Iai-america PCON-CF Manual do Utilizador

Operation Manual Seventeenth EditionPCON-C/CG/CFControllerPositioner Type

826. Data Entry <Basics>Item Air cylinder RCP2Positioncheck upon power ON Determined by an external detection sensor, such as a reed switch. Im

836. Data Entry <Basics>6.3 Notes on the ROBO Gripper (1) Finger operation [1] Definition of position The specified stroke of the 2-finger typ

846. Data Entry <Basics>(2) Removing the gripped work part This gripper is designed to maintain the work part-gripping force via a self-lock me

856. Data Entry <Basics>6.4 Power-saving Modes at Standby Positions One general feature of pulse motors is that their holding current in stands

866. Data Entry <Basics> Full servo control mode The pulse motor is servo-controlled to reduce the holding current. Although the exact degree

876. Data Entry <Basics>Warning: If the next movement command is specified in the incremental mode (based on constant pitch feed), never use th

886. Data Entry <Basics>6.5 Using a Rotary Actuator in Multi-rotation Specification Rotary actuators of multi-rotation specification models let

897. Operation <Practical Steps>7. Operation <Practical Steps> 7.1 How to Start 7.1.1 Timings after Power On  Procedure after initial

907. Operation <Practical Steps>Home return operationHome positionMechanical endPower on positionEmergency stop not actuated (motor drive power

917. Operation <Practical Steps> Procedure of Normal Operation The operating procedure in normal condition is specified below: [1] Reset the

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

927. Operation <Practical Steps>(Note 1) T1: Excited-pole detection time = 0.2 to 12 sec Normally the detection of excited pole completes i

937. Operation <Practical Steps>Warning: Since the drive motor uses a pulse motor, excited-phase detection is performed when the servo is first

947. Operation <Practical Steps> Full-scale operation This product provides energy-saving modes to reduce power consumption in situations where

957. Operation <Practical Steps>MechanicalendHome return input (HOME) Home return complete output (HEND) Position complete output (PEND)Moving o

967. Operation <Practical Steps>Command position 1 to 256 input (PC1 ~ PC256) Start input (CSTR) Home return complete output (HEND) Completed po

977. Operation <Practical Steps>7.2.2 Method Used When No HOME Input Signal Is Available (PIO Pattern = 5) Since no home return signal (HOME) i

987. Operation <Practical Steps>7.3 Positioning Mode (Back and Forth Movement between Two Points) Example of use in operation) The actuator mo

997. Operation <Practical Steps>StartPosition complete MovingActuatorMovement is complete. Position table (Field(s) within thick line must be en

1007. Operation <Practical Steps>7.4 Push & Hold Mode Example of use in operation) The actuator is caused to move back and forth in the pu

1017. Operation <Practical Steps>Position table (Field(s) within thick line must be entered.) No.Position[mm]Speed[mm/s]Acceleration [G]Decelera

1027. Operation <Practical Steps>SpeedReturn actionReturned position250.34 mmTarget position280 mmPosition where the push & hold operation c

1037. Operation <Practical Steps>7.5 Speed Change during Movement Example of use in operation) The actuator speed is reduced at a certain poin

1047. Operation <Practical Steps>Position table (Field(s) within thick line must be entered.) No.Position[mm]Speed[mm/s]Acceleration [G]Decelera

1057. Operation <Practical Steps>7.6 Operation at Different Acceleration and Deceleration Settings Example of use in operation) Positioning is

1067. Operation <Practical Steps>StartPosition complete MovingActuatorMovement is complete. Position table (Field(s) within thick line must be e

1077. Operation <Practical Steps>7.7 Pause Example of use in operation) Pause the actuator during movement. [Effective in PIO pattern = 0 to 4]

1087. Operation <Practical Steps>Command position StartPosition complete Completed position PauseMovingActuator movement 6 msec or moreCommand p

1097. Operation <Practical Steps>7.8 Zone Signal Output Two types of zone output signals are available: zone output (ZONE1) and position zone o

1107. Operation <Practical Steps>Controller [5] [2] [1][9][8] [3] [7] [6] [10] [4] PIOSignal nameStartCommand position 1 Command position 32 Com

1117. Operation <Practical Steps>T1: 6 msec or more; time after selecting/entering a command position until the start input turns ON (The sca

Table of ContentsSafety Guide ... 11.

