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IAI PowerCon PCON-CYB Instruction Manual

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PowerCon
Controller
Instruction Manual
PCON-CYB/PLB/POB
Third Edition
ME0353-3C
Specifications
Check
Wiring
Operation of CYB
Type
Operation of
PLB/POB Type
Other Features
Absolute Reset
Parameter
Troubleshooting
Appendix
Warranty
1 1
2 2
3 3
4 4
5 5
6 6
7 7
8 8
9 9
1 1 0 0

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  • Page 1 PowerCon Controller PCON-CYB/PLB/POB Instruction Manual Third Edition ME0353-3C Specifications Check Wiring Operation of CYB Type Operation of PLB/POB Type Other Features Absolute Reset Parameter Troubleshooting Appendix Warranty 1 1 0 0...

  • Page 3: Please Read Before Use

    • This instruction manual is an original document dedicated for this product. • This product cannot be used in ways not shown in this instruction manual. IAI shall not be liable for any result whatsoever arising from the use of the product in any other way than what is noted in the manual.
  • Page 4 ME0353-3C...
  • Page 5 Construction of Instruction Manual for PCON-CYB/PLB/POB Product Name Instruction Manual Name Manual No. PCON-CYB/PLB/POB This manual ME0353 Teaching Software for PCs Teaching Software for PCs ME0391 IA-OS IA-OS First Step Guide Teaching Software for PCs RCM-101-MW/ RCM-101-USB ME0155 Instruction Manual For RC/EC TB-01/01D/01DR Touch Panel Teaching Pendant...
  • Page 6 Table of Contents Safety Guide ·································································································· 1 Precautions in Operation ·················································································· 8 International Standards Compliances ································································· 10 Name for Each Parts and Their Functions ··························································· 11 Actuator Axes ································································································ 13 Chapter 1 Specifications Check ................... 15 Product Check ......................15 1.1.1 Part ........................
  • Page 7 Chapter 4 Operation of PLB/POB Type (Pulse Train Control) ........133 Basic Operation ......................133 4.1.1 Basic Operation Methods ................... 133 I/O Signal Controls ..................... 135 Operation Ready and Auxiliary Signals ..............135 Pulse Train Input Operation ..................144 Settings of Basic Parameters Required for Operation ..........148 Parameter Settings Required for Advanced Operations ..........
  • Page 8 Chapter 10 Warranty ....................323 10.1 Warranty Period ......................323 10.2 Scope of the Warranty ....................323 10.3 Honoring the Warranty....................323 10.4 Limited Liability ......................323 10.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications ........................ 324 10.6 Other Items Excluded from Warranty ................. 324 Change History ......................

  • Page 9: Starting Procedures

    Starting Procedures Step 1 Confirm All the Necessary Things are Prepared (Contact us or our sales agency in case of any missing) Refer to the section this manual “1.1 Product Check” for more detail. ☆ ☆ Controller (PCON-CYB/PLB/POB) ☆ ☆ Actuator and Connecting Cable (The cable differs depending on the actuator type.
  • Page 10 Step 3 Installation “Refer to 1.5 Installation and Storage Environment” “1.6 Noise Elimination and Mounting Method” ● External Dimensions *Refer to 1.3 External Dimensions Controller unit Screw fixed-type DIN rail fixed-type (73.8 from DIN rail surface) (0.5) ● Noise Elimination Grounding (Frame Ground) Connect the ground line together to the main unit using the fixing screw.
  • Page 11 Step 4 Wiring Refer to Chapter 2 “Wiring” [Positioner Operation] Refer to section 2.1 and 2.3 [Pulse Train Control] Refer to section 2.2 and 2.3 * Refer to 2.1.3 [3] for wiring Example for Basic Wiring layout as the signals/features differ for each PIO pattern Host System Teaching Pendant...
  • Page 12 ME0353-3C...

  • Page 13: Safety Guide

    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. Operation Description Description...

  • Page 14: Operation Description

    Operation Description Description Transportation ● When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. ● When the work is carried out with 2 or more persons, make it clear who is to be the “leader”...
  • Page 15 Operation Description Description Installation (2) Cable Wiring and Start ● Use our company’s genuine cables for connecting between the actuator and controller, and for the teaching tool. ● Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil it around.

  • Page 16: Installation And Start

    Operation Description Description Installation (4) Safety Measures and Start ● 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. ●...
  • Page 17 Operation Description Description Trial ● When the work is carried out with 2 or more persons, make it clear who Operation 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. ●...
  • Page 18 Operation Description Description Maintenance ● 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 Inspection well with each other to ensure the safety of the workers. ●...

  • Page 19: Alert Indication

    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 Danger product is not handled correctly, will result in death or serious...

  • Page 20: Precautions In Operation

    Precautions in Operation 1. Make sure to follow the usage condition, environment and specification range of the product. In case it is not secured, it may cause a drop in performance or malfunction of the product. 2. Refer to the actuator instruction manual for each type together with this manual. Refer to the actuator instruction manual provided separately for each type for installation, load conditions and specifications of the actuator.
  • Page 21 7. Actuator would not operate without pause signals. ● Pause Signal (*STP) The input signal of the pause signal (*STP) is always on considering the safety. Therefore, in general, the actuator would not operate if this signal is not ON. It is available to make this signal to “Disable”, if this signal is undesirable.

  • Page 22: International Standards Compliances

    9. Regarding battery-less absolute type actuator For the first time to turn the servo on after turning on the power, it will have slight position adjustment due to the characteristics of the stepping motor (except for the high-resolution battery-less absolute encoder). The maximum movement amount at position adjustment operation is the distance of 0.025 ×...

  • Page 23: Name For Each Parts And Their Functions

     Name for Each Parts and Their Functions  *Appearance is the same for CYB Type and PLB/POB Type. 1) Controller Status Indicator LED 2) PIO Connector 3) SIO Connector 4) Power Supply Connector 5) Motor • Encoder Connector 6) Portion for Unit Fixation and FG Connection 7) DIN Rail Fixing Bracket Mounted on DIN Rail Fixing Type 1) Controller Status Indicator LED...
  • Page 24 4) Power Supply Connector [Refer to 2.3.1 Wiring for Power Supply Connector] It is the connector for the power supply (for controller control power, actuator driving and brake control power) and for the input of emergency status signal. 5) Motor • Encoder Connector [Refer to 2.1.3 [2] and 2.2.3 [2] Motor • Encoder Circuit] It is the connector to connect the actuator motor and encoder cable.

  • Page 25: Actuator Axes

    ■Actuator Axes■ Refer to the pictures below for the actuator axes that can be controlled. 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.
  • Page 26 (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 (330° Rotation Specification) (Multiple Rotation Specification) 330° ° ０ ０ － － ＋ ＋ For Multiple Rotation Type with the origin reversed type, the directions of + and − are the other way around.

  • Page 27: Chapter 1 Specifications Check

    PCON- 1.1.1 CYB/PLB/POB Chapter 1 Specifications Check Product Check 1.1.1 Part 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. Part Name Model Quantity...

  • Page 28: Teaching Tool

    PCON- 1.1.2 CYB/PLB/POB 1.1.2 Teaching Tool A teaching tool such as PC software is necessary when performing the setup for position setting, parameter setting, etc. that can only be done on the teaching tool. Please prepare either of the following teaching tools. Part Name Model Teaching Software for PCs: IA-OS...

  • Page 29: How To Read The Model Plate

    P C O N – C Y B – 2 0 P W A I – N P - 2 - 0 – D N - * * <Series> <Type> <Identification for IAI use only> CYB : Positioner/Solenoid Valve Type * There is no identification in some...

  • Page 30: List Of Basic Specifications

    PCON- CYB/PLB/POB List of Basic Specifications Item Description Number of Controlled Axes 1 axis Power-supply Voltage 24V DC 10% 20P, 20SP, Load current Max. 1A Motor (including control side current Type High-thrust function is disabled Max. 2.2A 28SP, 35P, consumption) 42P, 56P High-thrust function is enabled Rated 3.5A / Max.

  • Page 31: External Dimensions

    PCON- CYB/PLB/POB External Dimensions   Screw-fixed Type (0.5)  DIN Rail-fixed Type (73.8 from DIN rail surface) (0.5) 77.5 ME0353-3C...

  • Page 32: Pio Input And Output Interface

    PCON- 1.4.1 CYB/PLB/POB I/O Specifications 1.4.1 PIO Input and Output Interface Input Section Output Section Input Voltage 24V DC 10% Load Voltage 24V DC 10% Peak Load Input Current 5mA 1circuit 50mA 1circuit Electric Current Spec. ON/OFF ON Voltage Min. 18V DC Voltage OFF Voltage Max.

  • Page 33: Pulse Train Input Output Interface

    PCON- 1.4.2 CYB/PLB/POB 1.4.2 Pulse Train Input Output Interface Sends input pulse (dif from the host ferential voltage: approx. 4V) Description unit that is installed with a line driver 26C31 or equivalent (Max. 200Kpps) Host Unit PCON-PLB type Positioning Unit PIO Connector Line Driver Input Line Driver:...

  • Page 34: Installation And Storage Environment

    PCON- CYB/PLB/POB Installation and Storage Environment This product is capable for use in the environment of pollution degree 2 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.

  • Page 35: Noise Elimination And Mounting Method

    PCON- CYB/PLB/POB Noise Elimination and Mounting Method (1) Noise Elimination Grounding (Frame Ground) As there is a cutout for the screw fixing type of the main unit fixing method, jointly fasten with a FG line. There is a tapped hole to connect a FG line for DIN rail fixing type.
  • Page 36 PCON- CYB/PLB/POB (4) Heat Radiation and Installation Design and Build the system Location of the controller to keep the surrounding temperature around the controller below 40°C. To fix the units in the control box, use the attachment holes on top and bottom of the unit for the screw-fixed type, and use the DIN rails for the DIN rail-fixed type.

  • Page 37: Chapter 2 Wiring

    PCON- 2.1.1 CYB/PLB/POB Chapter 2 Wiring * Refer to Section 2.2 and 2.3 for PLB/POB type. Positioner Mode (PIO Control) • • • CYB Type 2.1.1 Wiring Diagram (Connection of Devices) Host System Teaching Pendant (PLC, etc.…Please prepare separately) (Sold separately) Control/Driving Power Supply (24V DC···...

  • Page 38: Pio Pattern Selection And Pio Signal

    PCON- 2.1.2 CYB/PLB/POB 2.1.2 PIO Pattern Selection and PIO Signal (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 Selection]. Refer to 3.2 Operation in “Positioner Mode”...
  • Page 39 PCON- 2.1.2 CYB/PLB/POB (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 host controller). Parameter No.25 [PIO Pattern Selection] Category PIO Functions Solenoid Valve...
  • Page 40 PCON- 2.1.2 CYB/PLB/POB Parameter No.25 [PIO Pattern Selection] Category PIO Functions Double Solenoid Mode User Select Mode Serial Communication Number of positioning Either of 4, 8, 16, 32 2 points 768 points points and 64 points (select) Input Home return signal ...
  • Page 41 PCON- 2.1.2 CYB/PLB/POB (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. Signal Relevant Category Signal Name Function Description Abbreviation Sections The actuator will start to move to the position set by the...
  • Page 42 PCON- 2.1.2 CYB/PLB/POB Signal Relevant Category Signal Name Function Description Abbreviation Sections It turns on when reached the positioning band range after 3.2.3 PEND Position complete moving. PEND will not turn off even if exceeded the positioning 3.2.4 band. 3.2.3 PM1 to The position No.
  • Page 43 PCON- 2.1.2 CYB/PLB/POB Signal Relevant Category Signal Name Function Description Abbreviation Sections It turns off once the estimated motor temperature exceeds the Overload warning Valid in *OVLW setting value. It turns on when it gets to or below the setting signal User value.
  • Page 44 PCON- 2.1.3 CYB/PLB/POB 2.1.3 Wiring [1] Power Supply Connector (for Power Supply and Emergency Stop) and Actuator Connection As an example of a circuit, cases of 4 conditions are shown. Select one suitable for use. 1) Move the actuator without using external emergency input 2) Move the actuator with having external emergency input valid 3) Stop supplying external motor power at emergency stop input 4) Shut off the motor power externally by inputting the emergency stop with using two units of...
  • Page 45 PCON- 2.1.3 CYB/PLB/POB Example for wiring to operate an actuator with having external emergency input valid Emergency Stop Switch of Teaching Pendant PCON Power SIO Connector Teaching Tool Supply Connection Connector Detection Circuit External Emergency Drive Cutoff Circuit (Contact opens Stop Switch when connected) Motor Power...
  • Page 46 PCON- 2.1.3 CYB/PLB/POB Example for shutting off motor power supply externally at emergency stop input 24V DC Power Supply External Emergency Emergency Stop Stop Switch Switch Emergency Stop Switch of Teaching Pendant Teaching Tool Connection PCON Detection Circuit SIO Connector Power (Contact opens when Supply...
  • Page 47 PCON- 2.1.3 CYB/PLB/POB Refer to below when shutting the motor power off externally by the emergency stop input when using two or more units of controllers. 24V DC Power Supply External Emergency Emergency Stop Stop Switch Switch Emergency Stop Switch of Teaching Pendant PCON Power...
  • Page 48 PCON- 2.1.3 CYB/PLB/POB [2] Motor • Encoder Circuit Connection to the RCP2 Series PCON Connection Cable (Note 1) Motor /Encoder Connector Connection to the RCP3, RCP4, RCP5 and RCP6 Series PCON Connection Cable (Note 1) Motor /Encoder Connector Note 1 Applicable Connection Cable Model Codes □□□: Cable Length Example) 030 = 3m Model Name Cable Reference...

