1. Manuals
  2. Brands
  3. Intelligent Actuator Manuals
  4. Controller
  5. ROBO Cylinder RCP
  6. Operating manual

Intelligent Actuator ROBO Cylinder RCP Operating Manual

Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
Robo Cylinder Controller
Operating Manual
Intelligent Actuator, Inc.
RCP
RDY
RDY
RUN
RUN
BAT
ALM
ALM
ENC
M.BK
ON
SIO
PORT
OFF
PORT IN
PIO
RLS
BK
NOM
EMG
24V
SW
N
FG

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the ROBO Cylinder RCP and is the answer not in the manual?

Questions and answers

Related Manuals for Intelligent Actuator ROBO Cylinder RCP

Summary of Contents for Intelligent Actuator ROBO Cylinder RCP

  • Page 1 Robo Cylinder Controller Operating Manual M.BK PORT PORT IN Intelligent Actuator, Inc.
  • Page 2 Intelligent Actuator, Inc. Disclaimer The information and technical data contained herein are subject to change without notice. Intelligent Actuator, Inc. assumes no responsi- bility for any errors or omissions regarding the accuracy of the information contained in this publication.
  • Page 3 Before You Begin Please be aware of the following before you begin operating the RCP Controller: (1) When using your RCP Controller vertically (motor upper side application): Homing problem may occur due to payload. In case this problem occurs, please change the current limit value during homing to (2) You must turn ON the Hold Input Signal of PIO, in order for the actuator to move.

  • Page 4: Table Of Contents

    Table of Contents Safety Precautions ................................1~6 1-1 Forword .................................. 1 1-2 Safety Precautions ................................. 2 1-3 Warranty Period and Scope of Warranty ........................3 1-4 Setting Environment and Noise Measure ........................4 1-5 Heat Dissipation and Mounting ............................. 6 Specifications ................................

  • Page 5: Safety Precautions

    1. Safety Precautions 1-1 Forword Thank you very much for purchasing the RCP Controller. Without knowing beforehand how to correctly use or operate the controller, not only will the user be unable to take full advantage of all the functions built into this product but the user might also, inadvertently cause damage to the robot or shorten its life.

  • Page 6: Safety Precautions

    1. Safety Precautions 1-2 Safety Precautions Please read the following information carefully in order to gain an understanding of safety precautions. This product was developed as components for driving automated equipment and is designed not to produce greater torquing or speed than is necessary.

  • Page 7: Warranty Period And Scope Of Warranty

    1. Safety Precautions 1-3 Warranty Period and Scope of Warranty The RC Controller undergoes stringent testing before it is shipped from our factory. IAI provides the following warranty: 1. Warranty Period The warranty period is 12 months from the date the unit is shipped to the customer. 2.

  • Page 8: Setting Environment And Noise Measure

    1. Safety Precautions 1-4 Setting Environment and Noise Measures 1-4-1 Installation Environment (1) Do NOT block the air vents of your controller when installing your IA system. (2) Your controller is NOT dust, water, or oil proof. Take steps to prevent foreign matter from getting into the controller air vents.
  • Page 9 1. Safety Precautions (2) Noise Source and Noise Suppression When using electrical components such as electromagnets, solenoids, or relays which create electromagnetic noise, some type of noise supression device should be used. AC solenoid valve · magnetic switch · relay •...

  • Page 10: Heat Dissipation And Mounting

    1. Safety Precautions DC solenoid valve · magnetic switch · relay • Install a diode parallel with a reactive/inductive load. • Select a diode with the proper voltage rating. The voltage rating is determined by the loading capacity of the system. •...

  • Page 11: Specifications

    2. Specifications 2-1 Connection Method 2-1-1 Standard Item Teaching Pendant (RCA-T T/D) Option Cable length: 5m Robo Cylinder (RCP) Cable length: 5m Cable is option (CB-RCA-MPA050) BIGIN Upper System (Sequencer) M.BK Flat cable Attachment PORT PORT IN External Connection (RCA:105-5) Option Cable length: 5m Cable length: 2m...
  • Page 12 2. Specifications 2-1-2 Absolute Specifications Note 1 M.BK PORT A standard actuator can not be used with a Robo Cylinder PORT IN (RCP) Controller. Various cable lengths are optional (Example: CB-RCA-MPA050 is the part number for 5m cable). Battery unit attachment Note 1: When long term power is not supplied to the controller, make sure to remove the battery connector from the controller.