1127. Operation <Practical Steps>[13][10][5][2] [1][1][2][3][4][5][6][7][8][10][9][7][15][14][11][6][3] [16][11][8][4] [9][11][12][13][14][15][1

1137. Operation <Practical Steps>StartPosition complete MovingActuatorPosition table (Field(s) within thick line must be entered.) T1: 6 msec o

1147. Operation <Practical Steps>7.9.1 Judgment Method of End Position Although completion judgment is based on the applicable count managed by

1157. Operation <Practical Steps>7.9.2 Notes on Incremental Mode If an operation command is issued based on relative coordinate specification w

1167. Operation <Practical Steps>[2] When a relative coordinate operation command is specified while the actuator is moving in the push & h

1177. Operation <Practical Steps>(2) When the relative coordinate operation command specifies an operation in the push & hold mode Example)

1187. Operation <Practical Steps>7.10 Jogging/Teaching Using PIO If the teaching type is selected, you can jog the actuator via operation from

1197. Operation <Practical Steps>Jogging/teaching timing T1: 20 msec or more; time after the current-position write input is turned ON until

1207. Operation <Practical Steps>7.11 Operation in 7-point Type Separate movement command inputs are provided for the target positions for posi

1217. Operation <Practical Steps>Caution: Movement commands are executed based on the rise edge, so input each signal continuously for 6 msec o

zPIO pattern = 1: Teaching mode [Teaching type] ... 51z PIO pattern = 2: 256-point mode [

1227. Operation <Practical Steps>z The movement command input operates in two modes. You can select the operation condition of the movement com

1237. Operation <Practical Steps>z Handling of the pause (*STP) signal This signal is a contact B signal, meaning that it must remain ON while

1247. Operation <Practical Steps>7.12 Operation in 3-point Type After the power has been turned on, input the rear end move command first to co

1257. Operation <Practical Steps>z Meaning of position detected output signals (LS0, LS1, LS2) These signals are handled in the same manner as

1267. Operation <Practical Steps>z Speed change during movement If the load is made of soft material or is a bottle or otherwise topples easily

1277. Operation <Practical Steps>z Pause during movement Since move commands are based on level mode, the actuator continues to move while a mo

1288. Parameter Settings8. Parameter Settings 8.1 Parameter Table Category: a: Parameter relating to the actuator stroke range b: Parameter relatin

1298. Parameter SettingsNo. Category Symbol Name Unit Default factory setting 41 c FPIO Operating-mode input disable selection [0: Enable / 1: D

1308. Parameter Settings8.2 Detail Explanation of Parameters If a parameter has been changed, always restart the controller using a software reset co

1318. Parameter Settingsz Zone boundary (1: No.1/2 ZONM/ZONL 2: No.23/24 ZNM2/ZNL2) These parameters set the zone within which the zone output signal

6.2.9Overview of Teaching Type... 786.2.10 Overview of 7-point

1328. Parameter Settingsz Home return direction (No.5 ORG) Unless specified by the user, the home return direction is set to the motor direction at t

1338. Parameter Settingsz Default acceleration/deceleration (No.9 ACMD)The factory setting is the rated acceleration/deceleration of the actuator.When

1348. Parameter Settingsz Default direction of excited-phase signal detection (No.28 PHSP) When the servo is turned on for the first time after the p

1358. Parameter SettingsMove command Servo status Actuator movement Servo on Automatic servo-off mode (A green LED blinks.) Target positionT: Delay

