Iai-america RCS-C User Manual

Operation Manual Nineteenth Edition RCS Series ROBO Cylinder Controller RCS-C Type

(1) Message Alarms ... 93 (2) Oper

90 6.3.3 Parameters Relating to External Interface ● Hold input disable selection Parameter No. 15 sets whether to enable or disable the hold in

Appendix 91Appendix 7. Troubleshooting 7.1 What to Do When A Problem Occurs If you encountered a problem, follow the steps below to conduct the s

92 7.2 Alarm Level Classification The alarms are classified into three levels based on the corresponding symptoms. Alarm level ALM lamp *Alarm

Appendix 93Appendix 7.4 Alarms, Causes and Actions (1) Message Alarms Code Error Cause/action 040 Emergency stop Cause: An emergency stop stat

94 (2) Operation Cancellation Alarms Code Error Cause/action 0B0 Bank 30 data error Cause: Out-of-range or invalid data is included in the par

Appendix 95Appendix Code Error Cause/action 0CA Overheat The surrounding air temperature of the power transistor in the controller rose excessiv

96 (3) Cold Start Alarms Code Error Cause/action 0C8 Overcurrent Cause: The output current from the power circuit became abnormally high. Th

Appendix 97Appendix Code Error Cause/action 0E5 Encoder receive error The controller and encoder exchange position data via serial communication.

98 Code Error Cause/action 0E7 Phase A/B/Z open Encoder signal cannot be detected properly. Cause: [1] Open encoder extension cable or supplie

Appendix 99Appendix 7.5 Messages Displayed during Operations Using Teaching Pendant or PC Software The warning messages that may be displayed duri

1 1. Overview 1.1 Introduction Thank you for purchasing the RCS controller. This manual explains the features and operating procedures of the prod

100 Code Message Description 20C CSTR-ON during operation The start signal (CSTR) was turned ON by the PLC while the actuator was moving. As a

Appendix 101Appendix * Appendix Specification List of Supported Actuators (Note 1) The figure i

102 Appendix (Note 1) The figure in each elongated circle represents the maximum speed for the applicable stroke(s). (N

Appendix 103Appendix Distance from point of action Flat Type (F45, 55) - Moments and Loading Capacity The directions of moments generated around t

104 Appendix Example of Basic RCS Positioning Sequence An example of basic sequence is given below for reference when creating an RCS positioning

Appendix 105Appendix Position 2 positioning start request (Position 2 positioning circuit) P

106 Appendix Position 3 set signal Position 5 set signal Position 3 set signal

Appendix 107Appendix Position Table Record Recorded date: No. Position [mm] Speed [mm/sec] Acceleration/ deceleration [G]Push [%] Positioning b

108 Appendix Parameter Record Recorded date: Type a: Parameter relating to actuator stroke range b: Parameter relating to actuator operatin

Catalog No.: ME0102-19A Head Office: 2690 W. 237th Street, Torrance, CA 90505 TEL (310) 891-6015 FAX (310) 891-0815 Chi

2 * We have made every effort to ensure accuracy of the information provided in this manual. Should you find an error, however, or if you have any

3 1.3 Safety Precautions Read the following information carefully and provide safety measures with due consideration. This system product has bee

4 1.4 Warranty Period and Scope of Warranty The RCS controller you have purchased passed IAI’s shipping inspection implemented under the strict

5 1.5 Installation Environment and Noise Elimination Pay due attention to the installation environment of the controller. 1.5.1 Installation En

6 [1] Connect the controller by directly screwing it onto a metal frame. Protective grounding (AC power supply) 100/200-Vcontroller24-V controller U

7 (3) Noise sources and elimination Among the numerous noise sources, solenoid valves, magnet switches and relays are of particular concern when bu

8 1.6 Heat Radiation and Installation Design the control panel size, controller layout and cooling method in such a way that the temperature arou