  • Page 13: External Dimensional Diagram

    2. Specifications 2-2 External Dimenional Diagram 2-2-1 Controller Outer Shape (Standard) φ5 46.3 φ5 46.3 36.6 36.6 100.5 100.5 94.5 94.5 90.5 90.5 P. 9...
  • Page 14 2. Specifications 2-2-2 Controller Outer Shape (Includes Absolute Specifications and Battery) 100.5 100.5 φ5 58.8 23.2 58.8 23.2 10.0 P. 10...

  • Page 15: Controller Specifications

    2. Specifications 2-3 Controller Specifications Item Specifications Power Voltage DC 24V +/-10% (Maximum 2.5A) Ambient Temperature • Humidity 0 ~ 40°C Humidity under RH 85% Ambient Environment No corrosive gas, especially no excessive gas Standard 360g Weight Absolute Specifications 1200g (includes battery unit) EPROM check sum error, bank data error, encoder stop determination Protective Funtions error, encoder counter compensation disable error, Encoder breakage,...

  • Page 16: Names Of Parts And Functions

    2. Specifications 2-4 Names of Parts and Functions 2-4-1 Names Battery Connector LED Display (Absolute Specifications) Encoder Connector (ENC) Motor • Brake Connector (M•BK) M.BK Port Switch (PORT) SIO Connector (SIO) Main Communication Port Connector (PORT IN) PORT PORT IN PIO Connector (PIO) Brake Release Switch (BK) Power and Emergency Stop...
  • Page 17 2. Specifications Brake Release Switch (BK) Effective only for brake option. RLS: Release position turns the brake OFF. NOM: Normal position makes the brake active. Power and Emergency Stop Terminal Block This is the terminal for connecting earth ground. This is the ground side for 24V power. 24V: This is the DC 24V Power terminal.
  • Page 18 2. Specifications Dip Switch Number 1~4 Axis Number Setting Switch: • • • When connecting more than 2 axes onto the SIO connector, serial reorganization occurs when setting the actuator axis number. You may set up to 0~15 axes (at the time of shipment, numbers 1~4 are all set as OFF. This application is for 1 axis, single unit). Dip Switch Number Axis Number Please note:...
  • Page 19 2. Specifications 2-4-3 Main Communications SIO Connector Pin Assignment PIN No. Signal Name Functions DC 5V Power Output Line transceiver Ground for Communication Line Transceiver I/O Negative Logic Side Ground for Communication DC5V Power Output Main Communication Port Pin Assign PIN No.