1368. Parameter Settingsz Push speed (No.34 PSHV) This parameter defines the push speed to be applied after the actuator reaches the target position

1378. Parameter Settingsz Enable function (No.42 FDIO4) Whether to enable or disable the deadman switch function on an ANSI-type teaching pendant is

1388. Parameter Settingsz Torque check range (No.51 TRQZ) This parameter sets whether or not to use the check range when determining if the threshold

1398. Parameter SettingsIf the actuator is moved in the order to positions 1 Æ 2 Æ 3 Æ 4, the actuator will operate differently depending on whether o

1408. Parameter Settings8.2.3 Parameters Relating to the External Interface z PIO pattern selection (No.25 IOPN) Select the PIO operation pattern in

1418. Parameter Settingsz Movement command type (No.27 FPIO) When the PIO pattern is set to “7-point type,” define the operation condition of the mov

zPIO inching distance (No.48 IOID) ... 132z Default speed (No.8 VCMD) ...

1428. Parameter Settingsz Pause input disable selection (No.15 FPIO) Parameter No. 15 defines whether the pause input signal is disabled or enabled.

1438. Parameter Settingsz Output mode of position complete signal (No.39 FPIO) This parameter is effective when any PIO pattern other than “5” [3-poi

1448. Parameter Settingsz Silent interval multiplier (No.45 SIVM) This parameter is not used for this controller. It is applied to controllers of RS4

1458. Parameter Settings8.2.4 Servo Gain Adjustment Before the shipment, the servo has been adjusted in accordance with the standard specification of

1468. Parameter Settingsz Speed loop integral gain (No.32 VLPT) Parameter No. Unit Input range Default 32 --- 1 ~ 217270Set individually in accordan

1473&7HDFKLQJ3HQGDQW&RQQHFWLRQ0HWKRGLQ0XOWLD[LV&RQ¿JXUDWLRQVTeaching pendant [CON-T, RCM-T] PC software (Optional)RS232C cross

1483&7HDFKLQJ3HQGDQW&RQQHFWLRQ0HWKRGLQ0XOWLD[LV&RQ¿JXUDWLRQV9.2 SIO Converter (Optional) This unit is a RS232C-RS485 converter

1493&7HDFKLQJ3HQGDQW&RQQHFWLRQ0HWKRGLQ0XOWLD[LV&RQ¿JXUDWLRQV[4] D-sub, 9-pin connector (RS232C) A connection port with a PLC’s

1503&7HDFKLQJ3HQGDQW&RQQHFWLRQ0HWKRGLQ0XOWLD[LV&RQ¿JXUDWLRQV9.3 Address Switch Set an address (0 to 15) as a hexadecimal (0 to

1513&7HDFKLQJ3HQGDQW&RQQHFWLRQ0HWKRGLQ0XOWLD[LV&RQ¿JXUDWLRQV9.5 Detail Connection Diagram (Note) The user must provide the tw

(1) Message level alarms... 155(2) Cold-start le

15210. Troubleshooting10. Troubleshooting 10.1 Action to Be Taken upon Occurrence of Problem Upon occurrence of a problem, take an appropriate action

15310. Troubleshooting10.2 Alarm Level Classification Alarms are classified into two levels based on the corresponding symptoms. Alarm level ALM lam

15410. Troubleshooting10.3 Alarm Description Output Using PIO In PIO patterns 0 to 3 (64 to 512-point positioning type), alarm information can be out

15510. Troubleshooting10.4 Alarm Description and Cause/Action (1) Message level alarms Code Error name Cause/Action 080 Movement command when servo

15610. TroubleshootingCode Error name Cause/Action 0A3 Position command information data error Cause: The speed or acceleration/deceleration effecti

15710. TroubleshootingnoitcA/esuaCemanrorrEedoC0C1 Servo error This error indicates that the motor could not be operated for 2 seconds or moreafter th

15810. TroubleshootingCode Error name Cause/Action 0D9 Software stroke limit overtravel error Cause: [1] The actuator installed vertically overshot