  • Page 49: Pio Circuit

    PCON- 2.1.3 CYB/PLB/POB [3] PIO Circuit PIO Pattern 0 ··········· Standard Mode 0V(NPN Spec.) 24V DC (NPN Spec.) 24V DC(PNP Spec.) 0V (PNP Spec.) Input Side Output Side Command Position No.1 Completed Position No.1 Command Position No.2 Completed Position No.2 Command Position No.4 Completed Position No.4 Command Position No.8...
  • Page 50 PCON- 2.1.3 CYB/PLB/POB PIO Pattern 3 ············ Single Solenoid Mode 0V(NPN Spec.) 24V DC (NPN Spec.) 24V DC(PNP Spec.) 0V (PNP Spec.) Input Side Output Side Start Signal 0 Miss-Pressing Home Return Completion Servo ON Servo ON Status Pause Position Zone/Zone 1 Light Error Alarm Reset Alarm...

  • Page 51: Wiring Diagram (Connection Of Devices)

    PCON- 2.2.1 CYB/PLB/POB Pulse Train Control Mode • • • PLB/POB Type *Refer to Section 2.1 and 2.3 for CYB type. 2.2.1 Wiring Diagram (Connection of Devices) Host System Teaching pendant (PLC, etc.…Please prepare (Sold separately) separately) Power Source I/O Control (24V DC ···...

  • Page 52: I/O Signals In Pulse Train Control Mode

    PCON- 2.2.2 CYB/PLB/POB 2.2.2 I/O Signals in Pulse Train Control Mode [1] PIO Pattern 0 (for Incremental type actuators) See the table below for the signal assignment of the flat cable in PIO pattern 0 [Pulse Train Control Mode]. Follow the following table to connect the external equipment (such as host unit). Signal Relevant Category...
  • Page 53 PCON- 2.2.2 CYB/PLB/POB [2] PIO Pattern 1 (for Battery-less Absolute Type Actuators) See the table below for the signal assignment of the flat cable in PIO pattern 1 [Pulse Train Control Mode]. Follow the following table to connect the external equipment (such as host unit). Signal Relevant Category...
  • Page 54 PCON- 2.2.3 CYB/PLB/POB 2.2.3 Wiring [1] Power Supply Connector (for Power Supply and Emergency Stop) and Actuator Connection As an example of a circuit, cases of 4 conditions are shown. Select one suitable for use. 1) Operate actuator without using the emergency stop input (EMG-) 2) Operate actuator with the emergency stop input (EMG-) activated 3) Stop supplying external motor power at emergency stop input 4) Shut off the motor power externally by inputting the emergency stop with using two units of...
  • Page 55 PCON- 2.2.3 CYB/PLB/POB 2) Example for wiring to operate an actuator with having external emergency input valid Emergency Stop Switch of Teaching Pendant PCON Power SIO Connector Teaching Tool Supply Connection Connector Detection Circuit External Emergency Drive Cutoff Circuit (Contact opens Stop Switch Motor Power when connected)
  • Page 56 PCON- 2.2.3 CYB/PLB/POB 3) Example for shutting off motor power supply externally at emergency stop input 24V DC Power Supply External Emergency Emergency Stop Stop Switch Switch Emergency Stop Switch of Teaching Pendant Teaching Tool Connection PCON Detection Circuit SIO Connector Power (Contact opens when Supply...
  • Page 57 PCON- 2.2.3 CYB/PLB/POB 4) Refer to below when shutting the motor power off externally by the emergency stop input when using two or more units of controllers. 24V DC Power Supply External Emergency Emergency Stop Stop Switch Switch Emergency Stop Switch of Teaching Pendant PCON Power...
  • Page 58 PCON- 2.2.3 CYB/PLB/POB [2] Motor • Encoder Circuit Connection to the RCP2 Series PCON Connection Cable (Note 1) Motor /Encoder Connector Connection to the RCP3, RCP4, RCP5, RCP6 Series PCON Connection Cable (Note 1) Motor /Encoder Connector Note 1 Applicable Connection Cable Model Codes □□□ : Cable Length Example) 030 = 3m Model Name Cable Reference...
  • Page 59 PCON- 2.2.3 CYB/PLB/POB [3] PIO Circuit 1) PIO Pattern 0 ·············· For incremental specification actuators 0V(NPN Spec.) 24V DC (NPN Spec.) 24V DC(PNP Spec.) 0V (PNP Spec.) Input Side Output Side Pulse Train Input Servo ON System Ready Reset Servo ON Status Home Return Position Completion Torque Limit Select...

  • Page 60: Circuits For Pulse Train Control

    PCON- 2.2.3 CYB/PLB/POB [4] Circuits for Pulse Train Control ●When the host unit adopts the differential system, use PCON-PLB type. Host Unit PCON-PLB type PIO Connector Positioning Unit 180Ω 180Ω Line Driver: 26C31 or equiv. Connected to Frame Ground (FG connection portion on a device or PCON) Power Supply Connector Caution: Make short-circuit between the host (positioning unit) and the 0V on power supply connector.

  • Page 61: Wiring Method

    PCON- 2.3.1 CYB/PLB/POB Wiring Method 2.3.1 Wiring Layout of Power Supply Connector The wires of the power supply and the emergency stop circuit are to be connected to the controller enclosed connector. Strip the sheath of the applicable wires for 10mm and insert them to the connector. 1) Push a protrusion beside the cable inlet with a small slotted flathead screwdriver to open the inlet.

  • Page 62: Connection To Actuator

    Negative side of the limit switch Positive side of the brake release Negative side of the brake release Not used Not used Cable dedicated for IAI products Encoder A-phase differential + input Encoder A-phase differential - input Encoder B-phase differential + input...

  • Page 63: Connection Of Pio

    PCON- 2.3.3 CYB/PLB/POB 2.3.3 Connection of PIO Conduct the connection of I/O to the controller is to be carried out using the dedicated I/O cable. The cable length is shown in the model code of the controller. Please check the controller model code.
  • Page 64 PCON- 2.3.4 CYB/PLB/POB 2.3.4 Connection of Pulse Train Signal (PLB or POB Types) Pulse train is input to PIO connector. Insert the wires to the indicated pin numbers. When the host unit adopts the differential system, use PCON-PLB type. When the host unit adopts the open collector system, use PCON-POB type. [Refer to 2.2.3 [4] Circuits for Pulse Train Control] Shield Cable Model: CB-PAD-PIOS□□□...

  • Page 65: Sio Connector Connection

    PCON- 2.3.5 CYB/PLB/POB 2.3.5 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 (DVD)”.] Teaching...
  • Page 66 PCON- CYB/PLB/POB ME0353-3C...

  • Page 67: Chapter 3 Operation Of Cyb Type (Positioner Mode / Solenoid Valve Mode)

    PCON- 3.1.1 CYB/PLB/POB Chapter 3 Operation of CYB Type (Positioner Mode / Solenoid Valve Mode) Basic Operation 3.1.1 Basic Operation Methods CYB Type is a positioner / solenoid valve type controller. There are various types of actuators including slider, rod. The same operation control method is applicable unless particular descriptions are contained in this manual.
  • Page 68 PCON- 3.1.1 CYB/PLB/POB • Procedure 3 : Turn the servo ON, and have a home-return operation. Select Position → 1) Press the Servo Edit/Teaching in Menu 2) Turn on the Servo Lamp Open Position Table 3) Press the Home 4) Turn on the Home Lamp (after actuator is stopped) •...

  • Page 69: Parameter Settings

    PCON- 3.1.2 CYB/PLB/POB 3.1.2 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.

  • Page 70: Pio Pattern Selection And Main Functions

    PCON- CYB/PLB/POB Operation in Positioner Mode (CYB Type) This controller is capable for selecting seven PIO patterns in the parameter. This Operational PIO pattern cannot be switched over after the system is finished to be established or during the actuator operation. Choose the optimum pattern beforehand considering the system operation specifications and prepare the cables and sequence design.
  • Page 71 PCON- CYB/PLB/POB [2] Overview of Major Functions Major Functions Description Number of positioning points Number of positioning points which can be set in the position table. Operation with the position no. Normal operation started by turning the start signal ON after position input no.

  • Page 72: Set Of Position Table

    PCON- 3.2.1 CYB/PLB/POB 3.2.1 Set of Position Table 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.
  • Page 73 (3) If the payload is extremely lighter than the rated payload, increase accel..., acceleration/deceleration to larger than their rated values to shorten the tact time. Please contact IAI for the settings in such situation. Inform us of the weight, shape and mounting method of the work and the installation conditions of the actuator.
  • Page 74 PCON- 3.2.1 CYB/PLB/POB 8) Pos. band [mm] For positioning in PIO Patterns (Note 1) 0, 1 and 5, the positioning complete signal PEND (PE*: Current position number for PIO Pattern 1) turns ON if the remaining moving distance falls into the range set in this parameter in positioning operation.
  • Page 75 PCON- 3.2.1 CYB/PLB/POB 11) ACC/DCL mode ꞏ Select a proper acceleration/deceleration pattern depending on the load. Acceleration/ Operation Value Deceleration Pattern Speed Trapezoid Time Speed S-shaped Motion (Refer to Caution at S-shaped Motion) Time Set the S-shaped Motion rate with parameter No.56. Speed First-Order Lag Filter...
  • Page 76 PCON- 3.2.1 CYB/PLB/POB 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 smart tuning function calculates the optimum speed and acceleration/deceleration.

  • Page 77: Control Of Input Signal

    The positioning complete signal PEND (Patterns 0 and 5 (when PEND signal selected)) is turned OFF during the home-return operation. Home Return Signal HOME (PLC→IAI Controller) Homing Completion Signal HEND (IAI Controller→PLC) Positioning Completion Signal PEND (IAI Controller→PLC)
  • Page 78 PCON- 3.2.3 CYB/PLB/POB [Home-return Operation of Slider Type/Rod Type/Table Type Actuators] Mechanical end Home Once the home-return command is issued, the actuator moves towards the mechanical end in the home-return speed. The moving speed is 20mm/s for most actuators but less than 20mm/s for some actuators.
  • Page 79 PCON- 3.2.3 CYB/PLB/POB (2) Multi-Rotation Specification Home (Forward Rotation End) (Home Position Offset Movement Amount Side) Rotary Axis Datum Point for Offset (Center of 6), 7), 9) and 10)) (Opposite Side of Home Position) Home Sensor Detection Range Once the home-return command is issued, the actuator rotates in CCW (counterclockwise) direction from the view point of the load side.
  • Page 80 PCON- 3.2.3 CYB/PLB/POB [Home-return Operation of Gripper] (Note 1) Finger Attachment (Note 1) Finger Attachment Once the home-return command is issued, the actuator moves towards the mechanical end (external end) in 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].
  • Page 81 PCON- 3.2.3 CYB/PLB/POB [2] Zone Signal and Position Zone Signal (ZONE1, ZONE2, PZONE) Output PIO signal ZONE1 (Note 2) ZONE2 (Note 3) PZONE (Note 2) Pattern 0 ×   Pattern 1 (Note 1) × × × Pattern 2 × ...