9 2. Specification for 24-VDC Input Power 2.1 Basic Specifications Item Specification Supply voltage 24 VDC  10% Type RA35 RA45, F45 RB75 (60

CAUTION (1) Hold · Servo ON Signal When operating the RCS (ROBO cylinder) controller, you will need to turn ON the Hold & Servo ON signal

10 2.1.1 Backup Battery (Absolute Specification) (1) Battery Specification Item Description Model number AB-1 Type Lithium battery Manufacture

11[1] Battery connector (BAT) (absolute specification) [2] Motor connector (M) [3] Brake release switch (BK) [4] SIO connector (SIO) [5] Port s

12 [5] Port switch (PORT) ON: The PORT IN port (teaching pendant/PC software) becomes active. If a dedicated teaching pendant or cable is not con

13 [13] Piano switches 1 (SW1) Nos. 1 to 4 --- Address switches Use these switches to set the address of the applicable actuator if two or more ax

14 2.2.3 Pin Assignments of the Communication Ports  Pin assignments of the SIO connector Pin No. Signal name Function 1 (+5V) (5-VDC power

15  Encoder/brake connector [High-density D-sub, DE-15 type] Pin No. Signal name Connected wire 1 EN A+ Encoder A+ 2 EN A– Encoder A- 3 EN

16 2.3 External Dimensional Diagram 2.3.1 Standard Specifications 5

17 2.3.2 Absolute Specification 5

18 Teaching pendant <RCA-T/TD> Optional Cable length: 5 m PC PC software <RCA-101-MW> Optional Host system <PLC> Supplied flat c

19 2.4.2 Absolute Specifications ROBO Cylinder <RCS> The absolute specification cannot be used with a standard

Safety Precautions (Please read before using the product.) Before installing, operating, maintaining or inspecting this product, please peruse t

20 I/O connector Flat cable (Split position)(Omron)Output connector Input connector (Omron) (Omron) [A] [B]Flat cable I/O connector (40P) 2.5 Suppl

21 2.5.2 Motor Extension Cable Controller end Actuator end 2.5.3 Encoder Extension Cable Controller end Actuator end

22 2.6 Wiring 2.6.1 Wiring for Power Supply/Emergency Stop * The two EMG terminals are contact-b inputs used for connecting an eme

23 2.6.2 External Connection Diagram PC To the next controller Teaching pendant Conversion adapter Conversion adapter Host system (PLC) Output Mo

24 2.6.3 PIO Interface A PIO interface list is given below. The PIO cable is a flat cable with no connector attached on the end connected to the e

25 [1] COMOA [2] COMOB Connect the 24-VDC power supply for output ports between COMOA and COMOB. COMOA and COMOB have no polarities. Pin Nos. 1 &a

26 [9] Emergency stop This signal will turn OFF when an emergency stop is actuated. It remains ON as long as the controller is operating properly.

27 2.6.4 External I/O Specifications Input Part Item Specification Number of input points 8 points Input voltage 24 VDC  20  Input current 7 m

28 Output Part 100-mA output circuit by power MOSFET Item Specification Number of output points 10 points Rated load voltage 24 VDC; 60 VDC (peak

29 3. Input Power 100/200 VAC Specification 3.1 Base Specification Item Specification Supply voltage 90 to 125 / 180 to 250 VAC Type RB75 (60 W) R

[Installation]  Do not use this product in a place exposed to ignitable, inflammable or explosive substances. The product may ignite, burn or exp

30 3.1.1 Backup Battery (Absolute Specification) (1) Battery specifications Item Description Model number AB-1 Classification Lithium battery Ma

31 If the battery was replaced while the controller power was off, the position information (absolute data) may or may not be retained depending on

32 [1] Battery connector (absolute specification) [5] Motor connector [3] Brake release switch [14] SIO connector [2] Port switch [13]

33 [5] Motor connector A connector for the actuator’s motor power cable. [6] Power terminal block L/N: An AC-power connection terminal. PE: A pr