15910. TroubleshootingCode Error name Cause/Action 0EF Absolute encoder error (3) Cause: The current value changed at a speed equal to or greater tha

16010. Troubleshooting(2) Cold-start level alarmsnoitcA/esuaCemanrorrEedoC0A1Parameter data errorCause: The input range of parameter range data is not

16110. TroubleshootingCode Error name Cause/Action 0E8 Phase-A/B disconnection detection 0E9 Phase-A disconnection detection 0EA Phase-B disconnectio

Push Force and Current-limiting Value...190Fault check and replacem

16210. Troubleshooting10.5 Messages Displayed during Operation Using the Teaching Pendant This section explains the warning messages that may be disp

16310. TroubleshootingCode Message name Description 180 Address change OK 181 Controller initialization OK 182 Home change all clear 183 I/O func

16410. TroubleshootingCode Message name Description 30C No connected axis This message indicates that no controller address is recognized. Cause:

16510. Troubleshooting10.6 Specific Problems z I/O signals cannot be exchanged with the PLC. Cause: [1] The 24-V I/O power supply is connected in re

16610. Troubleshootingz Home return ends in the middle in a vertical application. Cause: [1] The load exceeds the rating. [2] The ball screw is rece

16710. Troubleshootingz A servo error occurred while the actuator was moving (ROBO Gripper). Cause: The work part was not positioned properly and co

16810. Troubleshootingz Abnormal operation results when the servo is turned ON after the power ON. Cause: Excitation phase detection was not perform

169* Appendix* Appendix List of Specifications of Connectable Actuators The specifications included in this specification list are limited to those ne

170* AppendixLeadMinimumspeedMaximum speed Maximum acceleration/decelerationMinimumpush force Maximum push forceRated push speedActuator series Type F

171* AppendixLeadMinimumspeedMaximum speed Maximum acceleration/decelerationMinimumpush force Maximum push forceRated push speedActuator series Type F

1Safety Guide“Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read

172* AppendixLeadMinimumspeedMaximum speed Maximum acceleration/decelerationMinimumpush force Maximum push forceRated push speedActuator series Type F

173* AppendixLeadMinimumspeedMaximum speed Maximum acceleration/decelerationMinimumpush force Maximum push forceRated push speedActuator series Type F

174* AppendixLeadMinimumspeedMaximum speed Maximum acceleration/decelerationMinimumpush force Maximum push forceRated push speedActuator series Type F

175* AppendixLeadMinimumspeedMaximum speed Maximum acceleration/decelerationMinimumpush force Maximum push forceRated push speedActuator series Type F

176* AppendixLeadMinimumspeedMaximum speed Maximum acceleration/decelerationMinimumpush force Maximum push forceRated push speedActuator series Type F

177* AppendixLeadMinimumspeedMaximum speed Maximum acceleration/decelerationMinimumpush force Maximum push forceRated push speedActuator series Type F

178* AppendixLeadMinimumspeedMaximum speed Maximum acceleration/decelerationMinimumpush force Maximum push forceRated push speedActuator series Type F

179* AppendixLeadMinimumspeedMaximum speed Maximum acceleration/decelerationMinimumpush force Maximum push forceRated push speedActuator series Type F

180* AppendixLeadMinimumspeedMaximum speed Maximum acceleration/decelerationMinimumpush force Maximum push forceRated push speedActuator series Type F

181* AppendixAppendixCorrelation diagram of speed and loading capacity for the slider type (motor-straight type) (Note) In the above graphs, the numb

2No.OperationDescriptionDescription2 Transportation Ɣ When carrying a heavy object, do the work with two or more persons or utilize equipment such as

182* AppendixAppendixCorrelation diagram of speed and loading capacity for the slider type (motor-reversing type) (Note) In the above graphs, the num

183* AppendixAppendixCorrelation diagram of speed and loading capacity for the standard rod type (Note) In the above graphs, the number after the typ