  • Page 82: Zone Signal Output

    PCON- 3.2.3 CYB/PLB/POB (2) Position zone signal (PZONE) Position Speed Push LoTh Pos. band Zone+ Zone- ACC/DCL Transported Stop [mm] [mm/s] [mm] [mm] [mm] mode load mode 0.00 250.00 0.20 0.20 0.10 50.00 30.00 100.00 250.00 0.20 0.20 0.10 70.00 60.00 50.00 250.00...
  • Page 83 PCON- 3.2.3 CYB/PLB/POB [3] Alarm, Alarm Reset (*ALM, RES) Input Output PIO signal *ALM Patterns 0 to 4   Pattern 5 ∆ ∆ : Available, : Unavailable, ∆: Signal Selected 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.
  • Page 84 PCON- 3.2.3 CYB/PLB/POB [4] Binary Output of Alarm Data (*ALM, PM1 to 8) Output PIO signal *ALM PM1 to 8 Pattern 0   Patterns 1 to 4 (Note 1)   Pattern 5 (Note 1)   : Available, : Unavailable, ∆: Signal Selected Note 1: This feature is not equipped in PIO Patterns from 1 to 4.
  • Page 85 PCON- 3.2.3 CYB/PLB/POB : ON : OFF ALM8 ALM4 ALM2 ALM1 Binary *ALM Description: Alarm code is shown in ( ). (PM8) (PM4) (PM2) (PM1) Code Actual speed excessive (0C0)      Regenerative electric discharge circuit error (0C7) Overcurrent (0C8) Overvoltage (0C9) Overheat (0CA)
  • Page 86 PCON- 3.2.4 CYB/PLB/POB 3.2.4 Operation with the Position No. Input = Operations of PIO Patterns 0 This section describes the methods of operations of PIO pattern 0. These patterns provide normal controller operation methods in which the controller is operated by turning the start signal ON after a position No.
  • Page 87 PCON- 3.2.4 CYB/PLB/POB Command Position No. PC1 to PC** (PLC→Controller) T16ms Turned OFF by Start Signal CSTR turning PEND OFF (PLC→Controller) Completed Position PM1 to PM** = 0 PM1 to PM** = 0 (Note 1) (Note 1) PM1 to PM** (Controller→PLC) Turned ON after entering into...
  • Page 88 PCON- 3.2.4 CYB/PLB/POB [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.
  • Page 89 PCON- 3.2.4 CYB/PLB/POB (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. [Operation Examples] This example rotates the actuator by 2 turns and finally stops it at position No.4.
  • Page 90 PCON- 3.2.4 CYB/PLB/POB [2] Speed Change During the Movement  Sample use 100mm/s 50mm/s 1) 2) 6) 7) Positioning complete width at position 2 Velocity Positioning Completion Signal Output Positioning Completion Signal Output Position Speed Push LoTh Pos. band Zone + Zone - ACC/DCL Transported...
  • Page 91 PCON- 3.2.4 CYB/PLB/POB [3] Pitch Feeding (relative movement = incremental feed)  Sample use 250mm/s 2) 3) Velocity Position Speed Push LoTh Pos. band Zone + Zone - ACC/DCL Transported Stop [mm] [mm/s] [mm] [mm] [mm] mode load Mode 100.00 250.00 0.20 0.20...
  • Page 92 PCON- 3.2.4 CYB/PLB/POB 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) When it is required to have pitch feed operation straight after pressing operation (condition kept in pressing), it is necessary to be cautious as the actuator moves directly to the coordinates that the pitch feed distance is added to the base point of pitch.

  • Page 93: Pressing Operation

    PCON- 3.2.4 CYB/PLB/POB [4] Pressing Operation  Sample use 250mm/s 1) 2) 4) 5) Positioning width 50 Press-fitting process Velocity Caulking process Position Speed Push LoTh Pos. band Zone + Zone - ACC/DCL Transported Stop [mm] [mm/s] [mm] [mm] [mm] mode load Mode...
  • Page 94 PCON- 3.2.4 CYB/PLB/POB Command Position No. PC1 to PC** (PLC→Controller) T16ms (Note1) Turned OFF by turning PEND OFF Start Signal CSTR (PLC→Controller) Completed Position PM1 to PM** PM1 to PM** = 0 (Note 2) PM1 to PM** = 0 (Note 2) (Controller→PLC) Not turned ON for Positioning Completion Signal...
  • Page 95 PCON- 3.2.4 CYB/PLB/POB Caution: (1) The speed during pressing operation is set in Parameter No.34. 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.
  • Page 96 PCON- 3.2.4 CYB/PLB/POB 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 operation. PEND is turned ON at satisfaction of the condition if the work is not stopped.

  • Page 97: Tension Operation

    PCON- 3.2.4 CYB/PLB/POB [5] Tension Operation  Image diagram Position No.1 Position No.2 Position Speed Push LoTh Pos. band Zone + Zone - ACC/DCL Transported Stop [mm] [mm/s] [mm] [mm] [mm] mode load Mode 100.00 250.00 0.20 0.20 0.10 0.00 0.00 80.00 250.00...
  • Page 98 PCON- 3.2.4 CYB/PLB/POB 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.

  • Page 99: Multi-Step Pressing

    PCON- 3.2.4 CYB/PLB/POB [6] Multi-step Pressing  Image diagram Position No.1 Position No.2 Position No.3 Position Speed Push LoTh Pos. band Zone + Zone - ACC/DCL Transported Stop [mm] [mm/s] [mm] [mm] [mm] mode load Mode 0.00 250.00 0.20 0.20 0.10 0.00 0.00...
  • Page 100 PCON- 3.2.4 CYB/PLB/POB [7] Pause and Operation Interruption (*STP, RES, PEND) 4) 5) Positioning Completion Signal Output  Control method Pause is possible during movement. In addition, the moving distance can be cancelled to interrupt the operation. 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.

  • Page 101: Direct Position Specification (Solenoid Valve Mode 1) = Operation Of Pio Pattern

    PCON- 3.2.5 CYB/PLB/POB 3.2.5 Direct Position Specification (Solenoid Valve Mode 1) = Operation of PIO Pattern 1 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.
  • Page 102 PCON- 3.2.5 CYB/PLB/POB  Control method When start signal ST* is turned ON, the actuator starts acceleration based on the data in the specified position table for positioning to the target position. Once the positioning is complete, PE* Signal on the current position number in the indicated positions will turn on.
  • Page 103 PCON- 3.2.5 CYB/PLB/POB [2] Pitch Feeding (relative movement = incremental feed)  Sample use 250mm/s 2) 3) Stocker up/down, pallet movement, etc. Position Speed Push LoTh Pos. band Zone + Zone - ACC/DCL Transported Stop [mm] [mm/s] [mm] [mm] [mm] mode load Mode...
  • Page 104 PCON- 3.2.5 CYB/PLB/POB 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.
  • Page 105 PCON- 3.2.5 CYB/PLB/POB [3] Operation Interruption (ST*, PE*) Pause is possible during movement. Set “0” (setting at delivery” in Parameter No. 27 “Movement Command Classification”. The actuator can only be moved while the ST* signal is set to ON and stopped if ST* is turned OFF.

  • Page 106: Home Return (St0, Hend)

    PCON- 3.2.6 CYB/PLB/POB 3.2.6 Direct Position Specification (Solenoid Valve Mode 2) = Operation of PIO Pattern 2 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.
  • Page 107 PCON- 3.2.6 CYB/PLB/POB [Home-return Operation of Slider Type/Rod Type Actuator] Home 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.
  • Page 108 PCON- 3.2.6 CYB/PLB/POB (2) Multi-Rotation Specification Home (Forward Rotation End) (Home Position Offset Movement Amount Side) Rotary Axis Datum Point for Offset (Center of 6), 7), 9) and 10)) (Opposite Side of Home Position) Home Sensor Detection Range Once ST0 Signal turns on, the rotary part rotates in CCW (counterclockwise) in the view of load side.
  • Page 109 PCON- 3.2.6 CYB/PLB/POB [Home-return Operation of Gripper] (Note 1) Finger Attachment (Note 1) Finger Attachment 1) If the ST0 signal is turned ON, the actuator moves toward the mechanical end (to end side) at the home return speed (20mm/s). 2) 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].
  • Page 110 PCON- 3.2.6 CYB/PLB/POB [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.
  • Page 111 PCON- 3.2.6 CYB/PLB/POB [3] Positioning [Basic] (ST0 to ST2, LS0 to LS2) Position No. Input Output (Note) Pressing and pitch feed are unavailable.  Sample use 200mm/s 100mm/s 2) 3) 5) 6) Position Speed Push LoTh Pos. band Zone + Zone - ACC/DCL Transported...
  • Page 112 PCON- 3.2.6 CYB/PLB/POB → → → (Example) Repetition of ST1 Insert timer t if necessary. Start Signal t t (PLCController) Δt Start Signal (PLCController) Position Sensing Output (ControllerPLC) Position Sensing Output (ControllerPLC) Target position  t : Time required to certainly reach the target position after the position sensing output LS1 or 2 is turned ON. [Example of stop position when the ST* signal is turned OFF by the LS* signal] If the positioning band is set at a position before the original deceleration start position, the actuator cannot reach the target position.

  • Page 113: Speed Change During The Movement

    PCON- 3.2.6 CYB/PLB/POB [4] Speed Change During the Movement  Sample use 100mm/s 50mm/s 2) 3) 4) 5) Positioning complete width at position 1 Velocity Position Speed Push LoTh Pos. band Zone + Zone - ACC/DCL Transported Stop [mm] [mm/s] [mm] [mm] [mm]...
  • Page 114 PCON- 3.2.6 CYB/PLB/POB 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. Start Signal (PLCController) Start Signal (PLCController) Start Signal (PLCController) Position Sensing Output...
  • Page 115 PCON- 3.2.6 CYB/PLB/POB [5] Pause and Operation Interruption (ST*, LS*) Turning start signal ST* OFF allows the actuator to be paused while it is moved. To restart it, turn the same ST* signal ON. Acceleration 4) 5)  Control method If start signal ST* is turned OFF during movement, the actuator can be paused.

  • Page 116: Servo On (Son, Sv)

    PCON- 3.2.6 CYB/PLB/POB [6] Servo ON (SON, SV) 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. With the power being supplied, then controller cannot be operated while the SV signal remains OFF.
  • Page 117 PCON- 3.2.7 CYB/PLB/POB 3.2.7 Operation when Single / Double Solenoid Mode = PIO Pattern 3 and 4 Movement between two points can be controlled in the same manner as air cylinder. Selection can be made from single solenoid system and double solenoid system. Speed change during positioning cannot be conducted.
  • Page 118 PCON- 3.2.7 CYB/PLB/POB  For PIO Pattern 4 (Double Solenoid Mode) For incremental type and for battery-less absolute type with the home-return operation incomplete due to such a reason as parameter change, the actuator should conduct the home-return operation when ST0 gets turned ON while the home-return operation is incomplete (HEND = OFF). Once the home-return operation completes, the home-return complete signal HEND should turn ON.
  • Page 119 PCON- 3.2.7 CYB/PLB/POB [Home-return Operation of Slider Type/Rod Type Actuator] Home With the ST0 signal being ON (ON or OFF for PIO Pattern 3), the actuator moves towards 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.
  • Page 120 PCON- 3.2.7 CYB/PLB/POB (2) Multi-Rotation Specification Home (Forward Rotation End) (Home Position Offset Movement Amount Side) Rotary Axis Datum Point for Offset (Center of 6), 7), 9) and 10)) (Opposite Side of Home Position) Home Sensor Detection Range Once ST0 Signal turns ON (ON or OFF for PIO Pattern 3), the rotary part rotates in CCW (counterclockwise) in the view of load side.
  • Page 121 PCON- 3.2.7 CYB/PLB/POB [Home-return Operation of Gripper] (Note 1) Finger Attachment (Note 1) Finger Attachment If the ST0 signal is turned ON (ON or OFF for PIO Pattern 3), 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.
  • Page 122 PCON- 3.2.7 CYB/PLB/POB [2] Features of LS signals (LS0 to 1) LS* is not a complete signal to a positioning command such as PIO Pattern 0. Just as it does in detection with a sensor, the applicable LS* Signal should turn ON once the actuator gets in the range of the setting values regardless of the indicated position number.
  • Page 123 PCON- 3.2.7 CYB/PLB/POB [3] Movement between Two Points [Basic] (ST0, ST1, LS0, LS1, PE0, PE1) Input Input Position No. Output (PIO Pattern 3) (PIO Pattern 4) ST0=ON ST0＝OFF LS0/PE0 ST1=ON ST0=ON LS1/PE1 (Note) Pitch feeding cannot be performed.  Control Method for PIO Pattern 3 (Single Solenoid Mode) In PIO Pattern 3, positioning is conducted on Position No.
  • Page 124 PCON- 3.2.7 CYB/PLB/POB  Control Method for PIO Pattern 4 (Double Solenoid Mode) In PIO Pattern 4, the actuator moves to the target position by the combination of ST0 and ST1. Start Signal 0 (PLCController) Start Signal 1 (PLCController) Limit Switch Output 0 (ControllerPLC) Limit Switch Output 1 (ControllerPLC)
  • Page 125 PCON- 3.2.7 CYB/PLB/POB [4] Pressing Operation  Sample use 250mm/s 1) 2) 4) 5) Positioning width 50 Velocity Press-fitting process Caulking process Position Speed Push LoTh Pos. band Zone + Zone - ACC/DCL Transported Stop [mm] [mm/s] [mm] [mm] [mm] mode load Mode...
  • Page 126 PCON- 3.2.7 CYB/PLB/POB Caution: (1) The speed during pressing operation is set in Parameter No.34. 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.
  • Page 127 PCON- 3.2.7 CYB/PLB/POB Judging completion of pressing operation Monitoring the torque (current limit value) set in % in “Pressing” in the position table, pressing gets determined as complete and PE* on the current position number turns on and miss-pressing signal PSFL turns off when the load current during the pressing operation reaches to the following conditions.
  • Page 128 PCON- 3.2.7 CYB/PLB/POB [5] Tension Operation  Image diagram Position No.1 Position No.0 Position Speed Push LoTh Pos. band Zone + Zone - ACC/DCL Transported Stop [mm] [mm/s] [mm] [mm] [mm] mode load Mode 100.00 250.00 0.20 0.20 0.10 0.00 0.00 80.00 250.00...
  • Page 129 PCON- 3.2.7 CYB/PLB/POB Caution: (1) The speed during tension operation is set in Parameter No.34. The speed for pulling operation is same as that for pressing 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 tension speed, the tension operation is performed at the setup speed.
  • Page 130 PCON- 3.2.7 CYB/PLB/POB [6] Pause and Operation Interruption (ST*, PE*,*STP, RES)  Control method The actuator operation pauses with input of the pause signal *STP. The remained movement resumes if *STP input is stopped. The remained movement gets cancelled if the reset signal RES turns on during a pause.

