.] [46] Deviation clear at servo OFF & alarm stop (Parameter No.58) This parameter is exclusively used for the pulse-train control mode. [Refer to 3.3.5 Parameter Settings Required for Advanced Operations.] [47] Deviation error monitor during torque limiting (Parameter No.
POWER CON PCON-CA/CFA [56] Position feed forward gain (Parameter No.71) No. 71 Name Feed forward gain Symbol Unit Input Range PLFG – 0 to 100 Default factory setting 0 This parameter defines the level of feed forward gain to be applied to position control. Setting this parameter allows the servo gain to be increased and the response of the position control loop to be improved.
POWER CON PCON-CA/CFA [57] Ball screw lead length (Parameter No.77) No. 77 Name Symbol Unit Input Range LEAD mm 0.01 to 999.99 Ball screw lead length Default factory setting In accordance with actuator This parameter set the ball screw lead length. The factory setting is the value in accordance with the actuator characteristics.
POWER CON PCON-CA/CFA [60] Rotational axis shortcut selection (Parameter No.80) No. Name Symbol Unit 80 Rotational axis shortcut selection ATYP – Input Range 0: Disabling 1: Enabling Default factory setting In accordance with actuator Select whether valid/invalid the shortcut when positioning is performed except for when having the relative position movement in the multiple rotation type rotary actuator.
POWER CON PCON-CA/CFA [66] Software limit margin (Parameter No.88) No. 88 Name Software limit margin Symbol Unit Input Range SLMA mm (deg) 0 to 9999.99 Default factory setting In accordance with actuator This is the parameter to set the position of over error detection against the software limit errors set in Parameters No. 3 and No. 4. It is not necessary to change the setting in normal use. Error detection area Software limit margin Soft limit (Parameter No.3, No.
POWER CON PCON-CA/CFA [70] Calendar function (Parameter No.111) No. 111 Name Calendar function Symbol Unit FRTC – Input Range 0: Unused 1: Use Default factory setting 1 This parameter defines whether the calendar function (RTC) is used or not. Set the current time with using a teaching tool when the calendar function is used. [Refer to the instruction manual of the teaching tool for the details.] In use of RTC, the alarm occurrence time in the alarm list is the time at which an alarm has occurred.
POWER CON PCON-CA/CFA [73] IP address (Parameter No.140) No. 140 Name IP address Symbol Unit Input Range IPAD mm 0.0.0.0 to 255.255.255.255 Default factory setting 192.168.0.1 It is the parameter dedicated for Field Network (EtherNet/IP). [Refer to Ether Net/IP Instruction Manual (ME0278) provided separately.] [74] Subnet mask (Parameter No.141) No. Chapter 7 I/O Parameter 141 Name Subnet mask Symbol Unit Input Range SNMK – 0.0.0.0 to 255.255.255.255 Default factory setting 255.255.
POWER CON PCON-CA/CFA [78] GS velocity loop proportional gain (Parameter No.145) No. 145 Name Symbol Unit Input Range GS velocity loop proportional gain GSPC – 1 to 30000 Default factory setting 750 When the gain scheduling upper multiplying rate (Parameter No.144) is set to 101 or more, this parameter setting becomes effective for Velocity Loop Proportional Gain. [Refer to the 7.2 [24] Velocity loop proportional gain for the details] [Reference Item] 7.
POWER CON PCON-CA/CFA [83] High output setting (Parameter No.152) No. 152 Name High output setting Symbol Unit BUEN – Input Range 0: Disable 1: Enable Default factory setting 0(Disabling) Set whether use the high output function. It is necessary to equip with the actuator applicable for the high output(Note1). (Note 1) High-output applicable actuator : RCP4 Series Chapter 7 I/O Parameter [84] BU velocity loop proportional gain (Parameter No.153) No.
POWER CON PCON-CA/CFA [87] Torque check/Light malfunction output select (Parameter No.156) No.
POWER CON 7.3 PCON-CA/CFA Servo Adjustment The parameters are preset at the factory before shipment so that the actuator operates stably within the rated (maximum) transportable weight. However, the preset setting cannot always be the optimum load condition in the actual use. In such cases, servo adjustment may be required. This section describes the basic servo adjustment method. Caution: Rapid and excessive settings are dangerous.
POWER CON No. 4 PCON-CA/CFA Situation that requires adjustment Abnormal noise is generated. Especially, when stopped state and operation in low speed (less than 50mm/sec), comparatively high noise is generated. How to Adjust Ɣ Input the “Torque Filter Time Constant”. Try to increase by 50 as a reference for the setting. If the setting is too large, it may cause a loss of control system stability and lead the generation of vibration.
Chapter 7 I/O Parameter POWER CON 196 PCON-CA/CFA
POWER CON PCON-CA/CFA Chapter 8 Troubleshooting 8.1 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 quick recovery and prevent recurrence of the problem.
POWER CON 8.2 PCON-CA/CFA Fault Diagnosis This section describes faults largely divided into three types as follows: (1) Impossible operation of controller (2) Positioning and speed of poor precision (incorrect operation) (3) Generation of noise and/or vibration 8.2.1 Impossible operation of controller Chapter 8 Troubleshooting Situation At power-on, SV on the status indicator LEDs does not go ON. 198 Possible cause Check/Treatment (1) Proper power is not supplied.