184* AppendixAppendixCorrelation diagram of speed and loading capacity for the single-guide type (Note) In the above graphs, the number after the typ

185* AppendixAppendixCorrelation diagram of speed and loading capacity for the double-guide type (Note) In the above graphs, the number after the typ

186* AppendixAppendixCorrelation diagram of speed and loading capacity for the dustproof/splash-proof type (Note) In the above graphs, the number aft

187* AppendixAppendixCorrelation diagram of speed and load capacity for the high-thrust type Horizontal installation Vertical installation High-spe

188* AppendixAppendixCorrelation diagram of speed and loading capacity for the RCP3 slider type Horizontal installation Vertical installation Speed (

189* AppendixAppendixCorrelation diagram of speed and loading capacity for the RCP3 table type Horizontal installation Vertical installation Speed (m

190* AppendixAppendixPush Force and Current-limiting Value RCP2 Series Rod Type RA2C TypeCurrent-limiting value (ratio, %)Push force (N)High-speed ty

191* AppendixAppendixNoteUse the table below as reference on the maximum limit number of push-motion operations when an actuator of each lead type is

3No.OperationDescriptionDescription(2) Cable WiringƔ Use our company’s genuine cables for connecting between the actuator and controller, and for the

192* AppendixAppendixRCP2 Series Short Type Current-limiting value (ratio, %) Push force (N) Slider Type RCP2 Series Current-limiting value (ratio, %)

193* AppendixAppendixGripperRCP2 Series Current-limiting value (ratio, %) Gripping force (N) Current-limiting value (ratio, %) Gripping force (N) Curr

194* AppendixAppendix3-finger Gripper RCP2 Series Current-limiting value (ratio, %) Gripping force (N) Current-limiting value (ratio, %) Gripping forc

195* AppendixAppendixSlim, Compact Rod Type RCP3 Series Current-limiting value (ratio, %) Push force (N) Current-limiting value (ratio, %) Push force

196* AppendixAppendixSlider Type RCP3 Series Current-limiting value (ratio, %) Push force (N) Current-limiting value (ratio, %) Push force (N) SA3C Ty

197* AppendixAppendixMicro-cylinderRCL Series Current-limiting value (ratio, %) Push force (N)

198* AppendixAppendixFault check and replacement of the cooling fan A cooling fan is installed in the large-capacity type (PCON-CF). To check if the

199* AppendixAppendix3) Check if the fan is normal. (Note) To extend the service life of the fan, a temperature sensor is used to detect the tempe

200* AppendixAppendixExample of Basic PCON Positioning Sequence Given below is an example of basic sequence for creating a positioning sequence using

201* AppendixAppendixPENDMNNOSSJMNM(A)PPOOQQQPPBJOSRORRCurrent positioning completed position (Positioning circuit for position 2) Positioning start r

4No.OperationDescriptionDescription4 Installation and Start(4) Safety MeasuresƔ When the work is carried out with 2 or more persons, make it clear who

202* AppendixAppendixSPC1PC2PC4PC8Timer 2CSTRTimer 2 JOPosition 3 set signalPosition 5 set signalCommand position 1Command position 2Position 6 set si

203* AppendixAppendixRecording of Parameters Recorded date: Category: a: Parameter relating to the actuator stroke range b: Parameter relating to t

204* AppendixAppendixNo. Category Name Unit Recorded data 41 c Operating-mode input disable selection [0: Enable / 1: Disable] -42 b Enable functio

205Change HistoryAppendixRevision Date Description of RevisionChange History2006.10Second edition2007.03Third edition2007.04Fourth editionFifth editio

206Change HistoryAppendixRevision Date Description of Revision2011.072012.052012.072013.01Fourteenth edition• Contents changed in 1.5 Warranty in P. 1

Manual No.: ME0170-17A (January 2013)The information contained in this document is subject to change without notice for purposes ofproduct improvement

5No.OperationDescriptionDescription6 Trial Operation Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader and