  • Page 131: Servo On (Son, Sv)

    PCON- 3.2.7 CYB/PLB/POB [8] Servo ON (SON, SV) 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. With the power being supplied, then controller cannot be operated while the SV signal remains OFF.
  • Page 132 PCON- 3.2.8 CYB/PLB/POB 3.2.8 Operation when User Select Mode = PIO Pattern 5 It is a PIO pattern to make an operation by selecting desired signals from the selectable control signals. Select desired number of points from the number of basic positioning points (4, 8, 16, 32 and 64) and the necessary command position number signal PC* and the complete position number signal PE* get assigned to the input and output signals.
  • Page 133 PCON- 3.2.8 CYB/PLB/POB 4) Select 16 points and three signals can be selected and assigned to each input and output. Input Side Output Side ←□: Signal selectable 5) Select 8 points and four signals can be selected and assigned to each input and output. Input Side Output Side ←□: Signal selectable...

  • Page 134: Signal Select

    PCON- 3.2.8 CYB/PLB/POB [2] Signal Select Select any signal from those listed below. Refer to RC PC Software Instruction Manual separately for how to select signals. Input Signal Name Contents *STP Pause: Turn off to issue pause command 3.2.8 [3] (5) Servo-ON Command: Turn on to turn servo on 3.2.8 [3] (7) HOME...
  • Page 135 PCON- 3.2.8 CYB/PLB/POB Output Signal Name Contents PEND Position complete: 3.2.8 [3] (10) Turns on when target position movement completed MOVE Moving Signal: 3.2.8 [3] (6) Turns on while actuator in movement Preparation End: 3.2.8 [3] (7) Turns on when servo turns on HEND Home Return Completion: 3.2.8 [3] (8)

  • Page 136: Signal Details

    PCON- 3.2.8 CYB/PLB/POB [3] Signal Details * in symbols shows that it is in active low. (1) Controller Standby (PWR) PLC Input Signal It turns on when the controller gets available for control after the power is turned on.  Function It turns on when the initialization of the controller is finished in normal condition and gets available for control after the power is turned on regardless of alarm status or condition of servo.
  • Page 137 SON Signal turns the servo on / off in the controller. While SV Signal is on, the servo turns on in the controller, which makes operation available. The relation of SON Signal and SV Signal is as shown below. (PLC → IAI Controller) （PLC→IAIコントローラ） (IAI Controller →PLC) （IAIコントローラ→PLC）...
  • Page 138 (while HEND Signal is off), it conducts positioning to the target position after performing the home-return operation automatically. Turn this signal off after confirming that the positioning complete signal (PEND) has turned off. Target Position (PLC → IAI Controller) （PLC→IAIコントローラ） (PLC → IAI Controller) （PLC→IAIコントローラ）...
  • Page 139 PCON- 3.2.8 CYB/PLB/POB (11) Zone 1 (ZONE1) PLC Input Signal Zone 2 (ZONE2) PLC Input Signal Position Zone (PZONE) PLC Input Signal It turns on when the actuator current position is in the range of the set domain, and off when out of the range.
  • Page 140 PCON- 3.2.8 CYB/PLB/POB (13) Switchover between JOG Velocity / Inching Distance (JVEL) PLC Output Signal It is a signal to switch over parameters to indicate the JOG velocity when JOG Operation is selected or inching distance when Inching Operation is selected. The relation is as shown below.
  • Page 141 PCON- 3.2.8 CYB/PLB/POB (Note) Before home-return is complete, pay attention as the actuator may crush to the mechanical end because the software stroke limit is inactivated. (15) Brake Control Release (BKRL) PLC Output Signal Turn this signal on and the brake will be compulsorily released. (16) Operation Mode (RMOD) PLC Output Signal Operation Mode Status (RMDS) PLC Input Signal...
  • Page 142 PCON- 3.2.8 CYB/PLB/POB (20) Torque level status (TRQS) PLC Input Signal This signal is valid only in pressing operation. This signal turns on when the motor current has reached the load threshold during the pressing operation (or movement to positioning band). As the current is monitored in levels, the on/off condition of this signal may vary as the current varies.
  • Page 143 PCON- 3.2.8 CYB/PLB/POB (21) Load Output Judgment Status (LOAD) PLC Input Signal This signal is valid only in pressing operation. To use it for press-fitting purpose, it is necessary to know if it has reached the set load threshold during the pressing operation. Set the load threshold and the inspection range, and this signal turns on when the command torque (motor current) has exceeded the threshold in the inspection range.
  • Page 144 PCON- 3.2.8 CYB/PLB/POB (22) Position Complete Signal (MEND) PLC Input Signal This signal turns on when the actuator moves to the target position and reached the positioning band, and when pressing operation is finished (complete or finished with miss- pressing). Caution: If the servo turns off or status gets into emergency stop condition while stopped at the target position, MEND Signal gets turned off once.

  • Page 145: Chapter 4 Operation Of Plb/Pob Type (Pulse Train Control)

    PCON- 4.1.1 CYB/PLB/POB Chapter 4 Operation of PLB/POB Type (Pulse Train Control) Basic Operation 4.1.1 Basic Operation Methods PLB/POB Type is a controller that is pulse train control type. There are various types of actuators including slider, rod. The same operation control method is applicable unless particular descriptions are contained in this manual.
  • Page 146 PCON- 4.1.1 CYB/PLB/POB  Main Functions Function Name Name Dedicated home return signal Using this feature (signal) enables the incremental type actuators available for home-return operation without using complicating sequences or external sensors. Brake control function Since the controller controls the brake, there is no need to program a separate sequence.

  • Page 147: I/O Signal Controls

    PCON- CYB/PLB/POB 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.

  • Page 148: Compulsory Stop (Cstp)

    PCON- CYB/PLB/POB [2] Compulsory Stop (CSTP) Input PIO signal CSTP 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.

  • Page 149: Home Return (Home, Hend)

    PCON- CYB/PLB/POB [4] Home Return (HOME, HEND) Input Output PIO signal HOME HEND The HOME signal is intended for home return. When the HOME signal is turned ON, the command will be processed at the leading edge (ON edge) of the signal and the actuator will perform home return operation. Once the home return is completed, the HEND (home return completion) signal will turn ON.
  • Page 150 PCON- CYB/PLB/POB [Home-return Operation of Rotary Actuator] (1) 330 Rotation Specification Operation range (330 degrees) Home (Forward rotation side swivel end) Rotary axis When home-return is commanded, the rotary part rotates in the CCW (counterclockwise) direction as seen from the load side. The speed is 20deg/s.
  • Page 151 PCON- CYB/PLB/POB (2) Multi-Rotation Specification Home (Forward Rotation End) (Home Position Offset Movement Amount Side) Rotary Axis Datum Point for Offset (Center of 6), 7), 9) and 10)) (Opposite Side of Home Position) Home Sensor Detection Range When home-return is commanded, the rotary part rotates in the CCW (counterclockwise) direction as seen from the load side.
  • Page 152 PCON- CYB/PLB/POB [Home-return Operation of Gripper] (Note 1) Finger Attachment (Note 1) Finger Attachment Once the home-return command is issued, the actuator moves towards the mechanical end (external end) in 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].
  • Page 153 PCON- CYB/PLB/POB [5] Datum Position Movement (RSTR, REND) Input Output PIO signal RSTR REND RSTR Signal is a command signal to move to the datum position* set at any point. (Note 1) This command is processed at the startup (ON-edge) and operation to the datum position is conducted.

  • Page 154: Alarm, Alarm Reset (*Alm, Res)

    PCON- CYB/PLB/POB [6] Zone (ZONE1) Output PIO signal ZONE1 Each of the signals turns ON when the current actuator position is inside the range specified by the relevant parameter. Setting in ZONE1 domain is available. It is on when the actuator current position is in the range of Parameter No. 1 “Zone Boundary 1 Positive Side”...
  • Page 155 PCON- CYB/PLB/POB [8] Brake Controll Release (BKRL) Output PIO signal 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.

  • Page 156: Pulse Train Input Operation

    PCON- CYB/PLB/POB Pulse Train Input Operation [1] Command Pulse Input (PP•/PP, NP•/NP) In the differential type (PLB type), it is able to have 200kpps of pulse train input at maximum. Pulse train input of 60kpps max. is available in the open collector type (POB type). 6 types of command pulse train can be selected.
  • Page 157 PCON- CYB/PLB/POB ●Open collector type (PCON-POB) Command-pulse Input terminal Forward Reverse input pattern Forward pulse train Reverse pulse train Forward pulse trains indicate motor revolutions in the positive direction, while reverse pulse trains indicate motor revolutions in the reverse direction. Pulse train Sign Command pulses indicate motor revolutions, while the sign of the command indicates the rotating...

  • Page 158: Position Complete (Inp)

    PCON- CYB/PLB/POB 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 Motor Rotation Speed [mm/s]  60 Motor Rotation [rpm] = Ball Screw • Lead Length [mm/rev] Time Constant 1G = 9800mm/s : Acceleration capable to accelerate up to 9800mm/s per...

  • Page 159: Torque Limit Select (Tl, Tlr)

    PCON- CYB/PLB/POB [3] Torque Limit Select (TL, TLR) Input Output PIO signal 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].

  • Page 160: Settings Of Basic Parameters Required For Operation

    PCON- CYB/PLB/POB Settings of Basic Parameters Required for Operation It is a mandatory parameter to perform an operation. (The parameters listed in the table below three types may only be set if the actuator performs only positioning operation.) Parameter No. Parameter Name Details Electronic Gear Numerator This parameter determines the unit travel distance of...
  • Page 161 PCON- CYB/PLB/POB Caution: (1) The fraction has to be completely reduced so both the electric gear numerator (CNUM) and electric gear denominator (CDEN) can be 4096 or less and make them to be integral numbers. (Do not stop reducing the fraction on the way.) (2) CNUM and CDEN on the line axis have to satisfy the following relative formulas.

  • Page 162: Pulse Train Datum Position (Parameter No. 167)

    PCON- CYB/PLB/POB [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 Name Unit Input Range Initial Value Command Pulse – 0 to 2 Input Mode Setting Value Input...

  • Page 163: Parameter Settings Required For Advanced Operations

    PCON- CYB/PLB/POB Parameter Settings Required for Advanced Operations Depending on systems and/or loads, set the following parameters if necessary. [1] Position Command Primary Filter Time Constant Input Name Unit Initial Value Range Position Command Primary 0.0 to Filter Time Constant 100.0 The acceleration/deceleration of the actuator can be set in S-shaped curve with this parameter setting.
  • Page 164 PCON- CYB/PLB/POB [5] Deviation Counter Clear Input Input Name Unit Initial Value Range Deviation Counter Clear Input – 0 to 1 You can select whether to enable or disable the function to clear deviation the TL signal is ON. Disable this function in conditions where torque must be limited (pressing is not performed). Setting 0: Enable Setting 1: Disable [6] Torque Limit Command Input...
  • Page 165 PCON- CYB/PLB/POB An actuator waits for the next position command for the duration of the time set in this parameter (T in figure above) after the position command input from the host controller (PLC). It should be judged positioning completed when there is no command from the host controller found after the time T has passed and also the deviation is within the range of the positioning band, and the complete signal (INP) should be output.
  • Page 166 PCON- CYB/PLB/POB ME0353-3C...

  • Page 167: Chapter 5 Other Features

    PCON- 5.1.1 CYB/PLB/POB Chapter 5 Other Features Collision Detection Feature Collision detection feature is a feature that stops the actuator immediately when it interferes with an object during the operation. When the command current has exceeded the set threshold, it generates an alarm, turns the servo off and makes the operation stopped.
  • Page 168 PCON- 5.1.2 CYB/PLB/POB 5.1.2 Settings Have the following settings established when using following function. Select to use feature Setting can be established in the parameters. Setting of parameter “No.168 Collision Detection Feature” Setting value Operation status Alarm level Detection not to be conducted Detection is conducted in position zone setting range.
  • Page 169 PCON- 5.1.3 CYB/PLB/POB 5.1.3 Adjustment Refer to the following when performing an adjustment. 1) Adjustment range: Avoid the acceleration range, which requires high current”, and set the range with possibility that collision can occur. 2) Detection Current: Considering the movement velocity and weight of a work piece, set a low value in the range that detection mistake would not occur.
  • Page 170 PCON- 5.2.1 CYB/PLB/POB Power-saving Function (Automatic Servo-OFF and Full Servo Function) 5.2.1 Automatic Servo-off and Full Servo Function This controller possesses the automatic servo-off and full servo function and automatic current reduction feature [refer to Section 5.2.2] in order to reduce the power consumption while the actuator is stopped.
  • Page 171 PCON- 5.2.1 CYB/PLB/POB Caution: Automatic Servo-OFF Function is not effective while in pressing operation. Do not use. It becomes effective at completion of positioning. In pressing, the function becomes effective only when miss-pressing occurs (the status at the completion of operation without pressing is the same as that at the completion of positioning).
  • Page 172 PCON- 5.2.1 CYB/PLB/POB (3) Status of positioning complete signal in selection of automatic servo-OFF Automatic servo-OFF causes the actuator to be in other than the positioning complete state due to the servo OFF. Positioning complete signal (PEND) is turned OFF. Changing the PEND signal to the in-position signal judging whether the actuator is stopped within the positioning band zone instead of the positioning complete signal allows PEND not to be turned OFF during servo OFF.

