Iai-america RCS-E User Manual

Operation Manual Seventh EditionRCS Series ROBO Cylinder Controller RCS-E Type

Pre-4 Notes on Safety of Our Products Common items you should note when performing each task on any IAI robot are explained below. No. Task Not

86 Change History Revision Date Description of Revision November 2005 June 2010 First edition Sixth edition Seventh edition • Adde

Catalog No.: ME0103-7A Head Office: 2690 W. 237th Street, Torrance, CA 90505 TEL (310) 891-6015 FAX (310) 891-0815 Chicago

Pre-5 No. Task Note (2) Wiring the cables  Use IAI’s genuine cables to connect the actuator and controller or connect a teaching tool, etc.  Do n

Pre-6 No. Task Note  When releasing the brake of the vertically installed actuator, be careful not to let the actuator drop due to its dead w

Pre-7 Indication of Cautionary Information The operation manual for each model denotes safety precautions under “Danger,” “Warning,” “Caution” and

1 1. Overview 1.1 Forward Thank you very much for purchasing the RCS controller. This manual explains the features of this machine and its operat

2 1.2 How to Read Model Number <Series> <Controller type> E: Economy type <

3 1.3 Safety Precautions Please read the following information carefully in order to gain an understanding of safety precautions. This product was

4 1.4 Warranty Period and Scope of Warranty The RCS controller undergoes stringent testing before it is shipped from our factory. IAI provides t

5 1.5 Setting Environment and Noise Measures Please be careful for controller setting environment 1.5.1 Installation Environment This controller

6 1.5.3 Noise Elimination Measures and Grounding (1) Noise Elimination Grounding 1. Directly screw the main body to the metal box.

7 (2) 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 aro

9 2. Specification 2.1 Base Specifications Item Specification Supply voltage 24 VDC  10% Type RA35 RA45, F45 RB75 (60 W) SA4, SA5 SA6 Supply

10 2.1.1 Backup Battery (Absolute Specification) (1) Battery Specification Item Description Type Lithium battery Manufacturer Toshiba Batte

11 2.2 Names and Functions of Parts 2.2.1 Names 2.2.2 Functions [1] Motor connector (MBK) A connector for the act

12 [5] Main communication port connector (PORT IN) A connector for receiving the communication cable from a dedicated teaching pendant or externa

13 Piano switches 1 to 4 --- Address switches Use these switches to set the address of the applicable actuator if two or more axes are connected to

Please Read Before Use Thank you for purchasing our product. This Operation Manual explains the handling methods, structure and maintenance of t

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 powe

15  Encoder/brake connector [JST S11B-XASK-1] Pin No. Signal name Connected wire 1 EN A+ Encoder A+ 2 EN B+ Encoder B+ 3 EN Z+ Encoder Z+

16 2.3 External Dimensions

17 2.4 Connection Method 2.4.1 Standard Type Teaching pendant <RCA-T/TD> Optional Cable len

18 2.4.2 Absolute Specification ROBO Cylinder <RCS> The absolute specification cannot be used with a stand

19 2.5 Supplied Cable 2.5.1 I/O Flat Cable Flat cable 2.5.2 Motor Extension Cable Controller end Actuator end Recepta

20 2.5.3 Encoder Extension Cable Controller end Actuator end Plug housing: SMP-02V-BC (JST) Socket contact (g

21 2.6 Wiring 2.6.1 Wiring for Power Supply/Emergency Stop * The two EMG terminals are contact-b inputs used for connecting an emer

22 2.6.2 External Connection Diagram (Note) *Pause, *Alarm and *Emergency stop are contact-b

23 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 ex

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

24 [1] Command position Relationship of input pin numbers and selected position numbers (4-bit binary) One of 16 positions from 0 to 15 can be in

25 [7] Home return completion This signal will turn ON when the initial home return is completed after a power connection. Thereafter, an alarm gene

26 2.6.4 Non-isolated External I/O Specification Input Part Item Specification Number of inputs 8 points Input voltage 24 VDC  10% Input cur

27Noise filter Internal power supplyPin No. Multi-fuse Group 1 8 circuits Group 2 2 circuits Start Command position 1 Command position 2 Command pos

28 3. 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 po

29 3.1 Description of Position-Data Table (1) No.  Indicate the position data number. To enter an incremental movement, press the minus key in t

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

31Acceleration/deceleration set in (4) Acceleration/deceleration set in (4) Maximum acceleration according to the loadSpeed Speed Moving distanceMov

32 3.1.1 Push Force at Standstill In the push & hold mode, enter a current-limiting value (%) in the position-data table under “Push.” With