34 The controller link cable is 200 mm long. A maximum of 16 controllers can be connected. [11] Piano switches 1 (SW1) Nos. 1 to 4 --- Address swi

35 [12] PIO connector (PIO) A connector for PIO cable. [13] Main communication port connector (PORT IN) A connector for receiving the communicati

36 3.2.3 Signal Tables of Connectors and Terminal Blocks  Pin assignments of the SIO connector Pin No. Signal name Function 1 (+5V) (5-VDC

37  Encoder/brake connector [High-density D-sub, DE-15 type] Pin No. Signal name Connected wire 1 EN A+ Encoder A+ 2 EN A– Encoder A- 3 EN

38 5 3.3 External Dimensions 3.3.1 Standard Type

39 3.3.2 Absolute Specification

 Turn off the power to the product in the event of power failure. Failure to do so may cause the product to suddenly start moving when the power

40 PC Supplied flat cable Cable length: 2 mExternal unit <RCA-105-5> Optional Cable length: 5 m ROBO Cylinder <RCS> The cables are optio

41 3.4.2 Absolute Specifications ROBO Cylinder <RCS> The absolute specification cannot be used with a s

42 [A] [B] Flat cable (Omron) (Omron) (Split location)Output Connector (20P) Input Connector (20P) I/O Connector (40P) 3.5 Supplied Cables 3.5.1

43Pink Purple White Blue/red Orange/white Green/white Blue Orange Black Yellow Green Brown Gray Red Pink Purple White Blue/red Orange/white Green/wh

44 3.6 Wiring 3.6.1 Wiring for Power Supply/Emergency Stop * The two EMG terminals are contact-b inputs used for connecting an emergency-sto

45 3.6.2 External Connection Diagram PC To the next controller Teaching pendant Conversion adapter Host system OutputInput StartCommand position 1Co

46 3.6.3 PIO Interface A PIO interface list is given below. The PIO cable is a flat cable with no connector attached on the end connected to the e

47 [1] COMIA [2] COMIB Connect the 24-VDC power supply for output ports between COMOA and COMOB. COMOA and COMOB have no polarities. Pin Nos. 1 &a

48 [9] Moving This signal remains ON while the actuator is moving. Use this signal if you want to detect stopping of the motor during pause. [10] E

49External power supply 24 VDC Pin No. Rectifier Each input Internal circuit External power supply 24 VDC Pin No. RectifierEach input Internal circu

 Before installing or adjusting the product or performing other operations on the product, display a sign that reads, “WORK IN PROGRESS. DO NOT TU

50 Each outputPin No.RectifierInternal circuit Fuse resistance: Load Load Output Part 100-mA output circuit by power MOSFET Item Specification Nu

51 4. Data Entry <Basics> This controller doesn’t use command words, so there is no need to create a program. All you need is to enter posit

52 4.1 Description of Position-Data Table (1) No.  Indicate the position data number. To enter an incremental movement, press the minus key in

53 (5) Push (Push)  Select the positioning mode or push & hold mode. The default value is “0.” 0: Positioning mode (= Normal operation) Oth

54 (7) Acceleration only MAX (ACC MAX)  Select the specified acceleration or maximum acceleration by entering “0” or “1.” The default value is

55 4.1.1 Push Force at Standstill In the push & hold mode, enter a current-limiting value (%) in the position-data table under “Push.” With th

56 4.2 Explanation of Modes 4.2.1 Positioning Mode Push = 0 4.2.2 Push & Hold Mode Push = Other than 0 (1) Load was contacted succ

57 (2) Load was not contacted (missed) (3) Load moves during push & hold operation [1] Load moves in the pushed direction

58 Speed Deceleration can be set freely TimeMaximum acceleration according to the load (4) Positioning band was entered with a wrong sign If th

59 4.2.5 Pause This signal can be used to stop the actuator in case of emergency. The movement of the actuator can be paused via an external input