  • Page 173: Automatic Current Reduction Feature

    PCON- 5.2.2 CYB/PLB/POB 5.2.2 Automatic Current Reduction Feature This feature reduces the current at stop gradually when the actuator is able to keep staying at the same stop position (condition with no deviation) after stopping for positioning. In case the actuator has moved, the current at stop increases gradually until the stop condition gets retained.
  • Page 174 PCON- CYB/PLB/POB ME0353-3C...

  • Page 175: Chapter 6 Absolute Reset

    PCON- CYB/PLB/POB Chapter 6 Absolute Reset Absolute Reset Battery-less Absolute Type remains the encoder position data even while the power is OFF, however, it is necessary to have the absolute reset conducted in case of (1) and (2) stated below. (1) At motor replacement (2) When absolute error generated The absolute reset is performed by using a teaching tool such as PC software.
  • Page 176 PCON- CYB/PLB/POB (2) For Teaching Pendant (TB-02/TB-03) Press Alarm reset. Press Trial Operation on the Menu 1 screen. Press Jog inching on Test run screen. Touch Servo to turn the servo ON and touch Homing in Jog inching screen. ME0353-3C...
  • Page 177 PCON- CYB/PLB/POB (3) For Teaching Pendant (TB-01) Press Reset Alm. Press Trial Operation on the Menu 1 screen. Press Jog_Inching on Trial Operation screen. Touch SV OFF to turn the servo ON and touch HOME in Jog screen. ME0353-3C...
  • Page 178 PCON- CYB/PLB/POB ME0353-3C...

  • Page 179: Chapter 7 Parameter

    PCON- CYB/PLB/POB Chapter 7 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.

  • Page 180: I/O Parameter List

    PCON- CYB/PLB/POB 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.
  • Page 181 PCON- CYB/PLB/POB I/O Parameter List (continued) Default Factory Relevant Name Unit (Note1) Input Range /POB Setting Type Sections Type 0: Level B Movement command type – 7.2 [20]  1: Edge Default movement direction for 0: Reverse In accordance with –...
  • Page 182 PCON- CYB/PLB/POB I/O Parameter List (continued) Default Factory Relevant Name Unit (Note1) Input Range /POB Setting Type Sections Type 7.2 [52] B Electronic gear denominator – 1 to 4096  4.5[1] 0: Enabling 7.2 [53] B Compulsory stop input – ...
  • Page 183 PCON- CYB/PLB/POB Caution: When operating using serial communication, set the parameter No. 25 PIO pattern selection to “serial communication mode”. The setting values are as follows. ・PCON-CYB…“6” ・PCON-PLB/POB…“2” ME0353-3C...

  • Page 184: Detail Explanation Of Parameters

    PCON- CYB/PLB/POB 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.
  • Page 185 PCON- CYB/PLB/POB Soft limit +, Soft limit - (Parameter No.3, No.4) Default Factory Name Unit Input Range Setting -9999.99 to Actual stroke on + Soft limit + (deg) 9999.99 side -9999.99 to Actual stroke on - Soft limit - (deg) 9999.99 side 0.3mm (deg) is added to the outside of the effective actuator stroke for the setting at the...
  • Page 186 PCON- CYB/PLB/POB Press & hold stop judgment period (Parameter No.6) Default Factory Name Unit Input Range Setting In accordance with Press & hold stop judgment period 0 to 9999 actuator 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”...
  • Page 187 When the value is increased, the stop holding torque is increased. Even though it is generally unnecessary to change this setting, setting the value larger is necessary in the case a large external force is applied during stop. Please contact IAI. [10] Current-limiting value during home return (Parameter No.13)
  • Page 188 PCON- CYB/PLB/POB [11] Pause input disable (Parameter No.15) Default Factory Name Unit Input Range Setting 0 : Enabling Pause input disable 1 : Disabling This parameter defines whether the pause input signal is disabled or enabled. If pause from PIO is not required, setting the parameter to “1” allows the actuator to be operated without wiring of the pause signal input.
  • Page 189 In case there is a necessity of setting a value less than the initial setting, contact IAI. [17] Zone boundary 2+, Zone boundary 2- (Parameter No.23, No.24) [Refer to 7.2 [1].] (Note) For PCON-PLB/POB, this is valid when PIO pattern = 2 serial communication mode.
  • Page 190 PCON- CYB/PLB/POB [18] PIO pattern selection (Parameter No.25) Default Factory Name Unit Input Range Setting 0 to 6 (CYB) PIO pattern selection 0 to 2 (PLB/POB) Select the PIO operation pattern. For the details of PIO patterns, refer to [Chapter 3. Positioner Mode and Chapter 4. Pulse Train Control Mode].
  • Page 191 PCON- CYB/PLB/POB [19] PIO jog velocity (Parameter No.26) Default Factory Name Unit Input Range Setting mm/s 1 to Actuator’s max. PIO jog velocity (deg/s) speed (Note1) It is the velocity setting for when JOG is commanded in operation with serial communication. Set an appropriate value in accordance with the purpose of use.
  • Page 192 PCON- CYB/PLB/POB [21] Default movement direction for excitation-phase signal detection (Parameter No.28) Default Factory Name Unit Input Range Setting 0 : Reversed Default movement direction for In accordance with direction excitation-phase signal detection actuator 1 : Forward direction The magnetic pole detection is performed at the first servo-ON after the power is turned on. Define the detection direction at this time.
  • Page 193 PCON- CYB/PLB/POB [24] Velocity loop proportional gain (Parameter No.31) Default Factory Name Unit Input Range Setting In accordance with Velocity loop proportional gain 1 to 99999999 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).
  • Page 194 PCON- CYB/PLB/POB [26] Torque filter time constant (Parameter No.33) Default Factory Name Unit Input Range Setting In accordance with Torque filter time constant 0 to 2500 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.
  • Page 195 PCON- CYB/PLB/POB [29] Auto servo motor OFF delay time 1, 2, 3 (Parameter No.36, No.37, No.38) Default Factory Name Unit Input Range Setting Auto servo motor OFF delay time 1 0 to 9999 Auto servo motor OFF delay time 2 0 to 9999 Auto servo motor OFF delay time 3 0 to 9999...
  • Page 196 PCON- CYB/PLB/POB [32] Enable function (Parameter No.42) Default Factory Name Unit Input Range Setting 0 : Enabling Enable function 1 : Disabling Set valid/invalid the deadman switch function if the teaching pendant is equipped with a deadman switch. Set Value Description Enable (Use the input signal) Disable (Does not use the input signal)
  • Page 197 PCON- CYB/PLB/POB [36] PIO jog velocity 2 (Parameter No.47) Default Factory Name Unit Input Range Setting mm/s 1 to actuator’s max. PIO Jog velocity 2 (deg/s) speed It is not to be used. Do not attempt to change from the initial value. (Note) For PCON-PLB/POB, this is valid when PIO pattern = 2 serial communication mode.
  • Page 198 PCON- CYB/PLB/POB [40] Default stop mode (Parameter No.53) Default Factory Name Unit Input Range Setting Default stop mode 0 to 7 0 (Does not use) This parameter defines the power-saving function. [Refer to 5.2 Power-saving Function.] [41] Position-command primary filter time constant (Parameter No.55) Default Factory Name Unit...
  • Page 199 PCON- CYB/PLB/POB [42] S-shaped motion rate (Parameter No.56) Default Factory Name Unit Input Range Setting S-shaped motion rate 0 to 100 This parameter is used when the value in the [Acceleration/deceleration mode] field of the position table is set to “1 (S-shaped motion)”. This enables to ease the impact at acceleration and deceleration without making the takt time longer.
  • Page 200 PCON- CYB/PLB/POB [43] Torque limit (Parameter No.57) This parameter is exclusively used for the pulse-train control mode. [Refer to Chapter 4. Operation of PLB/POB Type] [44] Deviation clear at servo OFF & alarm stop (Parameter No.58) This parameter is exclusively used for the pulse-train control mode. [Refer to Chapter 4.
  • Page 201 PCON- CYB/PLB/POB [54] Position feed forward gain (Parameter No.71) Default Factory Name Unit Input Range Setting Feed forward gain 0 to 100 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.
  • Page 202 PCON- CYB/PLB/POB [55] Ball screw lead length (Parameter No.77) Default Factory Name Unit Input Range Setting In accordance with Ball screw lead length 0.01 to 999.99 actuator This parameter set the ball screw lead length. The factory setting is the value in accordance with the actuator characteristics. Caution: If the setting is changed, not only the normal operation with indicated speed, acceleration or amount to move is disabled, but also it may cause a generation of alarm, or malfunction of the unit.
  • Page 203 PCON- CYB/PLB/POB [58] Rotational axis shortcut selection (Parameter No.80) Default Factory Name Unit Input Range Setting 0: Disabling In accordance with Rotational axis shortcut selection 1: Enabling 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.

  • Page 204: Stop Method At Servo Off (Parameter No.110)

    PCON- CYB/PLB/POB [61] Current limit value at stopping due to miss-pressing (Parameter No.91) Default Factory Name Unit Input Range Setting 0: Current limit during Current limit value at stopping due to stopiing miss-pressing 1: Current limit value during pressing This parameter defines the restricted current value at stopping due to miss-pressing. This restricted current value locks the servo till the next moving command.
  • Page 205 PCON- CYB/PLB/POB [64] Monitoring period (Parameter No.113) Default Factory Name Unit Input Range Setting Monitoring period 1 to 60000 This is the parameter to set up the frequency of time to obtain data (Sampling Frequency) when the monitoring mode is used. By setting the value in this parameter bigger, the frequency of data obtaining can be made longer.
  • Page 206 PCON- CYB/PLB/POB [66] Gain scheduling upper limit multiplying ratio (Parameter No.144) Default Factory Name Unit Input Range Setting Gain scheduling upper limit 0 to 1023 0(Disabling) multiplying ratio Gain scheduling is the function to change the gain in accordance with the operation speed. This parameter shows the multiplying rate of the upper limit of the changeable gain.
  • Page 207 PCON- CYB/PLB/POB [71] Zone output changeover (Parameter No.149) Default Factory Name Unit Input Range Setting 0: Not to change Zone output changeover 1: To change When there is PZONE signal in the current PIO patterns and no ZONE1 signal, it is available to change the PZONE signal to either ZONE1 signal.
  • Page 208 PCON- CYB/PLB/POB [75] BU velocity loop integral gain (Parameter No.154) Default Factory Name Unit Input Range Setting In accordance with BU velocity loop integral gain 1 to 99999999 actuator When the high-thrust setting (Parameter No.152) is set effective, this parameter setting becomes effective for Velocity Loop Integrated Gain.
  • Page 209 PCON- CYB/PLB/POB 78] Startup current limit extension feature (Parameter No.166) Default factory Name Unit Input Range setting 0: Disable Startup current limit extension feature 0 (Disable) 1: Enable Change the setting when this feature is necessary in the models stated below. Applicable Models: RCP2-GRS/GRSS/GRST/GRM/GR3S/GRLS When the load is high at the start of movement to the target point, by having high current flowed for a certain period of time, the actuator operates with large force.
  • Page 210 PCON- CYB/PLB/POB [80] Collision Detection Feature (Parameter No.168) Default factory Name Unit Input Range setting Collision detection feature 0 to 7 It is a feature to generate a collision detection alarm and stop the operation (turn the servo OFF) when the actuator is crashed. Detection is conducted in the range set that the position zone is set.
  • Page 211 PCON- CYB/PLB/POB [81] Pressing Method (Parameter No.181) Default factory Name Unit Input Range setting 0: CON system Pressing Method 1: SEP system Pressing system can be selected from either the one same as CON system such as PCON controllers or the one same as SEP system such as PSEP. (Note) For PCON-PLB/POB, this is valid when PIO pattern = 2 serial communication mode.
  • Page 212 PCON- CYB/PLB/POB [82] Automatic current reduction feature select (Parameter No.182) Default factory Name Unit Input Range setting Automatic current reduction feature 0 to 1 select The stop position is retained by the current at stop being fluctuated (decreased or increased) in response to the load condition at positioning stop.

  • Page 213: Servo Adjustment

    Take sufficient note on the setting. Record settings during servo adjustment so that prior settings can always be recovered. When a problem arises and the solution cannot be found, please contact IAI. Situation that Requires How to Adjust Adjustment Takes time to finish ●...
  • Page 214 PCON- CYB/PLB/POB Situation that Requires How to Adjust Adjustment Abnormal noise is ● Input the [Torque Filter Time Constant] to parameter No.33. generated. Try to increase by 50 as a reference for the setting. If the Especially, when stopped setting is too large, it may cause a loss of control system state and operation in stability and lead the generation of vibration.

  • Page 215: Chapter 8 Troubleshooting

    PCON- CYB/PLB/POB Chapter 8 Troubleshooting 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. Status Display LED on Controller and PIO Check : Illuminating ×: OFF ☆: Flashing Status of PIO Output Signal...