6No.OperationDescriptionDescription8 Maintenanceand InspectionƔ When the work is carried out with 2 or more persons, make it clear who is to be the le

7Alert IndicationThe safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and d

8

91. Overview1. Overview 1.1 Introduction This product is a dedicated RCP2 / RCP3 actuator controller that provides the same functions of the RCP2 cont

101. Overview1.2 How to Read the Model Specification<Series><Type>C: Positioner type with internal drive-power cutoff relayCG: Positioner

111. OverviewStandard teaching pendant<CON-T, RCM-T> External EMG switch 24 V0 V Host system <PLC> Supplied flat cableInput power supply

Please Read Before UseThank you for purchasing our product.This Operation Manual explains the handling methods, structure and maintenance of this prod

121. OverviewStandard teaching pendant<CON-t, RCM-T> Host system <PLC> Supplied flat cableInput power supply 24 VDC24-VDC I/O power supply

131. Overview1.4 Procedure from Unpacking to Test Operation and Adjustment If you are using this product for the first time, carry out each step by r

141. Overview6Turn on the servo Confirm that the slider or rod is not contacting a mechanical end. If the slider/rod is contacting a mechanical end, m

151. Overview1.5 Warranty1.5.1 Warranty PeriodOne of the following periods, whichever is shorter:18 months after shipment from our factory12 months af

161. Overview1.5.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications(1)1.5.6 Other Items Excluded from Warranty[

176SHFL¿FDWLRQV2. Specifications2.1 Basic SpecificationsSpecification itemPCON-C(Internal Drive-Power CutoffRelay Type)PCON-CG(External Drive-Power

186SHFL¿FDWLRQV2.2 Name and Function of Each Part of the Controller  Indication of PIO pattern number If you have multiple systems and a differe

196SHFL¿FDWLRQV Explanation of each switch [1] Address switch If multiple axes are used, the PC/teaching pendant must be plugged into/out of diff

206SHFL¿FDWLRQV2.3 External Dimensions An external view and dimensions of the product are shown below. 1705 (Mounting dimension) 58468.1178.5535

213. Installation and Noise Elimination3. Installation and Noise Elimination Pay due attention to the installation environment of the controller.3.1 I

223. Installation and Noise Elimination[2] Precautions regarding wiring methodUse a twisted cable for connection to the 24-VDC external power supply.S

233. Installation and Noise Elimination3.4 Heat Radiation and InstallationDesign the control panel size, controller layout and cooling method in such

244. WiringOrange Gray White Yellow Pink Yellow (Green) Controller Connected to teaching pendant or PC External EMG switch Input power supply 24 VDC I

254. Wiring4.1.2 Wiring the Power Supply/Emergency-Stop Switch (1) Wiring the power supply To connect multiple controllers, provide a relay terminal

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

274. WiringRepresentative connection examples are explained below. z Connecting the teaching pendant directly to the controller [1] Connecting multi

284. Wiring24V0VS2S10VMPIMPO24VEMG- S2S10VMPIMPO24VEMG- S2S10VMPIMPO24VEMG- S2S10VMPIMPO24VEMG- [Controller 1] [Controller 2] [Controller 3] [Controll

294. WiringS2S1MPIMPO24V0VEMG-control© 0V © 24V S2S1MPIMPO24V0VEMG-S2S1MPIMPO24V0VEMG-[Controller 1] [Controller 2] [Controller 3] EMG signal Teaching

304. WiringCR[Controller 1] [Controller 2] [Controller 3] EMG signal Teaching pendant 24V0VMPOMPI24VEMG- Relay S1S20VMPOMPI24VEMG- Relay S1S20VTeachin

314. Wiringz Connecting the teaching pendant to a SIO converter Configure the contact circuit for the EMG switch on the teaching pendant using EMG1/E

CAUTIONx Changes to Zone Function Applicable application versions: V0016 and later Among the zone signal settings, those that result in “Zone set