  • Page 20: I/O Flat Cable

    2. Specifications Encoder Connector (5484-09AX: Molex) Power and Emergency Stop Terminal Block Signal Name Pin No. Connection Pin No. EMG 1 (24V) EMG 2 *Note: Number 3 and number 4 are connected internally 2-4-5 I/O Flat Cable Signal Cable Signal Color Color Cable...
  • Page 21 2. Specifications 2-4-6 Battery Backup (Absolute Specifications) (1) Battery Specifications a t l y t i ° 0 ° 0 Note 1) This time represents the battery maintenance time from fully charged status. * Please use IAI specified battery only. * To avoid breakdown, do not attempt to machine or extend the wire.
  • Page 22 2. Specifications Absolute Specifications: With the RCP Controller, once power is applied, and home position is taught, you can execute positioning without homing after reapplying the power. Other basic functions are same as the standard RC Controller. • Actuators for Absolute are the only actuator that can operate using RCP Controller absolute specifications.
  • Page 23 2. Specifications 2-5 Wiring 2-5-1 Wiring for Power • Emergency Stop +24V Power and emergency stop terminal board The two EMG terminals are for connecting an emergency stop switch, and is b-contact input. At the time of shipment, a jumper is used to short the two terminals.
  • Page 24 2. Specifications 2-5-2 Wiring Method for Connecting Multiple E-Stop Switches onto Multiple Controllers Last emergency stop switch First emergency stop switch +DC24V - Power Controller #1 Controller #2 Controller #3 • As for the last emergency stop switch input, always connect it to the number 5 terminal of each controller. •...
  • Page 25 2. Specifications 2-5-3 External Connection Diagram Controller Brake RC-P Motor Brake Connector Encoder Connector Battery Connector (Absolute Specifications) P24V Upper System Start (Sequencer) Command Position 1 Command Position 2 Command Position 4 Command Position 8 Hold Complete Position 1 Complete Position 2 Complete Position 4 Complete Position 8 Positioning Complete...
  • Page 26 2. Specifications 2-5-4 PIO Interface PIO Interface list for controllers with NPN I/O is indicated as below: In addition, the PIO cable is unplugged on the external device side for flat cable specifications. PIO Connector (26 Pin) NPN - (standard unless otherwise indicated) o i t .
  • Page 27 2. Specifications PIO Interface list for controllers with PNP I/O is indicated as below: In addition, the PIO cable is unplugged on the external device side for flat cable specifications. PIO Connector (26 Pin) PNP • . t u t i s o l l •...
  • Page 28 2. Specifications Command Position This is the relationship between the input pin No. and selected positon No. (4 bit binary) You may input select 16 positions of position 0~position 15. 1 : ON 0 : OFF Command Position 1 Command Position 2 Command Position 4 Command Position 8 Selected Positon Number...
  • Page 29 2. Specifications 2-5-5 External I/O Specifications External input specifications Item Specifications Input Voltage 24V DC +/-10% Input Current Maximum 2mA/1 Port Leakage Under 0.1mA (Caution) Insulation Method Photocoupler Insulation Input circuit 8.2Kπ DC24V±10% Internal Circuit External Power 8.2Kπ Input Terminal Caution: Do not use 2-line method sensor.
  • Page 30 2. Specifications External Output Specifications Item Specifications Load Voltage DC 24V 20mA / 1 Port Max. Load Current Max 0.1mA / 1 point Leakage Current Photocoupler Insulation Insulation Method Output Circuit Output terminal Load Internal External power DC 24V ± 10% Circuit P.

  • Page 31: Data Input (Basic)

    3. Data Input (Basic) Since this controller does not have any commands, there is no need to write any programs. In order to make the actuator move to the assigned position, all you need to do is input the position data into the position data table. In the position table, there are 8 columns: Position, Speed, Acc (G), Push (%), Pos.

  • Page 32: Position Data Table

    3. Data Input (Basic) 3-1 Position Data Table • Indicates the position number. In case of inputting the relative transfer load, type the Minus Key. In case of input operation using the teaching pendant, “=” will be displayed between the number and position.
  • Page 33 3. Data Input (Basic) Pos. Band • As for the positioning width, depending on the setting value of 5th column (refer to the table shown on Page 26 of this manual) either 0 or other than 0, its function will vary. 3(A) Push = 0 (Positioning Mode) •...
  • Page 34 3. Data Input (Basic) 3-1-1 The Relationship Between the Push Power During Stop and Current Restriction Value When executing the push mode, input the current restriction value as a % of the max value into the “Push %” column of the position data table. Based on the push power required during stop towards work, determine the % current restriction by using Tables 3-1 through 3-6 (shown on pages 30 and 31 of this manual).
  • Page 35 3. Data Input (Basic) Table 3-3 Table 3-4 SM Type & SMR Type SS Type & SSR Type 60.0 Speed 35.0 Speed Type 55.0 Type 50.0 30.0 45.0 25.0 40.0 35.0 Medium 20.0 Speed Medium Type 30.0 Speed Type 25.0 15.0 20.0 High...