  • Page 216: Fault Diagnosis

    LEDs (2) Servo ON command (PIO) is not is supplied and the wiring is in does not go on. input to IAI controller. the right condition. ● Poor contact of flat cable [Refer to 2.3.1 Wiring Layout of (3) Occurrence of alarm.
  • Page 217 PCON- 8.2.1 CYB/PLB/POB [In the case of Positioner Mode] Situation Possible Cause Check/Treatment Both position No. and There is a problem either in PIO signal 1) Is the status display LED SV start signal are input to treatment, position table setting or turned ON? [Refer to Name for the controller, but the operation mode selection.
  • Page 218 PCON- 8.2.1 CYB/PLB/POB [Startup Adjustment with Teaching Tool when Control Circuit Incomplete] Situation Possible Cause Check/Treatment Operation is not Cable treatment or mode selection. 1) Supply 24V DC to EMG- performed even though 1) Emergency stop condition terminal of the power connector. the teaching tool is 2) Servo OFF condition Warning...

  • Page 219: Positioning And Speed Of Poor Precision (Incorrect Operation)

    Instruction Manual. 2) It is touched to interference in the 4) Please contact IAI. way of the run. 3) Torsion stress is applied to guide due to improper fixing method of the actuator or uneven fastening of bolts.
  • Page 220 PCON- 8.2.2 CYB/PLB/POB [In the case of Pulse Train Control Mode] Situation Possible Cause Check/Treatment The actuator does not PIO signal processing or parameter 1) Check the setting of electronic stop at the command setting is incorrect. gear ratio. The host controller position.

  • Page 221: Generation Of Noise And/Or Vibration

    PCON- 8.2.3 CYB/PLB/POB 8.2.3 Generation of Noise and/or Vibration Situation Possible Cause Check/Treatment Generation of noise Noise and vibration are generated by Servo adjustment may improve the and/or vibration from many causes including the status of situation. actuator itself load, the installation of the actuator, [Refer to 7.3 Servo Adjustment.] and the rigidity of the unit on which the It may be improved with setting to...

  • Page 222: Impossible Communication

    PCON- 8.2.4 CYB/PLB/POB 8.2.4 Impossible Communication Situation Possible Cause Check/Treatment Not connectable with 1) Communication rates do not 1) Set the communication rate to host machine match. match that of the host 2) The machine number (station machine. [Refer to the number) is set to be duplicate with Instruction Manual of the host that of another unit or out of the...

  • Page 223: Alarm Level

    Caution: Reset each alarm after identifying and removing the cause. If the cause of the alarm cannot be removed or when the alarm cannot be reset after removing the cause, please contact IAI. If the same error occurs again after resetting the alarm, it means that the cause of the alarm has not been removed.

  • Page 224: Alarm List

    Maintenance information Cause : The maintenance information (total movement data error count, total operated distance) is lost. Treatment : Please contact IAI. Move command in servo Cause : A move command was issued when the servo is OFF. Treatment : Issue a movement command after confirming the servo is ON (servo ON signal (SV) or position complete signal (PEND) is ON).
  • Page 225 PCON- CYB/PLB/POB Alarm Alarm Alarm Name Cause/Treatment Code Level DCLR signal detection Cause : 1) Datum position movement command (RSTR) with datum position signal was turned on while deviation counter Operation movement command clear (DCLR) signal was ON. release 2) DCLR signal was turned ON during datum position movement Treatment : Turn ON DCLR signal in the right timing.
  • Page 226 Treatment : When this alarm is generated on the actuators object to control, and if the same phenomenon occurs even after a power reboot, contact IAI. Excitement detection Cause...
  • Page 227 Treatment : This error does not occur in normal operation. The combination of the controller and actuator may be incorrect. Please contact IAI. Actual speed excessive Cause : This indicates the number of motor rotation exceeded the number of allowable rotation.
  • Page 228 Treatment : This alarm will not be generated in normal operation. It can be considered as the insulation degradation of the motor winding or malfunction of the controller. Please contact IAI. Overvoltage Cause : The voltage of the power regenerative circuit has risen above the threshold.
  • Page 229 Treatment : 1) Check wiring of motor/encoder cables or replace cables. 2) Check the power supply voltage around the power supply connector on the controller or contact of the power supply connector. Contact IAI in case the condition would not recover. Cold start Differential Counter Cause...
  • Page 230 Check if there is any deformation on the attachment surface. Please contact IAI if this occurs with the actuator itself. 4) Voltage drop due to lack of current amperage, Cold start wire diameters or distance may be concerned.
  • Page 231 : Error status was received in initial communication with battery-less absolute encoder Treatment : Reboot the power and conduct an absolute reset (home-return operation). Contact IAI in case the condition would not recover. A- and B-phase wire Cause : Encoder signals cannot be detected correctly.
  • Page 232 Cold start Cause : The actuator may not match the controller. Check the model. Treatment : Should this error occur, please contact IAI. Nonvolatile memory write It is verified at the data writing process to the non-volatile verify error memory that the data inside the memory and the data to be written are matched.
  • Page 233 A recurring error with the spare controller suggests presence of noise. If the cause cannot be identified, please contact IAI. 100 to Message Alarm on teaching tool [Refer to the Instruction Manual of teaching tool.]...
  • Page 234 PCON- CYB/PLB/POB ME0353-3C...

  • Page 235: Chapter 9 Appendix

    PCON- 9.1.1 CYB/PLB/POB Chapter 9 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.

  • Page 236: Detailed Connection Diagram Of Communication Lines

    PCON- 9.1.2 CYB/PLB/POB 9.1.2 Detailed Connection Diagram of Communication Lines Double Shield Cable (Note 1) SIO Converter 4-way Junction (Manufactured by AMP : 5-1473574-4) Recommended : Taiyo Cabletec Corp. HK-SB/20276XL (AWG22) J4, J5 (SGA) A (SGB) B Touch Panel Teaching Teaching Pendant Mini DIN Personal...

  • Page 237: Handling Of E-Con Connector (How To Connect)

    PCON- 9.1.4 CYB/PLB/POB 9.1.4 Handling of e-CON Connector (How to Connect) Clamp Lever 1) Check the applicable cable size. Check the applicable cable. If it is not Pin No. 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.

  • Page 238: Sio Converter

    PCON- 9.1.5 CYB/PLB/POB 9.1.5 SIO Converter The SIO converter converts the communication mode from RS232C to RS485 or vice versa. 7) e-CON Connector 2) Link-connection 1) Power/Emergency Stop Terminal Board (TB1) Terminal Board (TB2) 6) LED Indicators for Monitoring 3) D-sub, 9-pin Connector 5) PORT Switch 4) Mini DIN, 8-pin Connector 1) Power/Emergency Stop Terminal Board (TB2)
  • Page 239 PCON- 9.1.5 CYB/PLB/POB 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”...

  • Page 240: External Dimension

    PCON- 9.1.6 CYB/PLB/POB 9.1.6 Communications Controller Link Cable (CB-RCB-CTL002) Controller Side 200mm e-CON Connector 3-1473562-4 (Housing Color :Orange) Mini DIN Connector Yellow Orange Blue 9.1.7 External Dimension (Leg Element Bottom Side) (Leg Element Top Side) ME0353-3C...

  • Page 241: Consumed Parts

    PCON- 9.2.1 CYB/PLB/POB Maintenance 9.2.1 Consumed Parts These parts below have production life. Shown below is the reference. Item Life Specification Electrolytic capacitor 5 years 0 to 40C 9.2.2 Maintenance Information The times of actuator run and distance of operation can be summed up and recorded (Note 1) the controller.