324. WiringController I/O flat cable 0 V (NPN specification) 24 V (PNP specification) 24 V (NPN specification) 0 V (PNP specification) 24-VDC power fo

334. Wiring4.2.2 Wiring the Power Supply/Emergency-Stop Switch (1) Wiring the power supply To connect multiple controllers, provide a relay terminal

344. Wiring24V0V0VEMG- 24VMPOMPIS1S2(3A)EMG switch(Rush-in current: 8 A, rated current: 2 A) Teaching pendant Motor power supply External EMG reset sw

354. Wiring[Connection example of a multiple-axis configuration] Input power supply [Controller 1] [Controller 2] [Controller 3] Connect to 24-V ter

364. Wiring4.3 Connecting the I/O Cables z PIO pattern 0 [Standard Type] 0 [V] 0 [V] +24 [V] +24 [V] PIOController end (signal abbreviation) Brown 1

374. Wiringz PIO pattern 1 [Teaching Type] 0 [V] 0 [V] +24 [V] +24 [V] PIOBrown 1 Red 1 Orange 1 Yellow 1 Green 1 Blue 1 Purple 1 Gray 1 White 1 Blac

384. Wiringz PIO pattern 2 [256-piont mode] 0 [V] 0 [V] +24 [V] +24 [V] Controller end PIO (signal abbreviation) Output side Command position 1 Comma

394. Wiringz PIO pattern 3 [512-piont mode] PIOOutput side Command position 1 Command position 2 Command position 4 Command position 8 Command positi

404. Wiringz PIO pattern 4 [Solenoid valve mode 1] PIODirect position command 0 Direct position command 1 Direct position command 2 Direct position c

414. Wiringz PIO pattern 5 [Solenoid valve mode 2] PIOOutput side Rear end move Front end move Intermediate point move Brake release Operating mode A

424. WiringCaution: When performing a continuity check of the flat cable, pay due attention not to expand the female pins in the connector. It may ca

434. WiringController end Actuator end Pin layout Pin layout (Front view) Cable model markingCable colorSignal name Pin No. (Front view) Robot cabl

444. WiringController end Actuator end (Front view) Cable model markingHousing: D-2100D 1-1318119-3 (Hirose) Contact: D-2 1318105-1 Cable name Signal

454. WiringController end Actuator end Pin layout Pin layout (Front view) Cable model markingCable colorSignal name Pin No. Pin No. (Front view) Hou

464. Wiring4.5 Connecting the Communication Cable Connect the communication cable to the SIO connector. Brown Yellow Red Orange Blue Green Pin No. Br

475. I/O Signal Control and Signal Functions+24VR=680 :+24VR=5.6 k:R =22 k:R=68 :R=5.6 k:R=22 k:C=0.1 PFC=0.1 PF5. I/O Signal Control and Signal Func

485. I/O Signal Control and Signal FunctionsP24VController External power supply +24VInternal circuitEach outputLoadLoadNP24VNController External powe

495. I/O Signal Control and Signal Functions5.2 PIO Patterns and Signal Assignments This controller provides six PIO pattern types to meet the needs

505. I/O Signal Control and Signal Functions5.2.1 Explanation of Signal Names The following explains the signal names, and gives a function overview

515. I/O Signal Control and Signal Functionsz PIO pattern = 1: Teaching mode [Teaching type] Category Signal name Signal abbreviationFunction overvie

CAUTION1. Use EnvironmentPCON controllers can be used in an environment of pollution degree 2 or equivalent.2. PC Software and Teaching Pendant Models

525. I/O Signal Control and Signal Functionsz PIO pattern = 2: 256-point mode [256-point type] Category Signal name Signal abbreviationFunction overv

535. I/O Signal Control and Signal Functionsz PIO pattern = 3: 512-point mode [512-point type] Category Signal name Signal abbreviationFunction overv