POWER CON PCON-CA/CFA Situation Possible cause ALM in the status display (1) Occurrence of alarm LEDs turns on when the (2) During emergency-stop. power is supplied. 1) Was the emergency-stop switch. 2) EMG- on the power supply connector is not connected. The host controller (PLC) cannot control PIO (24V DC I/O). PIO signal communication is disabled. 1) 24V DC power for PIO is not supplied. 2) Poor contact of flat cable 3) The operation mode setting switch on the front panel is on “MANU” side.
POWER CON PCON-CA/CFA [In the case of Positioner Mode] Situation Both position No. and start signal are input to the controller, but the actuator does not move. Possible cause There is a problem either in PIO signal treatment, position table setting or operation mode selection. 1) Servo OFF condition 2) The pause signal is OFF. 3) Positioning command is issued to a stop position. 4) There is no positioning data set to the commanded position number. (Note) Refer to 2.1.3 [3] PIO Circuit for PIO signal.
POWER CON PCON-CA/CFA [Startup Adjustment with Teaching Tool when Control Circuit Incomplete] Situation Operation is not performed even though the teaching tool is connected, and power to the controller motor and control circuit is supplied. (the emergency stop switch is released on the teaching tool) Possible cause Cable treatment or mode selection. 1) Emergency stop condition 2) Servo OFF condition 3) In pause Check/Treatment 1) Supply 24V DC to EMGterminal of the power connector.
POWER CON 8.2.2 PCON-CA/CFA Positioning and speed of poor precision (incorrect operation) Situation Completion of operation on the way to home return Possible cause In the home return of our standard specification, the actuator is first pressed to the mechanical end, moved oppositely, and subject to positioning stop at the home position. Therefore, the product may judge as the mechanical end even though it is still on the way when the load is large and interfere with surrounding object.
POWER CON PCON-CA/CFA [In the case of Pulse Train Control Mode] Situation The actuator does not stop at the command position. 203 Chapter 8 Troubleshooting The actuator does not reach the command position when operated with extremely low speed. Possible cause Check/Treatment PIO signal processing or parameter 1) Check the setting of electronic setting is incorrect. gear ratio.
POWER CON 8.2.3 PCON-CA/CFA Generation of noise and/or vibration Situation Generation of noise and/or vibration from actuator itself Possible cause Noise and vibration are generated by many causes including the status of load, the installation of the actuator, and the rigidity of the unit on which the actuator is installed. [In the case of Positioner Mode] Situation Vibrations of load Possible cause 1) Acceleration/deceleration is set too high.
POWER CON 8.2.4 PCON-CA/CFA Impossible Communication Situation x Not connectable with host machine㩷 Possible cause 1) Communication rates do not match. 2) The machine number (station number) is set to be duplicate with that of another unit or out of the range. 3) Parameter No.17 “Minimum delay time for slave transmitter activation” is set incorrectly.
POWER CON 8.3 PCON-CA/CFA Alarm Level The alarms are classified to 3 types of levels by the content of the error. Alarm level ALM lamp *ALM signal Message(Note 1) OFF No output Operation release ON Output Cold start ON Output Status when an Cancellation method error occurred No stop Alarm of maintenance output such as battery voltage drop or the teaching tool such as PC software [Refer to Instruction Manual of each tool for details.
POWER CON 8.
POWER CON Alarm Code 080 Alarm Level 082 083 PCON-CA/CFA Alarm Name Cause/Treatment Move command in servo OFF Cause Position command in incomplete home return Cause Numerical command in incomplete home return Cause Treatment Treatment Treatment Chapter 8 Troubleshooting 084 Absolute position move command when home return is not yet completed Cause Position No.
POWER CON Alarm Code 0A1 Alarm Level PCON-CA/CFA Alarm Name Cause/Treatment Parameter data error Cause Position data error Treatment Cause Cold start 0A2 0A3 Position command data error 0A4 Command counter overflow Operation release 0A7 Cause Treatment Cause Treatment Command deceleration error Cause Deceleration starting position not resulting in soft limit overshoot If a command is issued here, soft limit overshoot will occur.
POWER CON Alarm Code 0A8 Alarm Level PCON-CA/CFA Alarm Name Unsupported motor/encoder types Cause/Treatment Cause Treatment Chapter 8 Troubleshooting 0B8 Excitement detection error Cold start 0BA Treatment Home sensor non-detection Operation release 0BE Cause Cause Treatment Home return timeout Cause Treatment 210 : The motor connected to the controller is not applicable or the type of the encoder that the motor is connected is not applicable.
POWER CON Alarm Code 0C0 Alarm Level PCON-CA/CFA Alarm Name Actual speed excessive Cause/Treatment Cause Treatment 0C1 Servo error Cause Operation release 0C8 Overcurrent Cause Treatment 0C9 Cold start Overvoltage Cause Treatment 211 Chapter 8 Troubleshooting Treatment : This indicates the number of motor rotation exceeded the number of allowable rotation. 1) The slide resistance of the actuator is locally high. 2) The load is increased too much due to a external force.
POWER CON Alarm Code 0CA Alarm Name Overheat Cold start Chapter 8 Troubleshooting 0CC Alarm Level PCON-CA/CFA 0CE Control power source voltage error Drop in control supply voltage Operation release 0D4 Drive Source Error Cold start 212 Cause/Treatment Cause : This indicates overheat (90qC or more) of the components inside the controller. 1) Operation is performed with the load condition exceeding the specified range. 2) High temperature around the controller.