  • Page 36: Mode Explanation

    3. Data Input (Basic) 3-2 Positioning Mode (Push) = 0 From the position shown in Figure 3-2-3 (Page 33 of this manual), the positioning complete output turns ON prior to the 3-2-1 Positioning Mode (Push) = 0 positioning width portion. Also, this location activates the position number Positioning complete signal outputs.
  • Page 37 3. Data Input (Basic) Upon reaching the position shown in (2) When push fails (blank shot) Figure 3-2-2 (Page 32 of this manual), the Complete position No actuator moves forward at low speed Speed Output When the servo motor current does not reach current restriction value, the positioning width, the positioning completion output will not turn ON...
  • Page 38 3. Data Input (Basic) (4) When the input value of positioning width is wrong When a mistake is made on the code of Speed the positioning width, as the left diagram shows, only the width (positioning complete width x 2) will Transfer distance be off, so please be careful.
  • Page 39 3. Data Input (Basic) 3-2-5 Hold Input This is used for temporary stop. The actuator will make a quick stop according to the external input signal P I/O Pin 10 pin hold input). Based on safety compliance, the signal will become a B-contact input (reversed logic). When the hold input is turned OFF, the actuator will stop at that point and will move again only when the hold input is turned back ON.

  • Page 40: Application (Practice)

    4. Application (Practice) 4-1 Power-Up (1) Connnect the motor • brake cable and encoder cable to the controller. (2) Connect the upper PLC to the P I/O Connector using the attached flat cable. (3) When connecting more than 1-axis, address each by using the dip switch. For details, please refer to the “specifications”...

  • Page 41: Procedure Up For Initial Homing

    4. Application (Practice) 4-2 Procedure for Initial Homing (Absolute Specifications) 4-2-1 Power-UP Procedure (1) Connnect the motor • brake cable and encoder cable to the controller (Note 1). (2) Connect the upper PLC to the P I/O Connector using the attached flat cable. (3) When connecting more than 1-axis, address each by using the dip switch.
  • Page 42 4. Application (Practice) 4-2-3 Homing (Absolute Specifications) During the initial power-UP, you will need to perform homing via either P I/O, Teaching Pendant or PC Software. By inputting position 0 to the I/O port, you can accomplish homing. The “Home Complete Signal” will turn ON once homing is complete, and position will be 0. At this time, even if power is reinstalled, power will not turn OFF.

  • Page 43: Move After Power-Up (Standard)

    4. Application (Practice) 4-3 Move After Power-Up (Standard) Operation application example: After Power-Up, move to point 150mm from home at a speed of 200mm/sec. Position data table (column with dark line indicate the input insert) Position (mm) Max ACC Flag (0/1) ABS/INC (0/1) Comments Acc (G)
  • Page 44 4. Application (Practice) Power ON Position 1 Complete Position Caution Start Hold Positioning Complete Alarm Emergency Stop Position 1 Complete Position Homing Complete Positioning width Actuator transfer While moving towards a position output will turn OFF, when the actuator completes position, positioning complete turns When system is RDY and positioning is complete, positioning complete output turns ON.

  • Page 45: Positioning Mode (2 Point Reciprocation)

    4. Application (Practice) 4-4 Positioning Mode (2 point space reciprocation) Movement example: Reciprocate 2 positions. Assign the position 1 at 250mm from home, and Position 2 at 100mm from home. Set speed to 200mm/sec for Position 1 and 100mm/sec for Position 2. For both positions, assign the positioning width to 0. Position Data Table (Columns with thick line indicate input insert) Position (mm) Speed (mm)
  • Page 46 4. Application (Practice) Position 1 Position 2 Position 1 Command Position Start Caution Caution Caution Caution Positioning Complete Position 2 Complete Position Position 1 Position 1 Actuator Transfer T1: Over 5msec Time from Command Position Select Input to Start Signal ON (However, please consider the scan time of the upper controller) Caution: Positioning complete Output will turn OFF once the start signal turns ON.