  • Page 242: List Of Specifications Of Connectable Actuators

     Do not change the setting of push speed (parameter No.34). If you must change the push speed, consult IAI.  If, among the operating conditions, the positioning speed is set to a value equal to or smaller than the push speed, the push speed will become the set speed and the specified push force will not generate.
  • Page 243 PCON- 9.3.1 CYB/PLB/POB RCP6 Series No. of Minimum Maximum acceleration Minimum Maximum Rated push Actuator Feed Lead Mounting Maximum speed Type encoder speed /deceleration push force push force speed series screw [mm] direction [mm/s] pulses [mm/s] [mm/s] SA6C: 1440 (at 50 to 450st) 1335 (at 500st) 1130 (at 550st) 970 (at 600st)
  • Page 244 PCON- 9.3.1 CYB/PLB/POB RCP6 Series No. of Minimum Maximum acceleration Minimum Maximum Rated push Actuator Feed Lead Mounting Maximum speed Type encoder speed /deceleration push force push force speed series screw [mm] direction [mm/s] pulses [mm/s] [mm/s] 450 (at 50 to 400st) 435 (at 450st) Horizontal 365 (at 500st)
  • Page 245 PCON- 9.3.1 CYB/PLB/POB RCP6 Series No. of Minimum Maximum acceleration Minimum Maximum Rated push Actuator Feed Lead Mounting Maximum speed Type encoder speed /deceleration push force push force speed series screw [mm] direction [mm/s] pulses [mm/s] [mm/s] SA7C: 490 (at 50 to 500st) 475 (at 550st) 410 (at 600st) Horizontal...
  • Page 246 PCON- 9.3.1 CYB/PLB/POB RCP6 Series No. of Minimum Maximum acceleration Minimum Maximum Rated push Actuator Feed Lead Mounting Maximum speed Type encoder speed /deceleration push force push force speed series screw [mm] direction [mm/s] pulses [mm/s] [mm/s] 195 (at 50 to 300st) 175 (at 350st) [Standard] Horizontal...
  • Page 247 PCON- 9.3.1 CYB/PLB/POB RCP6 Series No. of Minimum Maximum acceleration Minimum Maximum Rated push Actuator Feed Lead Mounting Maximum speed Type encoder speed /deceleration push force push force speed series screw [mm] direction [mm/s] pulses [mm/s] [mm/s] 700 (at 50 to 750st) Horizontal 665 (at 800st) 560 (at 50 to 650st)
  • Page 248 PCON- 9.3.1 CYB/PLB/POB RCP6 Series No. of Minimum Maximum acceleration Minimum Maximum Rated push Actuator Feed Lead Mounting Maximum speed Type encoder speed /deceleration push force push force speed series screw [mm] direction [mm/s] pulses [mm/s] [mm/s] RA7C: 860 Horizontal RA7R: 800 Vertical RA7C: 700...
  • Page 249 PCON- 9.3.1 CYB/PLB/POB RCP6 Series No. of Minimum Maximum acceleration Minimum Maximum Rated push Actuator Feed Lead Mounting Maximum speed Type encoder speed /deceleration push force push force speed series screw [mm] direction [mm/s] pulses [mm/s] [mm/s] WRA10C: 1 Horizontal WRA10R: 0.7 525 (at 50 to 450st) Horizontal...
  • Page 250 PCON- 9.3.1 CYB/PLB/POB RCP6 Series No. of Minimum Maximum acceleration Minimum Maximum Rated push Actuator Feed Lead Mounting Maximum speed Type encoder speed /deceleration push force push force speed series screw [mm] direction [mm/s] pulses [mm/s] [mm/s] Horizontal Vertical Horizontal (In ambient temp.
  • Page 251 PCON- 9.3.1 CYB/PLB/POB RCP6 Series No. of Minimum Maximum acceleration Minimum Maximum Rated push Actuator Feed Lead Mounting Maximum speed Type encoder speed /deceleration push force push force speed series screw [mm] direction [mm/s] pulses [mm/s] [mm/s] Horizontal Vertical Horizontal (In ambient temp.
  • Page 252 PCON- 9.3.1 CYB/PLB/POB RCP6 Series No. of Minimum Maximum acceleration Minimum Maximum Rated push Actuator Feed Lead Mounting Maximum speed Type encoder speed /deceleration push force push force speed series screw [mm] direction [mm/s] pulses [mm/s] [mm/s] Horizontal Vertical TA4C Horizontal TA4R Vertical...
  • Page 253 PCON- 9.3.1 CYB/PLB/POB RCP6 Series No. of Minimum Maximum acceleration Minimum Maximum Rated push Actuator Feed Lead Mounting Maximum speed Type encoder speed /deceleration push force push force speed series screw [mm] direction [mm/s] pulses [mm/s] [mm/s] 1080 Horizontal Vertical TA7C Horizontal TA7R...
  • Page 254 PCON- 9.3.1 CYB/PLB/POB RCP5 Series No. of Minimum Maximum acceleration Minimum Maximum Rated push Actuator Feed Lead Mounting Maximum speed Type encoder speed /deceleration push force push force speed series screw [mm] direction [mm/s] pulses [mm/s] [mm/s] 1260 (at 50 to 400st) Horizontal 1060 (at 450st) Vertical...
  • Page 255 PCON- 9.3.1 CYB/PLB/POB RCP5 Series No. of Minimum Maximum acceleration Minimum Maximum Rated push Actuator Feed Lead Mounting Maximum speed Type encoder speed /deceleration push force push force speed series screw [mm] direction [mm/s] pulses [mm/s] [mm/s] 450 (at 50 to 400st) 435 (at 450st) Horizontal 365 (at 500st)
  • Page 256 PCON- 9.3.1 CYB/PLB/POB RCP5 Series No. of Minimum Maximum acceleration Minimum Maximum Rated push Actuator Feed Lead Mounting Maximum speed Type encoder speed /deceleration push force push force speed series screw [mm] direction [mm/s] pulses [mm/s] [mm/s] SA7C: 245 (at 50 to 550st) 215 (at 600st) 185 (at 650st) 160 (at 700st)
  • Page 257 PCON- 9.3.1 CYB/PLB/POB RCP5 Series No. of Minimum Maximum acceleration Minimum Maximum Rated push Actuator Feed Lead Mounting Maximum speed Type encoder speed /deceleration push force push force speed series screw [mm] direction [mm/s] pulses [mm/s] [mm/s] 500 (at 50st) Horizontal 560 (at 100 to 400st) Vertical...
  • Page 258 PCON- 9.3.1 CYB/PLB/POB RCP5 Series No. of Minimum Maximum acceleration Minimum Maximum Rated push Actuator Feed Lead Mounting Maximum speed Type encoder speed /deceleration push force push force speed series screw [mm] direction [mm/s] pulses [mm/s] [mm/s] 890 (at 300st) 1040 (at 400st) Equivalent Belt...
  • Page 259 PCON- 9.3.1 CYB/PLB/POB RCP4 Series No. of Minimum Maximum acceleration Minimum Maximum Rated push Actuator Feed Lead Mounting Maximum speed Type encoder speed /deceleration push force push force speed series screw [mm] direction [mm/s] pulses [mm/s] [mm/s] Horizontal [Standard] Vertical SA3C Horizontal SA3R...
  • Page 260 PCON- 9.3.1 CYB/PLB/POB RCP4 Series No. of Minimum Maximum acceleration Minimum Maximum Rated push Actuator Feed Lead Mounting Maximum speed Type encoder speed /deceleration push force push force speed series screw [mm] direction [mm/s] pulses [mm/s] [mm/s] 450 (at 50 to 450st) 395 (at 500st) Horizontal 335 (at 550st)
  • Page 261 PCON- 9.3.1 CYB/PLB/POB RCP4 Series No. of Minimum Maximum acceleration Minimum Maximum Rated push Actuator Feed Lead Mounting Maximum speed Type encoder speed /deceleration push force push force speed series screw [mm] direction [mm/s] pulses [mm/s] [mm/s] 450 (at 50 to 450st) 395 (at 500st) Horizontal 335 (at 550st)
  • Page 262 PCON- 9.3.1 CYB/PLB/POB RCP4 Series No. of Minimum Maximum acceleration Minimum Maximum Rated push Actuator Feed Lead Mounting Maximum speed Type encoder speed /deceleration push force push force speed series screw [mm] direction [mm/s] pulses [mm/s] [mm/s] SA7C: 245 (at 50 to 550st) 215 (at 600st) 185 (at 650st) 160 (at 700st)
  • Page 263 PCON- 9.3.1 CYB/PLB/POB RCP4 Series No. of Minimum Maximum acceleration Minimum Maximum Rated push Actuator Feed Lead Mounting Maximum speed Type encoder speed /deceleration push force push force speed series screw [mm] direction [mm/s] pulses [mm/s] [mm/s] 500 (at 50st) Horizontal 560 (at 100 to 400st) Vertical...
  • Page 264 PCON- 9.3.1 CYB/PLB/POB RCP3 Series No. of Minimum Maximum acceleration Minimum Maximum Rated push Actuator Feed Lead Mounting Maximum speed Type encoder speed /deceleration push force push force speed series screw [mm] direction [mm/s] pulses [mm/s] [mm/s] 180 (at 25st) 200 (at 50 to 100st) SA2AC Lead...
  • Page 265 PCON- 9.3.1 CYB/PLB/POB RCP3 Series No. of Minimum Maximum acceleration Minimum Maximum Rated push Actuator Feed Lead Mounting Maximum speed Type encoder speed /deceleration push force push force speed series screw [mm] direction [mm/s] pulses [mm/s] [mm/s] 300 (at 50 to 550st) Horizontal 285 (at 600st) 245 (at 650st)
  • Page 266 PCON- 9.3.1 CYB/PLB/POB RCP3 Series No. of Minimum Maximum acceleration Minimum Maximum Rated push Actuator Feed Lead Mounting Maximum speed Type encoder speed /deceleration push force push force speed series screw [mm] direction [mm/s] pulses [mm/s] [mm/s] Horizontal Vertical Horizontal TA3C Ball TA3R...
  • Page 267 PCON- 9.3.1 CYB/PLB/POB RCP2 Series No. of Minimum Maximum acceleration Minimum Maximum Rated push Actuator Feed Lead Mounting Maximum speed Type encoder speed /deceleration push force push force speed series screw [mm] direction [mm/s] pulses [mm/s] [mm/s] 380 (at 50st) 540 (at 100st) 660 (at 150st) 770 (at 200st)
  • Page 268 PCON- 9.3.1 CYB/PLB/POB RCP2 Series No. of Minimum Maximum acceleration Minimum Maximum Rated push Actuator Feed Lead Mounting Maximum speed Type encoder speed /deceleration push force push force speed series screw [mm] direction [mm/s] pulses [mm/s] [mm/s] 380 (at 50st) 540 (at 100st) 660 (at 150st) 770 (at 200st)
  • Page 269 PCON- 9.3.1 CYB/PLB/POB RCP2 Series No. of Minimum Maximum acceleration Minimum Maximum Rated push Actuator Feed Lead Mounting Maximum speed Type encoder speed /deceleration push force push force speed series screw [mm] direction [mm/s] pulses [mm/s] [mm/s] Horizontal 533 (at 50 to 700st) 480 (at 800st) Vertical Ball...
  • Page 270 PCON- 9.3.1 CYB/PLB/POB RCP2 Series No. of Minimum Maximum acceleration Minimum Maximum Rated push Actuator Feed Lead Mounting Maximum speed Type encoder speed /deceleration push force push force speed series screw [mm] direction [mm/s] pulses [mm/s] [mm/s] Ball Horizontal/ RA2C 0.05 (Note 1) screw...
  • Page 271 PCON- 9.3.1 CYB/PLB/POB RCP2 Series No. of Minimum Maximum acceleration Minimum Maximum Rated push Actuator Feed Lead Mounting Maximum speed Type encoder speed /deceleration push force push force speed series screw [mm] direction [mm/s] pulses [mm/s] [mm/s] GRSS 1.57 (Both Ends) (Both Ends) GRLS 600 (deg/s)
  • Page 272 PCON- 9.3.2 CYB/PLB/POB 9.3.2 Correlation Diagrams of Speed and Payload Correlation diagram of speed and payload for the RCP6 slider type (High output effective) * Characteristics should be the same for Cleanroom type. Horizontal installation Vertical installation Values of Lead 16 are in Values of Lead 16 are in Lead 2.5 condition of operation with...
  • Page 273 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP6 slider type (High output effective / Motor-reversing type) Horizontal installation Vertical installation Values of Lead 16 are in Values of Lead 16 are in Lead 2.5 condition of operation with condition of operation with Lead 2.5 Lead 5...
  • Page 274 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP6 wide slider type (High output effective) * Characteristics should be the same for Cleanroom type. Horizontal installation Vertical installation Shown in graph is in Shown in graph is in Lead 2.5 condition of operation with condition of operation with...
  • Page 275 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP6 wide slider type (High output effective / Motor-reversing type) Horizontal installation Vertical installation Shown in graph is in Shown in graph is in Lead 2.5 condition of operation with condition of operation with 0.3G.
  • Page 276 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP6 rod type (High output effective) Horizontal installation Vertical installation Values of Lead 16 are in Values of Lead 16 are in Lead 2.5 condition of operation with condition of operation with Lead 2.5 0.5G, and others in 0.3G.
  • Page 277 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP6 rod type (High output effective / Motor-reversing type) Horizontal installation Vertical installation Values of Lead 16 are in Values of Lead 16 are in Lead 2.5 Lead 2.5 condition of operation with condition of operation with 0.5G, and others in 0.3G.
  • Page 278 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP6 radial cylinder type (High output effective) Horizontal installation Vertical installation Values of Lead 16 are in Values of Lead 16 are in Lead 2.5 condition of operation with condition of operation with Lead 2.5 0.5G, and others in 0.3G.
  • Page 279 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP6 radial cylinder type (High output effective / Motor-reversing type) Horizontal installation Vertical installation Shown in graph is in Lead 2.5 Shown in graph is in condition of operation with condition of operation with Lead 2.5 0.3G.
  • Page 280 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP6 wide radial cylinder type (High output effective) Horizontal installation Vertical installation Values of Lead 16 are in Shown in graph is in Lead 2.5 condition of operation with condition of operation with 0.5G, and others in 0.3G.
  • Page 281 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP6 wide radial cylinder type (High output effective / Motor-reversing type) Horizontal installation Vertical installation Values of Lead 16 are in Shown in graph is in Lead 2.5 condition of operation with condition of operation with 0.5G, and others in 0.3G.
  • Page 282 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP6W dust and drip proof rod type (High output effective) Horizontal installation Vertical installation When ambient temp. exceeds 5degC When ambient temp. exceeds 5degC Shown in graph is in Values of Lead 10 are in Lead 2.5 Lead 2.5...
  • Page 283 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP6W dust and drip proof rod type (High output effective) Horizontal installation Vertical installation When ambient temp. exceeds 5degC When ambient temp. exceeds 5degC Shown in graph is in Shown in graph is in Lead 4 condition operation...
  • Page 284 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP6W dust and drip proof rod type (High output effective / Motor-reversing type) Horizontal installation Vertical installation When ambient temp. exceeds 5degC When ambient temp. exceeds 5degC Lead 2.5 Shown in graph is in Values of Lead 10 are in Lead 2.5...
  • Page 285 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP6W dust and drip proof rod type (High output effective / Motor-reversing type) Horizontal installation Vertical installation When ambient temp. exceeds 5degC When ambient temp. exceeds 5degC Shown in graph is in Shown in graph is in Lead 4 condition operation...
  • Page 286 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP6W dust and drip proof radial cylinder type (High output effective) Horizontal installation Vertical installation When ambient temp. exceeds 5degC When ambient temp. exceeds 5degC Shown in graph is in Values of Lead 10 are in Lead 2.5 Lead 2.5...
  • Page 287 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP6W dust and drip proof radial cylinder type (High output effective) Horizontal installation Vertical installation When ambient temp. exceeds 5degC When ambient temp. exceeds 5degC Lead 4 Shown in graph is in Shown in graph is in condition operation condition operation...
  • Page 288 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP6W dust and drip proof radial cylinder type (High output effective / Motor-reversing type) Horizontal installation Vertical installation When ambient temp. exceeds 5degC When ambient temp. exceeds 5degC Shown in graph is in Values of Lead 10 are in Lead 2.5 Lead 2.5...
  • Page 289 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP6W dust and drip proof radial cylinder type (High output effective / Motor-reversing type) Horizontal installation Vertical installation When ambient temp. exceeds 5degC When ambient temp. exceeds 5degC Lead 4 Shown in graph is in Shown in graph is in condition operation...
  • Page 290 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP6W dust and drip proof wide radial cylinder type (High output effective) Horizontal installation Vertical installation When ambient temp. exceeds 5degC When ambient temp. exceeds 5degC Shown in graph is in Shown in graph is in Lead 2.5 condition operation...
  • Page 291 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP6W dust and drip proof wide radial cylinder type (High output effective) Horizontal installation Vertical installation When ambient temp. exceeds 5degC When ambient temp. exceeds 5degC Shown in graph is in Values of Lead 8 are in Lead 4 condition operation...
  • Page 292 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP6W dust and drip proof wide radial cylinder type (High output effective / Motor-reversing type) Horizontal installation Vertical installation When ambient temp. exceeds 5degC When ambient temp. exceeds 5degC Shown in graph is in Shown in graph is in Lead 2.5...
  • Page 293 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP6W dust and drip proof wide radial cylinder type (High output effective / Motor-reversing type) Horizontal installation Vertical installation When ambient temp. exceeds 5degC When ambient temp. exceeds 5degC Shown in graph is in Values of Lead 8 are in Lead 4...
  • Page 294 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP6 table type (High output effective) Horizontal installation Vertical installation Values of Lead 16, 10 Values of Lead 16 are in are in condition of condition of operation with Lead 2.5 operation with 0.5G, 1.0G, Lead 10 in 0.7G,...
  • Page 295 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP6 table type (High output effective / Motor-reversing type) Horizontal installation Vertical installation Values of Lead 16, 10 Values of Lead 16 are in Lead 2.5 are in condition of condition of operation with 1.0G, Lead 10 in 0.7G, operation with 0.5G,...
  • Page 296 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP6 table type (High output effective) Horizontal installation Vertical installation Values of Lead 10 are in Values of Lead 10 are in condition of operation with Lead 2.5 condition of operation with Lead 5 0.7G, and others in 0.3G.
  • Page 297 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP6 table type (High output effective / Motor-reversing type) Horizontal installation Vertical installation Values of Lead 10 are in Values of Lead 10 are in Lead 5 condition of operation with Lead 2.5 condition of operation with 0.5G, and others in 0.3G.
  • Page 298 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP5 slider type (High output effective) * Characteristics should be the same for Cleanroom type. Horizontal installation Vertical installation Lead 2.5 Lead 5 Ｓ Ｓ Ａ Ａ Lead 10 ４...
  • Page 299 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP5 slider type (High output effective / Motor-reversing type) Horizontal installation Vertical installation Lead 5 Ｓ Ｓ Ａ Ａ Lead 10 ４ ４ Lead 5 Ｒ Ｒ Lead 16 Lead 10 Lead 16 Speed (mm/s)
  • Page 300 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP5 belt type (High output effective) Ｂ Ｂ Ａ Ａ Horizontal ４ ４ （ （ Ｕ Ｕ ） ） Speed (mm/s) Ｂ Ｂ Ａ Ａ Horizontal ６ ６ （ （ Ｕ...
  • Page 301 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP5 rod type (High output effective) Horizontal installation Vertical installation Lead 3 Shown in graph is in Shown in graph is in Lead 3 condition of operation condition of operation with 0.3G.
  • Page 302 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP5 rod type (High output effective / Motor-reversing type) Horizontal installation Vertical installation Ｒ Ｒ Lead 5 Ａ Ａ ４ ４ Lead 5 Ｒ Ｒ Lead 10 Lead 10 Lead 16 Lead 16 Speed (mm/s)
  • Page 303 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP5W dust and drip proof rod type (High output effective) * RA7C High Thrust Type is not applicable to connect to this controller. Horizontal installation Vertical installation When ambient temp. exceeds 5degC When ambient temp.
  • Page 304 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP4 slider type (High output effective) * Characteristics should be the same for Cleanroom type. Horizontal installation Vertical installation Lead 2 Lead 2 Shown in graph is in Shown in graph is in condition of operation condition of operation with 0.3G.
  • Page 305 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP4 slider type (High output effective / Motor-reversing type) Horizontal installation Vertical installation Lead 2 Lead 2 Ｓ Ｓ Lead 4 Lead 4 Ａ Ａ ３ ３ Lead 6 Ｒ...
  • Page 306 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP4W dust and drip proof slider type * The payload of the slider type in RCP4W series should be constant even if the velocity gets increased. Note that, however, the payload decreases when acceleration gets increased. Supported on Both Ends Supported on One End Ｓ...
  • Page 307 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP4 rod type (High output effective) * RA6C High Thrust Type is not applicable to connect to this controller. Horizontal installation Vertical installation Lead 2.5 Values of Lead 2.5/5/10 are Values of Lead 2.5/5/10 are Lead 2.5 in condition of operation...
  • Page 308 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP4 rod type (High output effective / Motor-reversing type) Horizontal installation Vertical installation Lead 2.5 Lead 2.5 Ｒ Ｒ Ａ Ａ Lead 5 ３ ３ Lead 5 Ｒ Ｒ Lead 10 Lead 10 Lead 16...
  • Page 309 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP4W dust and drip proof rod type (High output effective) * RA7C High Thrust Type is not applicable to connect to this controller. Horizontal installation Vertical installation When ambient temp. exceeds 5degC When ambient temp.
  • Page 310 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP3 slider type * Characteristics should be the same for reversed type (SA2AR/SA2BR). Vertical installation Ｓ Ｓ Horizontal Ａ Ａ ２ ２ Lead 1 Ａ Ａ Ｃ Ｃ Lead 2 Lead 4 Speed (mm/s) Horizontal...
  • Page 311 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP3 slider type Horizontal installation Vertical installation Lead 2 Vertical Horizontal Ｓ Ｓ Ａ Ａ Lead 4 ３ ３ Lead 2 Ｃ Ｃ Lead 6 Lead 4 Lead 6 Speed (mm/s) Speed (mm/s) Lead 2.5...
  • Page 312 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP3 slider type (Motor-reversing type) Horizontal installation Vertical installation Lead 2 Vertical Horizontal Ｓ Ｓ Ａ Ａ Lead 4 ３ ３ Lead 2 Ｒ Ｒ Lead 4 Lead 6 Lead 6 Speed (mm/s) Speed (mm/s)
  • Page 313 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP3 rod type Horizontal installation Ball Screw High-Thrust type Ball Screw Standard type Lead Screw type Lead 1 Lead 1 Lead 1 Lead 2 Lead 2 Lead 2 Ｒ Ｒ Lead 4 Ａ...
  • Page 314 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP3 table type * Characteristics should be the same for reversed type. Horizontal installation Vertical installation Vertical Horizontal Ｔ Ｔ Lead 2 Lead 2 Ａ Ａ Lead 4 ３ ３ Ｃ...
  • Page 315 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP2 slider type Horizontal installation Vertical installation Vertical Horizontal Lead 3 Lead 3 Ｓ Ｓ Ａ Ａ Lead 6 ５ ５ Lead 6 Ｃ Ｃ Lead 12 Lead 12 Speed (mm/s) Speed (mm/s) Horizontal...
  • Page 316 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP2 slider type Horizontal installation Vertical installation Lead 3 Vertical Horizontal Lead 3 Ｓ Ｓ Ｓ Ｓ Lead 6 ７ ７ Lead 6 Ｃ Ｃ Lead 12 Lead 12 Speed (mm/s) Speed (mm/s) Horizontal...
  • Page 317 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP2 slider type (Motor-reversing type) Horizontal installation Vertical installation Horizontal Vertical Ｓ Ｓ Ａ Ａ ５ ５ Ｒ Ｒ Lead 3 Lead 6 Lead 3 Lead 6 Lead 12 Lead 12 Speed (mm/s) Speed (mm/s)
  • Page 318 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP2 slider type (Motor-reversing type) Horizontal installation Vertical installation Lead 3 Vertical Horizontal Ｓ Ｓ Lead 3 Ｓ Ｓ ７ ７ Ｒ Ｒ Lead 6 Lead 12 Lead 6 Lead 12 Speed (mm/s) Speed (mm/s)
  • Page 319 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the standard RCP2 rod type Horizontal installation Vertical installation Horizontal Vertical Ｒ Ｒ Lead 1 Ａ Ａ Lead 1 ２ ２ Ｃ Ｃ Speed (mm/s) Speed (mm/s) Lead 2.5 Horizontal Vertical Ｒ...
  • Page 320 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP2 rod short type (Standard / Equipped with Guide) Horizontal installation Vertical installation Lead 2.5 Vertical Ｒ Ｒ Horizontal Ｇ Ｇ Lead 2.5 Ｓ Ｓ Lead 5 ４ ４ Lead 5 Ｃ...
  • Page 321 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP2 rod short type (Standard / Equipped with Guide) Horizontal installation Vertical installation Lead 2.5 Vertical Horizontal Ｓ Ｓ Lead 2.5 Ｒ Ｒ Lead 5 Ａ Ａ Lead 5 ４...
  • Page 322 PCON- 9.3.2 CYB/PLB/POB Correlation diagram of speed and payload for the RCP2W dust and drip proof type Horizontal installation Vertical installation Lead 2.5 Vertical Horizontal Ｒ Ｒ Ａ Ａ Lead 2.5 Lead 5 ４ ４ Ｃ Ｃ Lead 5 Lead 10 Lead 10 Speed (mm/s) Speed (mm/s)
  • Page 323 PCON- 9.3.3 CYB/PLB/POB 9.3.3 Push Force / Gripping Force and Current Limit Value Caution  The correlation of the push force and the current limit value is the rated push speed (in the setting at the delivery) and is a reference value. ...
  • Page 324 PCON- 9.3.3 CYB/PLB/POB RCP6 Series (Gripper type) * The grip force shows the total amount of two fingers. GRT7A GRT7B Gear ratio: 2 Current-limiting value (ratio, %) Current-limiting value (ratio, %) GRST6C/GRST6R Lead 2 Lead 8 Current-limiting value (%) Current-limiting value (%) GRST7C/GRST7R Lead 8 Lead 2...
  • Page 325 PCON- 9.3.3 CYB/PLB/POB RCP5 Series (Slider type / Rod type) ● RCP5 * Characteristics should be the same for Cleanroom type. SA4/RA4 type SA6/RA6 type Lead 3 Lead 2.5 Lead 6 Lead 5 Lead 12 Lead 10 Lead 20 Lead 16 Current-limiting value (%) Current-limiting value (%) SA7 type...
  • Page 326 PCON- 9.3.3 CYB/PLB/POB RCP4 Series (Slider type / Rod type) * Characteristics should be the same for Cleanroom type. * RCP4-RA6C High Thrust Type is not applicable to connect to this controller. RA3 type SA3 type SA5/SA6/RA5 type Lead 2.5 Lead 3 Lead 2 Lead 6...
  • Page 327 PCON- 9.3.3 CYB/PLB/POB RCP4 Series (Gripper type) RCP4-GRSML (Slide type) RCP4-GRLM (Lever type) Current-limiting value (ratio, %) Current-limiting value (ratio, %) RCP4-GRSLL (Slide type) RCP4-GRLL (Lever type) Current-limiting value (ratio, %) Current-limiting value (ratio, %) RCP4-GRSWL (Slide type) RCP4-GRLW (Lever type) Current-limiting value (ratio, %) Current-limiting value (ratio, %) ME0353-3C...
  • Page 328 PCON- 9.3.3 CYB/PLB/POB RCP3 Series (Slider type / Table type) SA3 type SA4 type Lead 2 Lead 2.5 Lead 4 Lead 5 Lead 6 Lead 10 Current-limiting value (%) Current-limiting value (%) SA5/SA6 type Lead 3 Lead 6 Lead 12 Lead 20 Current-limiting value (%) TA3 type...
  • Page 329 PCON- 9.3.3 CYB/PLB/POB RCP3 Series (Slim, compact rod type) RA2AC/RA2BC/RA2AR/RA2BR Ball Screw High-Thrust type [Lead1] Ball Screw High-Thrust type [Lead2] Ball Screw High-Thrust type [Lead4] Ball Screw High-Thrust type [Lead6] Current-limiting value (ratio, %) Current-limiting value (ratio, %) Current-limiting value (ratio, %) Current-limiting value (ratio, %) Ball Screw Standard type [Lead1] Ball Screw Standard type [Lead2]...
  • Page 330 PCON- 9.3.3 CYB/PLB/POB RCP2 Series (Slider type / Rod type) SRA4R/SRGS4R/SRGD4R type RA4C/RGS4C/RGD4C Lead 2.5 Lead 5 Lead 2.5 Lead 5 Lead 10 Current-limiting value (%) RA6C/RGS6C/RGD6C Lead 4 Lead 8 Lead 16 Current-limiting value (%) RCP2W-RA4C type RCP2W-RA6C type Lead 2.5 Lead 4 Lead 5...
  • Page 331 PCON- 9.3.3 CYB/PLB/POB RCP2 Series (2-finger gripper type) * Characteristics should be the same for Cleanroom type / Dust and drip proof type. * The grip force shows the total amount of two fingers. RCP2-GRLS RCP2-GRSS Current-limiting value (ratio, %) Current-limiting value (ratio, %) RCP2-GRS RCP2-GRM...
  • Page 332 PCON- 9.3.3 CYB/PLB/POB RCP2 Series (3-finger gripper type) * Characteristics should be the same for Cleanroom type / Dust and drip proof type. * The grip force may differ depending on the distance to the gripping point. Refer to the instruction manual of each actuator for detail. RCP2-GR3LS RCP2-GR3LM Current-limiting value (ratio, %)