POWER CON Alarm Code 0D5 Alarm Level PCON-CA/CFA Alarm Name Differential Counter Overflow with Home Return Incomplete Cold start Cause/Treatment Cause Treatment 0D6 FAN error detection Cause 0D8 Deviation overflow Treatment Cause 0D9 0DC Operation release Software stroke limit exceeded Cause Pressing motion range over error Cause Treatment Treatment 213 Chapter 8 Troubleshooting Treatment : This alarm indicates that the position deviation counter has overflowed.
POWER CON Chapter 8 Troubleshooting Alarm Code 0E0 Alarm Level PCON-CA/CFA Alarm Name Overload : 1) The work weight exceeds the rated weight, or an external force is applied and the load increased. 2) If the actuator is equipped with a brake, the brake is not released. 3) The slide resistance of the actuator is locally high. Treatment : 1) Check the work and its surrounding area to remove the cause.
POWER CON Alarm Code 0E8 Alarm Level PCON-CA/CFA Alarm Name A- and B-phase wire breaking Cold start 0ED Absolute encoder error detection 1 0EE Absolute encoder error detection 2 0EF Absolute encoder error detection 3 0F1 Field bus link error 0F2 Field bus module error 0F3 Field bus module not detected 0F4 Cold start Mismatched PCB Cause : Encoder signals cannot be detected correctly.
POWER CON Alarm Code 0F5 Alarm Level PCON-CA/CFA Alarm Name Cause/Treatment Nonvolatile memory write verify error Alarm on teaching tool It is verified at the data writing process to the non-volatile memory that the data inside the memory and the data to be written are matched. There was a mismatch detected in this process. Cause : Faulty nonvolatile memory. Treatment : When the error is caused even when the power is re-input, please contact IAI.
POWER CON Chapter 9 9.1 PCON-CA/CFA Appendix Way to Set Multiple Controllers with 1 Teaching Tool It is usually necessary to connect the teaching tool to the controllers one by one when making a setup to multiple controllers with one unit of teaching tool. In this section, explains how to perform the settings without connecting and disconnecting the plug.
POWER CON 9.1.2 PCON-CA/CFA Detailed Connection Diagram of Communication Lines Double Shield Cable(Note 1) Recommended : Taiyo Cabletec Corp.
POWER CON 9.1.4 PCON-CA/CFA Handling of e-CON connector (how to connect) Pin No. Clamp Lever Wire 1) Check the applicable cable size. Check the applicable cable. If it is not applicable, it may cause a connection failure or a breakage of the connector. 2) Check the pin numbers, do not reveal the sheath, and insert the cable till it reaches the end. Revealing the sheath may cause a failure such as short circuit or cable fall out.
POWER CON 9.1.5 PCON-CA/CFA SIO Converter The SIO converter converts the communication mode from RS232C to RS485 or vice versa.
POWER CON PCON-CA/CFA 2) Link-connection Terminal Board (TB1) This is the connection port to obtain communication connection with the controller. Connect terminal “A” on the left side to communication line SGA of the controller. (Terminal A is connected to pin 1 of (7) internally.) Connect terminal “B” on the right side to communication line SGB of the controller. (Terminal B is connected to pin 2 of (7) internally.) Use a twisted pair shielded cable for the connection of SGA and SGB to TB1.
POWER CON PCON-CA/CFA 9.1.6 Communications Cable 1) Controller Link Cable (CB-RCB-CTL002) Controller Side 200mm e-CON Connector 3-1473562-4 (Housing Color : OR) Mini DIN Connector Signal �W OR BL External Dimension Chapter 9 Appendix 9.1.
POWER CON 9.2 PCON-CA/CFA Conformity to Safety Category In this section shows an example of a circuit using the dedicated teaching pendant. However, it is not possible for us to check the conformity of our product to the condition of your system. Therefore, it is necessary that the user construct the circuit considering the condition of use and the categories to be applied.
POWER CON PCON-CA/CFA [2] Wiring and setting of safety circuit (1) Power supply To use safety relays and/or contactors of 24V DC specification in the safety circuit, the control power supply should be used only for the circuit as much as possible. (Do not use the same power source as the driving power supply for this controller.) It is the risk prevention treatment preparing for the cases such as the operation error of the safety circuit caused by not enough power capacity.
POWER CON PCON-CA/CFA Ɣ Upper side (EMG) connector Ɣ Lower side (ENB) connector EMG1EMG1+ EMG2EMG2+ EMGIN EMGOUT ENB1ENB1+ ENB2ENB2+ ENBIN ENBOUT 1 1 6 6 Wiring Color Signal No. YW EMG11 2 YW EMG1+ 3 EMG2AWG24 4 EMG2+ 5 YW EMGIN YW EMGOUT 6 Wiring Color Signal YW ENB1YW ENB1+ ENB2AWG24 ENB2+ YW ENBIN YW ENBOUT No.