  • Page 47: Push Mode

    4. Application (Practice) 4-5 Push Mode Movement Example: Use via Push Mode and Positioning Mode. Assign the Position 1 at 280mm from home and the Position 2 to 50mm from home. Move to Position 1 in Push Mode. Use the Push Mode to move to Position 2 (match to opposite motor side direction).
  • Page 48 4. Application (Practice) Position 2 Command Position Position 1 Position 1 Start Caution Caution Caution Positioning Complete Complete Position Position1 Position 2 Position 1 Actuator Transfer T1: Over 5msec Time from Command Position Select Input to Start Signal ON (However, please consider the scan time of the upper controller) Caution: Once the Start Signal turns ON, the Positioning Complete Output will turn OFF.

  • Page 49: Speed Change Mveoment During Transfer

    4. Application (Practice) 4-6 Speed Change Movement During Transfer Movement Example: During movement, speed decreases towards given location. Assign Position 1 at 150mm away from home, and Position 2 at 200mm away from home. The location will be near the home away from the initial position. Assign Position 2 as the carry-over position, and move to Position 1 at a speed of 200mm/sec and from Position 1 to 2 move 100mm/sec.
  • Page 50 4. Application (Practice) RCP Controller Flow Select Input Command Position 1 Pin No. Section Signal Name Start Input ON +24V Start Transfer to Position 1 at 200mm/sec. 10 8 Start Positioning Complete Output OFF Command Position 1 Input Command Position 2 Complete Position OFF Command Position 4 Command Position 8...

  • Page 51: Movement Using Different Acceleration Value • Deceleration Value

    4. Application (Practice) 4-7 Movement Using Different Acceleration Value • Deceleration Value Movement Example: Positioning is executed at a speed of 200mm/sec at a location (Position 1) 150mm away from home. Acceleration is transferred at a maximum acceleration and deceleration of 0.1G that are matched to the load. Method: By inputting “1”...
  • Page 52 4. Application (Practice) Command Position Position 1 Start Positioning Complete Complete Position Positioning 1 Speed Actuator Transfer Positioning range T1: Over 5msec Time from Command Position Select Input to Start Signal ON (However, please consider the scan time of the upper controller) Caution: Once the Start Signal turns ON, the Positioning Complete Output turns OFF.

  • Page 53: Hold Input

    4. Application (Practice) 4-8 Hold Input Movement Example: Temporary stops the movement of the actuator. Method: Uses the Hold Input. RCP Controller Flow Pin No. Section Signal Name Select Input Assigned Command Position +24V Start Start Input ON Command Position 1 Input Command Position 2 Start Transfer to Assign Position...
  • Page 54 4. Application (Practice) Command Position Start Caution Positioning Complete Complete Position Hold Speed Actuator Transfer T1: Over 5msec Time from Command Position Select Input to Start Signal ON (However, please consider the scan time of the upper controller) Caution: Once the Start Signal turns ON, the Positioning Complete Output turns OFF. Please execute Start Signal OFF only after confirming that the Positioning Complete Output is turned OFF.

  • Page 55: Zone Signal Output

    4. Application (Practice) 4-9 Zone Signal Output Movement Example: During motion, Zone Signal transmit output from 40mm position to 120mm position ≤ ≤ zone, then turns OFF (400mm Zone Signal Output 120mm). Method: Zone Signal Output boundary is set in the Parameter Zone Value and Zone Boundary Value -.
  • Page 56 4. Application (Practice) Command Position Start Caution Positioning Complete Complete Position Zone Speed Actuator Transfer T1: Over 5msec Time from Command Position Select Input to Start Signal ON (However, please consider the scan time of the upper controller) Caution: Once the Start Signal turns ON, the Positioning Complete Output turns OFF. Please execute Start Signal OFF only after confirming that the Positioning Complete Output has turned OFF.

  • Page 57: Transfer To Home

    4. Application (Practice) 4-10 Transfer to Home Movement Example: You cannot home using only PIO. Homing occurs when controller is told to move to a point prior to homing. Method: This is a method which forces a point data of distance 0 from the home, and moves to that location after homing is complete.