Before Use  Caution [1] Be sure to read this operation manual to ensure the proper use of this product. [2] Unauthorized use or reproduction

60 4.2.7 Home Return With the standard specification, home return must be performed after the power has been input or an encoder open or CPU error

61 4.4 Items to Note on Gripper (RCS-G20) (1) Finger Operation [1] Definition of position The stroke in the specification table indicates a sum o

62 5. Using the Controller <Practical Steps> 5-1 How to Start (Standard Specification) (Refer to 5-2, “How to Execute An Absolute Reset,”

63 5.2 How to Execute Absolute Reset (Absolute Specification) Note) With the absolute specification, an encoder receive error (0E5) will occur w

64 How to Execute an Absolute Reset on a Controller of Version J* or Earlier [1] Connect the motor and encoder/brake cables to the controller. [

65 5.3 Movement after Power On (Standard Type) Example of use in operation) After the power is turned on, move the actuator to the position 150 mm

66 Start Position complete Moving Actuator 1 msec or less The position complete output will turn ON when the control

67 5.4 Positioning Mode (Back and Forth Movement between Two Points) Example of use in operation) The actuator moves back and forth between two po

68 Position-data table (Field(s) within thick line must be entered.) No. Position Speed Acceleration/ deceleration Push Positioning band Accelera

69 5.5 Push & Hold Mode Example of use in operation) The actuator is caused to move back and forth in the push & hold mode and positioning

Table of Contents 1. Note to the User ...1 1.1 Introduction

70 Position-data table (Field(s) within thick line must be entered.) No. Position Speed Acceleration/ deceleration Push Positioning band Acceler

71 5.6 Speed Change during Movement Example of use in operation) The actuator speed is reduced at a certain point during movement. The position

72 Position-data table (Field(s) within thick line must be entered.) No. Position Speed Acceleration/ deceleration Push Positioning band Acceler

73 5-7 Operation at Different Acceleration and Deceleration Settings Example of use in operation) Positioning is performed to the position 150 mm

74 Position-data table (Field(s) within thick line must be entered.) No. Position Speed Acceleration/ deceleration Push Positioning band Acceler

75 5.8 Pause Example of use in operation) The actuator is paused during movement. Method) Use the pause input. RCS controller

76 T1: 5 msec or more; time after selecting/entering a command position until the start input turns ON (The scan time of t

77 5.9 Zone Signal Output Example of use in operation) While the actuator is moving a zone signal is output inside the zone enclosed by distances

78 T1: 5 msec or more; time after selecting/entering a command position until the start input turns ON (The scan time o

79 5.10 Returning Home Example of use in operation) Home return alone cannot be performed using PIO. Method) Create point data of 0 distance from

3.4 Connection Method ... 40 3.4.1

80 T1: 5 msec or more; time after selecting/entering a command position until the start input turns ON (The scan time of th

81 5.11 Incremental Moves Example of use in operation) The actuator is caused to move from the home to the 30-mm position, from which it will be m

82 Command position Start Position complete Completed position Moving Actuator movement Speed Position 1 Position 2 Note 1Note 2Time D

83 5.12 Notes on Incremental Mode (1) Notes on positioning operation Selecting/entering a position number using relative coordinates during positi

84 Example) If the start signal for movement to position 2 is input while the actuator is moving to position 1 in the push & hold mode, the ac

85 6. Parameters 6.1 Parameter Classification The parameters are classified into the following four types depending on their function: Types: a: Pa

86 6.3 Parameter Settings If you have changed any parameter, be sure to restart the controller via a software reset or reconnect the controller pow

87  Home offset Parameter No. 22 has been set to an optimal value at the factory so that the distance from the mechanical end to home will remain c

88 Push current Start position Target position Counting startsCount to 200 Decrement to 180 Count to 255 Completion of push-mode operation is re

89  Movement flag during stop This parameter defines whether to enable or disable the dynamic brake while the actuator is stopped. It has been set