POWER CON PCON-CA/CFA [3] Examples of safety circuits 1) In case of category 1 CON-PGA (or Dummy plug : DP-4) Controller ● PCON Connection Cable CB-CON-LB*** EMG1- 24V 0V SW SW Reset Emergency Stop EMG1+ 1 EMG2- 2 EMG2+ 0V 3 EMGIN 4 EMGOUT 5 ENB1- ENB2- ENB1+ 7 Enable SW 6 Chapter 9 Appendix 24V 8 ENB2+ 9 ENBIN 10 11 12 ENBOUT RCB-LB-TG 24V S1 S2 EMG− Solenoid Contactor MPI MPO 226 Motor Power Supply
POWER CON PCON-CA/CFA Ɣ Detailed category 1 circuit example TP SG Controller PCON RCB-LB-TG 1 2 1 1 3 2 2 RTS 13 3 3 CTS 14 4 4 Emergency Stop SW EMG1- 9 5 5 EMG1+ 12 6 6 EMG2- 6 7 7 EMG2+ 5 8 8 Enable SW EMB1- 23 9 9 EMB1+ 24 EMB2- 25 EMB2+ 22 DC24V+ 7 DC24V- 26 SGB 5V ENB EMGA VP24 TP Connection Detecting 24V TP Detection T24V…Output Bypass relay…OPEN TP Not Detected T24V…Not Output Bypass relay…CLOSE EMGB S1 S2 EMG1- EMG1+ 1 EMG2- 2 EMG2+ 3 E
POWER CON 2) PCON-CA/CFA In case of category 2 CON-PGA (or Dummy plug: DP-4) Controller ● PCON Connection Cable CB-CON-LB*** Chapter 9 Appendix G9SA-301 (OMRON) 24V T32 T12 T31 T11 A2 A1 1 2 3 4 5 6 24V S1 42 34 24 14 G9SA-301 (OMRON) 24V 1.EMG1- 2.EMG1+ Emergency stop SW Reset SW 41 33 23 13 1 3.EMG2- Enable SW 2 4.EMG2+ 3 5.EMGIN 4 6.EMGOUT 5 6 7.ENB1- 8.ENB1+ 7 9.ENB2- 8 10.ENB2+ 9 11.ENBIN 10 11 12 12.
POWER CON PCON-CA/CFA Ɣ Detailed category 2 circuit example TP SG Controller PCON RCB-LB-TG 1 2 1 1 3 2 2 RTS 13 3 3 CTS 14 4 4 Emergency Stop SW EMG1- 9 5 5 EMG1+ 12 6 6 EMG2- 6 7 7 EMG2+ 5 8 8 Enable SW EMB1- 23 9 9 EMB1+ 24 EMB2- 25 EMB2+ 22 DC24V+ 7 DC24V- 26 SGB 5V ENB EMGA VP24 TP Connection Detecting 24V TP Detection T24V…Output Bypass relay…OPEN TP Not Detected T24V…Not Output Bypass relay…CLOSE EMGB S1 S2 EMG1- EMG1+ 1 2 EMG2- EMG2+ 3 E
POWER CON 3) PCON-CA/CFA In case of category 3 or 4 CON-PGA (or Dummy plug: DP-4) Controller ● PCON Connection Cable CB-CON-LB*** Chapter 9 Appendix EMG1- EMG1+ 1 EMG2- 2 EMG2+ 3 EMGIN 4 EMGOUT 5 ENB1- Enable SW 6 ENB1+ 7 ENB2- 8 ENB2+ 9 ENBIN 10 11 For Category 4, insert Reset Switch as shown in the diagram. For Category 3, layout the wiring without inserting Reset Switch. 12 ENBOUT RCB-LB-TG Emergency Stop SW Reset SW For Category 4, make the connection of A and B open.
POWER CON PCON-CA/CFA Ɣ Detailed category 3 or 4 circuit example TP SG 2 1 1 3 2 2 RTS 13 3 3 CTS 14 4 4 5 5 6 6 7 7 8 8 9 9 25 EMB2+ 22 DC24V+ 7 DC24V- 26 SGA SGB 5V ENB EMGA VP24 TP Connection Detecting 24V TP Detection T24V…Output Bypass relay…OPEN TP Not Detected T24V…Not Output Bypass relay…CLOSE EMGB 24V S1 S2 EMG− Shell Reset SW Chapter 9 Appendix For Category 4, insert Reset Switch as shown in the diagram.
POWER CON PCON-CA/CFA [4] TP adapter and accessories 1) TP adapter external dimensions 25 65 (2) 56 45 3 8.5 50.5 48 2.75 Chapter 9 Appendix 2-φ3.
POWER CON 2) PCON-CA/CFA Connection Cable (Accessories) Ɣ Controller/TP Adaptor Connection Cable Use this cable to connect the controller and TP adapter (RCB-LB-TG). Model : CB-CON-LB005 (standard cable length : 0.5m) Maximum cable length : 2.0m Color Signal No. BR YW RD OR BL GN PL GY Shield SGA SGB 5V ENBL EMGA 24V GND EMGB FG 8PIN MIN DIN Connector (overmolded) No.
POWER CON 3) PCON-CA/CFA Dummy plug (Accessories) Connect a dummy plug to the teaching pendant connecting connector. Make sure to connect a dummy plug if the AUTO mode is specified. Without the connection, it will be the emergency stop condition. Model : DP-4 Signal Plug : TX20A-26PH1-D2P1-D1E (JAE) Chapter 9 Appendix Short-circuit processing. 9.
POWER CON 9.4 PCON-CA/CFA Example of Basic Positioning Sequence (PIO pattern 0 to 3) This section shows an example in which a simple operation box directs PCON to move the actuator successively to three positions on an axis. 9.4.
POWER CON 9.4.2 PCON-CA/CFA Ladder Sequence [1] Servo ON (Emergency Stop) Circuit 1) It is presumed that the emergency stop release circuit installed in the operation box possesses the self-retaining circuit as shown in “2.1.3 [1] Emergency Stop Circuit”. When it comes to the emergency stop release condition, “Servo-on” signal from PLC to PCON turns ON.