  • Page 58: Pitch Transfer According To Relative Coordinate Assign

    4. Application (Practice) 4-11 Pitch Transfer According to Relative Coordinate Assign Movement example: Transfer from home to 30mm location, and from there, transfer the actuator at a pitch of 10mm. The transfer speed from home to the 30mm location is set at 100mm/sec, and the transfer speed is 20mm/sec at a pitch of 10mm.
  • Page 59 4. Application (Practice) Position 2 Command Position Position 1 Start Note 1 Positioning Complete Note 2 Complete Position Posi t i o n 1 Position 2 Position 2 Actuator transfer Time Distance from home T1: Over 5msec Time from Command Position Select Input to Start Signal ON (However, please consider the scan time of the upper controller) Caution: Once the Start Signal turns ON, the Positioning Complete Output turns OFF.

  • Page 60: Caution Regarding Relative Coordinate Assign

    4. Application (Practice) 4-12 Caution Regarding Relative Coordinate Assign (1) Caution During Positioning Movement When selecting a relative posisition through the I/O and toggling the Start Input, during actuator motion towards another point, the distance of the next point selected will be added on to the initial point the actuator was moving towards.
  • Page 61 4. Application (Practice) (2) Caution During Push Movement If a relative position is selected while the actuator is in motion to another position during Push Mode, the actuator moves to a position that is summation of the primary and secondary positions. Example: The Start Input of Position (Table 4-12-1) is executed during movement towards Position 1 during Push Mode and the actuator moves to a position that is 10mm away from the Input Position 1.

  • Page 62: Parameter List

    5. Parameter List Parameter List . t u i n i . t u i l t i l t t i n t i s . n i t i n l a i t i n l a i t i s .

  • Page 63: Alarm List

    6. Alarm List • In case you wish to change the home direction, position data already inputted will all clear. As needed, please record the data. • Reveresed homing direction is not possible for the Rod Type Actuators (RSA • RMA types). •...
  • Page 64 6. Alarm List If a malfunction is encountered while using the PC software or teaching pendant, an error will appear. Please refer to the Error Table below. Caution: When connecting to the host using the SIO, please make sure to refer to the error code list of the “Robo Cylinder Communication Protocol List.”...
  • Page 65 6. Alarm List d i l y t i a t l a t l . e l . ) l , e l . y r e l l t i n z i l . t n t i t •...
  • Page 66 6. Alarm List e l i e l i e l i o l l o l l o l l o l l t i s t s i t i s r i f t i s t i s a l i .
  • Page 67 6. Alarm List e l l t i n z i l . ) r . ) r . ) r , t n , . t , t n , t n , t n , t n . t n .

  • Page 68: Supplement

    7. *Supplement RCP Positioning Sequence Basic Examples: The following are basic sequence examples to create positioning sequence for the RC. indicates PIO signal for the RC Controller. (Complete Position Decode) (Complete Position Code) Positioning Complete Complete Position 0 Complete Position 1 Complete Position 2 Complete Position 3 Complete Position 4...
  • Page 69 7. *Supplement (Position 1 Positioning Circuit) Position 1 Positioning Start Request Position 1 Positioning Start Pulse Position 1 Positioning Start Request Position 1 Positioning Start Pulse Assist Current Positioning Complete Position Position 1 Positioning Start Assist Position 1 Start Confirm Next Positioning Start Assist Signal Position 1...
  • Page 70 7. *Supplement Command Position 1 Position 3 Set Signal Position 5 Set Signal Position 2 Set Signal Command Position 2 Position 3 Set Signal Position 6 Set Signal Command Position 4 Command Position 8 (Start Signal Circuit) Position 0 Set Over 5m seconds (However, scan time of PLC is necessary)
  • Page 71 Intelligent Actuator, Inc. 2690 W. 237th Street Torrance, CA 90505 310-891-6015 310-891-0815 (Fax) www.intelligentactuator.com Publication Date: Feb 2001 Publication No.: IAI-068C (Second edition)

Table of Contents