33Position complete signal Completed position number Moving OFF Output Speed Moving distance Positioning band 3.2 Explanation of Modes 3.2.1 Pos

Table of Contents Safety Guide...1 1. Overv

34 Speed Moving distance Positioning band Completed position numberMoving OFFOutput (2) Load was not contacted (missed) (3) Load m

35 (4) Positioning band was entered with a wrong sign If the positioning band is entered with a wrong sign, the position will deviate by twice th

36 3.2.5 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 inpu

37 3.2.7 Home Return With the standard specification, home return must be performed after the power has been input or an encoder open or CPU error

38 4. Using the Controller <Practical Steps> 4.1 How to Start (Standard Type) (Refer to 4.2, “How to Execute An Absolute Reset,” for the

39 4.2 How to Execute Absolute Reset (Absolute Specification) Note) With the absolute specification, 0E5 (an encoder receive error) will occur w

40 How to Execute an Absolute Reset on a a SERIAL No. J* or Earlier [1] Connect the motor and encoder/brake cables to the controller. [2] Conn

41 4.3 Movement after Power On (Standard Type) Example of use in operation) After the power is turned on, move the actuator to the position 150 m

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

43 4.4 Positioning Mode (Back and Forth Movement between Two Points) Example of use in operation) The actuator moves back and forth between two p

5. Parameters... 61 5.1 Parameter Classification .

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

45 4.5 Push & Hold Mode Example of use in operation) The actuator is caused to move back and forth in the push & hold mode and positionin

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

47 4.6 Speed Change during Movement Example of use in operation) The actuator speed is reduced at a certain point during movement. The position

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

49 4.7 Operation at Different Acceleration and Deceleration Settings Example of use in operation) Positioning is performed to the position 150 mm

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

51 4.8 Pause Example of use in operation) The actuator is paused during movement. Method) Use the pause input. RCS controller

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

53 4.9 Zone Signal Output Example of use in operation) While the actuator is moving a zone signal is output inside the zone enclosed by distances

Pre-1 Safety Guide This “Safety Guide” is intended to ensure the correct use of this product and prevent dangers and property damage. Be sure to r

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

55 4.10 Returning Home Example of use in operation) Home return alone cannot be performed using PIO. Method) Create point data of 0 distance from

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

57 4.11 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

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

59 4.12 Notes on Incremental Mode (1) Notes on positioning operation Selecting/entering a position number using relative coordinates during posit

60 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 a

61 5. Parameters 5.1 Parameter Classification The parameters are classified into the following four types depending on their function: Types: a: P

62 5.3 Parameter Settings If you have changed any parameter, be sure to restart the controller via a software reset or reconnect the controller po

63  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

Pre-2 Requirements for Industrial Robots under Ordinance on Industrial Safety and Health Work area Work condition Cutoff of drive source Measu

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

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

66 5.3.3 Parameters Relating to External Interface ● Hold input disable selection Parameter No. 15 sets whether to enable or disable the hold i

67 6. Troubleshooting 6.1 What to Do When A Problem Occurs If you encountered a problem, follow the steps below to conduct the specified checks

68 6.2 Alarm Level Classification The alarms are classified into three levels based on the corresponding symptoms. Alarm level ALM lamp *Alar

69 6.4 Alarms, Causes and Actions (1) Message Alarms Code Error Cause/action 040 Emergency stop Cause: An emergency stop status was detected.

70 (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

71 Code Error Cause/action 0CA Overheat The surrounding air temperature of the power transistor in the controller rose excessively (to 95C or a

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

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

Pre-3 Applicable Modes of IAI’s Industrial Robot Machines meeting the following conditions are not classified as industrial robots according to Not

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

75 6.5 Messages Displayed during Operations Using Teaching Pendant or PC Software The warning messages that may be displayed during operations us

76 Code Message Description 301 302 304 305 306 308 30A 30B Overrun error (M) Framing error (M) SCIR-QUE OV (M) SCIS-QUE OV (M) R-BF OV Response

77Model Stroke (mm), maximum speed (mm/sec) (Note 1) Loading capacity (Note 2) Rated accelerationHorizon-tal VerticalHorizon-tal VerticalSlider typ

78 Flat Type (F45) - Moments and Loading Capacity The directions of moments generated around the flat type are shown in the figure below.

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

80 Position 2 positioning start request (Position 2 positioning circuit) Position 2 position

81 Position 3 set signal Position 5 set signal Position 3 set signal Position

82 Position Table Record (1/2) Recorded date: No. Position [mm] Speed [mm/sec] Acceleration/ deceleration [G]Push [%] Positioning band [mm] A

83 Parameter Record Recorded date: Type a: Parameter relating to actuator stroke range b: Parameter relating to actuator operating charact