POWER CON PCON-CA/CFA [3] Pause Circuit Pause is provided by a single pushbutton. In a similar way as use of an alternate switch, push the button to make the actuator pause and push it again to release the pause of the actuator. Pushing the pushbutton leads the “pause command and pause lamp ON” state and pushing the pushbutton again brings “pause release command and pause lamp OFF”. To make it easy to understand the circuit, this circuit is designed to replace contact b input with contact a.
POWER CON PCON-CA/CFA [4] Reset Circuit If the “Stop” button on the operation box is pushed during pause, the “Reset” signal sent from PLC to PCON is turned ON and the remaining moving distance is cancelled. In addition, this operation releases the pause. (It is because the pause is not required with no remaining moving distance.
POWER CON PCON-CA/CFA [5] Home Return Circuit Similar to the operation circuit, this is used to determine whether the controller can be operated. (Confirmation of ready status of controller) 040 (Interlock) Turns the “Home return” signal OFF at completion of home return. It is set as it would not be able to home return again after the home return operation is complete unless “Home Return Complete” signal turns OFF.
POWER CON PCON-CA/CFA [6] Decode Circuit of Positioning Complete Position No. The decode circuit converts the binary data of positioning complete position No. sent from PCON to PLC into the corresponding bit data. This is the timer to prevent the code reading error since the scanning is held independently by PLC and RC controller. IN13 054 200ms is set to TIM4 PEND Point Positioning Completion IN5 056 061 PM1 Completed Position No2. IN5 IN6 PM1 IN5 PM1 Completed Position No.
POWER CON PCON-CA/CFA [8] Position 1 Operation Circuit The main circuit is designed to process and manage signals “start” o “moving” o “positioning complete” to move the actuator to position No.1. 078 AUX7 Position 1 Positioning Start Pulse AUX17 Position 3 Positioning Complete IN13 AUX10 OUT1 STARTL Position 1 Positioning RC Start Point Start Check Display Positioning Completion PEND If 1 is not pulsed, 3 is reset with 4 turned ON and 2 is turned ON again.
POWER CON PCON-CA/CFA [9] Position 2 Operation Circuit The main circuit is designed to process and manage signals “start” o “moving” o “positioning complete” to move the actuator to position No.2. This circuit indicates the same sequence as that of position No.1.
POWER CON PCON-CA/CFA [10] Position 3 Operation Circuit The main circuit is designed to process and manage signals “start” o “moving” o “positioning complete” to move the actuator to position No.3. This circuit indicates the same sequence as that of position No.1.
POWER CON PCON-CA/CFA [11] Commanded Position No. Output Ready Circuit The ready circuit is designed to hold start command and output commanded position No. in the binary code. Interlock is taken so that position No. command may not be specified incorrectly. AUX9 135 Auxiliary Position 1 Positioning Start AUX12 Auxiliary Position 2 Positioning Start AUX15 Auxiliary Position 3 Positioning Start AUX19 Position 2 Set AUX20 Position No.1, 2, or 3 set relay Position No.
POWER CON PCON-CA/CFA [12] Commanded Position No. Output Circuit Depending on the result of the ready circuit, this circuit converts position No. to the binary code and outputs the data from PLC to PCON. 156 AUX18 [Position No.1] OUT8 Position 1 Set Command Position 1 PC1 AUX20 Position 3 Set 159 AUX19 [Position No.3] [Position No.
POWER CON PCON-CA/CFA [14] Other Display Circuits (Zone 1, Position Zone, and Manual Mode) 168 IN9 ZONE1 170 IN10 PZONE OUT6 ZONEL OUT6 Zone 1 Display Position Zone Display PZONEL Position Zone 172 IN11 RMDS OUT7 RMDL Manual Mode Display Operation Mode Chapter 9 Appendix [Reference] Programs and functions of PLC are expressed differently depending on manufacturers. However, the contents of sequence designs do not vary fundamentally.
POWER CON 9.5 PCON-CA/CFA List of Specifications of Connectable Actuators The specifications included in this specification list are limited to those needed to set operating conditions and parameters. For other detailed specifications, refer to the catalog or operation manual for your actuator. Caution x x x x Actuator series The push force is based on the rated push speed (factory setting) indicated in the list, and provides only a guideline.
POWER CON Actuator series Type RGD4C Feed screw Ball screw PCON-CA/CFA No. of encoder pulses Lead Mounting direction Minimum speed [mm/s] [mm] 10 Horizontal/ vertical 12.5 5 Horizontal/ vertical 6.25 800 2.5 Horizontal 3.12 Vertical 16 RA6C Ball screw 800 8 4 16 RGS6C Ball screw 800 8 4 Chapter 9 Appendix 16 RCP2 (rod type) RGD6C Ball screw 800 8 4 RA8C Ball screw 800 10 5 10 RA10C Ball screw 800 5 2.
POWER CON Actuator series Type Feed screw PCON-CA/CFA No. of encoder pulses Lead Mounting direction Minimum speed [mm/s] [mm] Horizontal 20 25 Vertical SA5C Ball screw 800 Horizontal 12 15 Vertical 6 7.5 Vertical Horizontal 3 3.75 Vertical Horizontal 12 15 Vertical SA5R Ball screw 800 Horizontal 6 7.5 Vertical Horizontal 3 3.