  • Page 333: Rotational Speed And Output Torque / Allowable Inertial Moment

    PCON- 9.3.4 CYB/PLB/POB 9.3.4 Rotational speed and Output torque / Allowable inertial moment RCP2 Series (Rotary type) * Characteristics should be the same for Cleanroom type. RCP2-RTBS/RTBSL RCP2-RTCS/RTCSL ■ Correlation diagram of rotational speed and output torque ■ Correlation diagram of rotational speed and output torque 0.50 0.50 0.45...
  • Page 334 PCON- 9.3.4 CYB/PLB/POB RCP2 Series (Rotary type) * Characteristics should be the same for Cleanroom type. RCP2-RTBB/RTBBL RCP2-RTCB/RTCBL ■ Correlation diagram of rotational speed and output torque ■ Correlation diagram of rotational speed and output torque Gear ratio: 1/30 Gear ratio: 1/30 Gear ratio: 1/20 Gear ratio: 1/20 1.73...

  • Page 335: Chapter 10 Warranty

    10.1 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. Faulty products covered by warranty will be replaced or repaired free of charge: (1) The breakdown or problem in question pertains to our product as delivered by us or our authorized dealer.

  • Page 336: Conditions Of Conformance With Applicable Standards/Regulations, Etc., And Applications

    10.5 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.

  • Page 337: Change History

    Change History Revision Date Revision Description 2016.03 First Edition 2016.05 1C Edition Line color correction of I/O cable 2018.05 1D Edition Pg. 10 Description revised for International Standards Compliances Pg. 8, 218 Note added and changed in cause for Pulse Train Control Mode Pg.
  • Page 338 Revision Date Revision Description 2019.06 2B Edition General Chapter 5 and 6 integrated Precautions in Operation Contents added and changed in Item 12 2.1 and 3.2 Change made to description regarding LOAD/TRQS Signal Correction made to note regarding pitch feeding 7.1 and 7.2 Correction made to Parameters No.

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