545. I/O Signal Control and Signal Functionsz PIO pattern = 4: Solenoid valve mode 1 [7- point type] Category Signal name Signal abbreviationFunction

555. I/O Signal Control and Signal Functionsz PIO pattern = 5: Solenoid valve mode 2 [3-point type] Category Signal name Signal abbreviationFunction

565. I/O Signal Control and Signal Functions5.2.2 Signal Assignment Table for Respective PIO Patterns When creating a PLC sequence or wiring signals,

575. I/O Signal Control and Signal Functions5.3 Details of I/O Signal Functions An input time constant is provided for the input signals of this cont

585. I/O Signal Control and Signal Functions Pause (*STP) When this signal turns OFF while the actuator is moving, the actuator will decelerate to a

595. I/O Signal Control and Signal Functions Brake release (BKRL) When the actuator is equipped with a brake, you may want to forcibly release the b

605. I/O Signal Control and Signal Functions Jog (JOG+, JOG-) This signal is enabled when the teaching type is selected. When the actuator is jogging

615. I/O Signal Control and Signal Functions Movement to each position (ST0 to ST2) [3-point type] Since the number of positioning points is limited

4. Initial Parameter Settings at StartupAfter applying power, at least the three parameters specified below must be set in accordance with thespecific

625. I/O Signal Control and Signal Functions5.3.2 Details of Each Output Signal  Operating mode status (RMDS) The internal operating mode of the co

635. I/O Signal Control and Signal Functions Home return completion (HEND) This signal is OFF immediately after the power is input, and turns ON in

645. I/O Signal Control and Signal Functions Movement complete at each position (PE0 to PE6) [7-point type] When PIO pattern is “4,” a position numb

655. I/O Signal Control and Signal Functions Emergency stop (*EMGS) This signal remains ON while the controller is normal, and will turn OFF if the

666. Data Entry <Basics>1=2=10.0030.000-10.00No[mm]Position6. Data Entry <Basics> To move the actuator to a specified position, a target

676. Data Entry <Basics>(4) Acceleration/deceleration x Enter the acceleration/deceleration at which to move the actuator, in [G].Basically, th

686. Data Entry <Basics>“Push & hold operation” This field defines the maximum push distance after reaching the target position in push &

696. Data Entry <Basics>(9) Acceleration/deceleration modex This field is not used for this controller. The factory setting is “0.” (10) Increm

706. Data Entry <Basics>6.1.1 Relationship of Push Force at Standstill and Current-Limiting Value When performing operation in the push & h

716. Data Entry <Basics> “Completion of push action” is determined based on a combination of the current-limiting value set in the “Push” fiel

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

726. Data Entry <Basics>(3) Work part moves during push & hold operation [1] Work part moves in the pushed direction If the work part move

736. Data Entry <Basics>(4) Positioning band was entered with a wrong sign Take note that if a value with a wrong sign is set in the “Positioni

746. Data Entry <Basics>Warningx If the actuator contacts the work part before reaching the target position, a servo error alarm will generate.

756. Data Entry <Basics>6.2.4 Speed Change during Movement Speed control involving multiple speed levels is possible in a single operation. The

766. Data Entry <Basics>ON ONOFF*STP Actuator operation Target position Zone output (ZONE1)Actuator operation+ directionHomeValue set in paramet

776. Data Entry <Basics>6.2.8 Home Return After the power is turned on, home return must be performed to establish the home position. The method

786. Data Entry <Basics>6.2.9 Overview of Teaching Type Depending on your system, it may be desirable to be able to use a touch panel, etc., to

796. Data Entry <Basics>6.2.10 Overview of 7-point Type The number of positioning points is kept small, or specifically to seven or less. This

806. Data Entry <Basics>[2] 64-point type Command position 1 input (PC1) Command position 2 input (PC2) Command position 4 input (PC4)“5” is ind

816. Data Entry <Basics>6.2.11 Overview of 3-point Type This type provides a control method adjusted to that of an air cylinder by assuming tha