POWER CON Actuator series Type Feed screw PCON-CA/CFA No. of encoder pulses Lead Mounting direction Minimum speed [mm/s] [mm] Horizontal 20 25 Vertical SA6C Ball screw 800 Horizontal 12 15 Chapter 9 Appendix Vertical Horizontal RCP2 (slider type) 6 7.5 Vertical Horizontal 3 3.75 Vertical Horizontal 12 15 Vertical SA6R Ball screw 800 Horizontal 6 7.5 Vertical Horizontal 3 3.
POWER CON Actuator series Type Feed screw PCON-CA/CFA No. of encoder pulses Lead Ball screw 800 8 4 16 SA7R Ball screw 800 8 4 12 SS7C Ball screw 800 6 3 12 SS7R Ball screw Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal 20 10 5 20 10 6 3 Horizontal Vertical Horizontal Vertical Ball screw 600 (at 50 to 500st) 470 (at 600st) 7.
POWER CON Actuator series Type Feed screw PCON-CA/CFA No. of encoder pulses Lead Mounting direction Minimum speed [mm/s] [mm] Horizontal 20 25 Vertical SS8R Ball screw Horizontal 800 10 12.5 Vertical Horizontal RCP2 (slider type) 5 6.25 Vertical HS8C Ball screw Horizontal 800 30 37.5 Chapter 9 Appendix Vertical HS8R Ball screw Horizontal 800 30 37.
POWER CON Actuator series Type Feed screw PCON-CA/CFA No.
POWER CON Actuator series Type Feed screw PCON-CA/CFA No. of encoder pulses 2 1 4 2 800 1 4 Ball screw High thrust type 2 1 6 Lead screw Mounting direction 4 Horizontal/ vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal/ vertical Chapter 9 Appendix 6 Ball screw Standard type RA2BC 4 800 2 1 6 Ball screw High thrust type 4 2 1 RA2AR Lead screw 800 RA2BR Lead screw 800 4 2 1 6 4 2 254 5 2.5 1.
POWER CON Actuator series RCP3 (slider type) Type Feed screw PCON-CA/CFA No. of encoder pulses SA2AC Lead screw 800 SA2BC Lead screw 800 Lead Mounting direction [mm/s] [mm] 4 2 1 Horizontal 6 SA2AR Lead screw 800 SA2BR Lead screw 800 2 1 4 10 Ball screw 800 5 2.5 RCP3 (slider type) 10 SA4R Ball screw 800 7.5 300 5 200 2.5 100 12.5 380 (at 50st) 500 (at 100st to 500st) 6.25 250 5 5 2.
POWER CON Actuator series Type Feed screw PCON-CA/CFA No. of encoder pulses Lead Mounting direction Minimum speed [mm/s] [mm] Horizontal 20 25 Vertical SA5C Ball screw 800 Horizontal 12 15 Chapter 9 Appendix Vertical Horizontal RCP3 (slider type) 6 7.5 Vertical Horizontal 3 3.75 Vertical Horizontal 12 15 Vertical SA5R Ball screw 800 Horizontal 6 7.5 Vertical Horizontal 3 3.
POWER CON Actuator series Type Feed screw PCON-CA/CFA No. of encoder pulses Lead Mounting direction Minimum speed [mm/s] [mm] Horizontal 20 25 Vertical SA6C Ball screw 800 Horizontal 12 15 Vertical 6 7.5 Vertical Horizontal 3 3.75 Vertical Horizontal 12 15 Vertical SA6R Ball screw 800 Horizontal 6 7.5 Vertical Horizontal 3 3.
POWER CON Actuator series Type Feed screw PCON-CA/CFA No. of encoder pulses Lead [mm] 6 TA3C Ball screw 800 4 2 6 TA3R Ball screw 800 4 2 6 TA4C Ball screw 800 4 2 6 TA4R Ball screw 800 4 Chapter 9 Appendix 2 10 TA5C Ball screw 800 5 2.5 RCP3 (table type) 10 TA5R Ball screw 800 5 2.
POWER CON Actuator series Type Feed screw PCON-CA/CFA No. of encoder pulses Lead Mounting direction Minimum speed [mm/s] [mm] Horizontal 20 25 Vertical Horizontal SA5C Ball screw 800 12 15 Vertical Horizontal 6 7.5 Vertical Horizontal 3 3.75 Vertical [mm/s] (Note) It is the value when high-thrust function is effective.
POWER CON Actuator series Type Feed screw PCON-CA/CFA No. of encoder pulses Lead Mounting direction Minimum speed [mm/s] [mm] Horizontal 20 25 Vertical Chapter 9 Appendix Horizontal RCP4 (slider type) SA6C Ball screw 800 12 15 Vertical Horizontal 6 7.5 Vertical Horizontal 3 3.75 Vertical 260 Maximum speed [mm/s] (Note) It is the value when high-thrust function is effective.
POWER CON Actuator series Type Feed screw PCON-CA/CFA No. of encoder pulses Lead Mounting direction Minimum speed [mm/s] [mm] Horizontal 24 30 Vertical Horizontal 16 20 Vertical SA7C Ball screw 800 Horizontal 8 10 Vertical Horizontal 4 5 Vertical [mm/s] (Note) It is the value when high-thrust function is effective. 1200 (at 50 to 600st) 1155 (at 650st) 1010 (at 700st) 890 (at 750st) 790 (at 800st) (Note) It is the value when high-thrust function is effective.
POWER CON Actuator series Type Feed screw PCON-CA/CFA No. of encoder pulses Lead [mm] 20 RA5C Ball screw 12 800 6 3 RCP4 (rod type) 24 RA6C Ball screw 16 800 8 Chapter 9 Appendix 4 262 Mounting direction Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Minimum speed Maximum speed [mm/s] [mm/s] 25 800 15 700 7.5 450 3.
POWER CON PCON-CA/CFA Correlation diagram of speed and loading capacity for the slider type (motor-straight type) Vertical installation Load capacity (kg) Load capacity (kg) High-speed type Horizontal installation Speed (mm/sec) Load capacity (kg) Load capacity (kg) Speed (mm/sec) Load capacity (kg) Load capacity (kg) Low-speed type Speed (mm/sec) Speed (mm/sec) (Note) Chapter 9 Appendix Medium-speed type Speed (mm/sec) Speed (mm/sec) In the above graphs, the number after the type code
POWER CON PCON-CA/CFA Correlation diagram of speed and loading capacity for the slider type (motor-reversing type) Vertical installation Load capacity (kg) Load capacity (kg) High-speed type Horizontal installation Speed (mm/sec) Load capacity (kg) Medium-speed type Load capacity (kg) Speed (mm/sec) Load capacity (kg) Load capacity (kg) Speed (mm/sec) Low-speed type Chapter 9 Appendix Speed (mm/sec) Speed (mm/sec) (Note) 264 Speed (mm/sec) In the above graphs, the number after the type
POWER CON PCON-CA/CFA Correlation diagram of speed and loading capacity for the standard rod type Vertical installation Load capacity (kg) Load capacity (kg) High-speed type Horizontal installation (Note 1) Speed (mm/sec) Load capacity (kg) Load capacity (kg) Speed (mm/sec) Load capacity (kg) Load capacity (kg) Speed (mm/sec) Low-speed type Chapter 9 Appendix Medium-speed type Speed (mm/sec) Speed (mm/sec) Speed (mm/sec) (Note) In the above graphs, the number after the type code indicate
POWER CON PCON-CA/CFA Correlation diagram of speed and loading capacity for the single-guide type Vertical installation Load capacity (kg) Load capacity (kg) High-speed type Horizontal installation Speed (mm/sec) Load capacity (kg) Medium-speed type Load capacity (kg) Speed (mm/sec) Load capacity (kg) Load capacity (kg) Speed (mm/sec) Low-speed type Chapter 9 Appendix Speed (mm/sec) Speed (mm/sec) (Note) 266 Speed (mm/sec) In the above graphs, the number after the type code indicates t
POWER CON PCON-CA/CFA Correlation diagram of speed and loading capacity for the double-guide type Vertical installation Load capacity (kg) Load capacity (kg) High-speed type Horizontal installation Speed (mm/sec) Load capacity (kg) Load capacity (kg) Speed (mm/sec) Load capacity (kg) Load capacity (kg) Low-speed type Speed (mm/sec) Speed (mm/sec) (Note) Chapter 9 Appendix Medium-speed type Speed (mm/sec) Speed (mm/sec) In the above graphs, the number after the type code indicates the le
POWER CON PCON-CA/CFA Correlation diagram of speed and loading capacity for the dustproof/splash-proof type Vertical installation (Note 2) Load capacity (kg) Load capacity (kg) High-speed type Horizontal installation (Note 1) Speed (mm/sec) Load capacity (kg) Medium-speed type Load capacity (kg) Speed (mm/sec) Load capacity (kg) Load capacity (kg) Speed (mm/sec) Low-speed type Chapter 9 Appendix Speed (mm/sec) Speed (mm/sec) Speed (mm/sec) (Note) In the above graphs, the number after the
POWER CON PCON-CA/CFA Correlation Diagram between Speed and Load Capacity for High-Thrust Type Horizontal installation Vertical installation Lead 5 Load capacity (kg) R A 8 C Load capacity (kg) Lead 5 Lead 10 Lead 10 Speed (mm/sec) Speed (mm/sec) Lead 5 Load capacity (kg) Lead 10 Speed (mm/sec) Lead 10 Chapter 9 Appendix R A 8 R Load capacity (kg) Lead 5 Speed (mm/sec) Load capacity (kg) R A 10 C Load capacity (kg) Lead 2.5mm Lead 5mm Lead 10mm Lead 2.
POWER CON PCON-CA/CFA Correlation diagram of speed and loading capacity for the RCP3 slider type Horizontal installation Vertical installation Lead 4 Lead 6 Load capacity (kg) S A 3 C Load capacity (kg) Lead 2 Lead 2 Lead 4 Speed (mm/sec) Lead 6 Speed (mm/sec) Lead 5 Lead 10 Load capacity (kg) Load capacity (kg) S A 4 C Lead 2.
POWER CON PCON-CA/CFA Correlation diagram of speed and loading capacity for the RCP3 table type Horizontal installation Vertical installation Lead 2.5 Lead 5 Lead 10 Load capacity (kg) T A 5 C Load capacity (kg) Lead 2.
POWER CON PCON-CA/CFA Correlation diagram of speed and loading capacity for the RCP4 slider type Horizontal installation Vertical installation 14 25 Lead 3 Lead 6 15 Lead 12 10 Lead 20 (0.3G Operation) The values for Lead 3/6/12 are when operated with 0.3G. Lead 3 12 Load capacity (kg) S A 5 C Load capacity (kg) 20 The values for Lead 3/6/12 are when operated with 0.3G. 10 8 Lead 6 6 4 Lead 12 5 2 Lead 20 (0.5G Operation) Lead 20 (0.
POWER CON PCON-CA/CFA Correlation diagram of speed and loading capacity for the RCP4 rod type Horizontal installation Vertical installation 70 25 50 Lead 6 40 30 20 Lead 12 100 200 300 400 500 600 10 Lead 6 Lead 12 Lead 20 Lead 20 0 15 5 10 0 The values shown below are when operated with 0.3G. Lead 3 20 Load capacity (kg) Load capacity (kg) 60 R A 5 C The values shown below are when operated with 0.3G.
POWER CON PCON-CA/CFA Push Force and Current-limiting Value Caution x x x x The relationship of push force and current-limiting value is based on the rated push speed (factory setting) and provides only a guideline. Make sure the actual push force is equal to or greater than the minimum push force. If not, the push force will not stabilize. Do not change the setting of push speed (parameter No.34). If you must change the push speed, consult IAI.
POWER CON RCP2 Series PCON-CA/CFA Rod High-Thrust Type Push force (N) RA8C/RA8R Type Lead 5 Lead 10 * Pressing speed at 10mm/s Current-limiting value (%) RA10C Type Push force (N) Chapter 9 Appendix Current-limiting value (ratio, %) 275
POWER CON Push force (N) RCP2 Series PCON-CA/CFA Short Type Lead 2.
POWER CON Gripper Gripping force (N) Gripping force (N) RCP2 Series PCON-CA/CFA Current-limiting value (ratio, %) Current-limiting value (ratio, %) Current-limiting value (ratio, %) Push force (N) Chapter 9 Appendix Gripping force (N) Gripping force (N) Current-limiting value (ratio, %) Standard type High-speed type Current-limiting value (ratio, %) 277
POWER CON 3-finger Gripper Gripping force (N) Gripping force (N) RCP2 Series PCON-CA/CFA Current-limiting value (ratio, %) Gripping force (N) Gripping force (N) Chapter 9 Appendix Current-limiting value (ratio, %) Current-limiting value (ratio, %) 278 Current-limiting value (ratio, %)
POWER CON RCP3 Series PCON-CA/CFA Slim, Compact Rod Type RA2BC/RA2BR Lead 2 Push force (N) Push force (N) RA2AC/RA2AR Lead 1 Current-limiting value (ratio, %) RA2AC/RA2AR Lead 2 RA2BC/RA2BR Lead 4 Push force (N) Push force (N) Current-limiting value (ratio, %) Current-limiting value (ratio, %) RA2AC/RA2AR Lead 4 RA2BC/RA2BR Lead 6 Push force (N) Push force (N) Chapter 9 Appendix Current-limiting value (ratio, %) Current-limiting value (ratio, %) Current-limiting value (ratio, %) 279
POWER CON RCP3 Series PCON-CA/CFA Slider Type SA4C Type Push force (N) Push force (N) SA3C Type Current-limiting value (ratio, %) Current-limiting value (ratio, %) Chapter 9 Appendix Push force (N) SA5C/SA6C Type Current-limiting value (ratio, %) RCP3 Series Slim, Compact Table Type TA3C/TA3R Type TA4C/TA4R Type Lead 4 Lead 6 Push force (N) Push force (N) Lead 2 Lead 6 Table Type TA6C/TA7C Type Push force (N) Push force (N) TA5C Type Current-limiting value (ratio, %) 280 Lead 4 Cur
POWER CON PCON-CA/CFA Slider Type RCP4 Series SA5C/SA6C Type SA7C Type 800 400 700 300 Lead 3 250 200 Lead 6 150 Lead 12 100 50 0 Push force (N) Push force (N) 350 10 20 30 40 50 60 70 Lead 4 500 400 Lead 8 300 Lead 16 200 100 Lead 20 0 600 0 80 Lead 24 0 10 20 50 60 70 80 Rod Type RCP4 Series RA5C Type RA6C Type 1200 400 350 Push force (N) 1000 300 Lead 3 250 200 Lead 6 150 Lead 12 100 Lead 4 800 600 Lead 8 400 Lead 16 200 50 Lead 20 0 10
Chapter 9 Appendix POWER CON 282 PCON-CA/CFA
POWER CON PCON-CA/CFA Chapter 10 Warranty 10.1 Warranty Period One of the following periods, whichever is shorter: • 18 months after shipment from our factory • 12 months after delivery to a specified location 10.2 Scope of the Warranty Our products are covered by warranty when all of the following conditions are met.
POWER CON PCON-CA/CFA 10.5 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.
POWER CON PCON-CA/CFA Change History Revision Date Revision Description 2011.09 First Edition 2011.11 Edition 1B Contents changed in Safety Guide Caution notes added for when working with two or more persons Corrections to cover, GND connection deleted from differential input in the pulse train input circuit diagram in Pages 25 and 48. Model name changed in Pg. 64 2011.12 Second Edition Contents changed in Specifications Load current in Page 21 2012.
Manual No.: ME0289-5A (December 2012) Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan TEL +81-54-364-5105 FAX +81-54-364-2589 website: www.iai-robot.co.jp/ Technical Support available in USA, Europe and China Head Office: 2690 W.
