20p : 20 dcon-cyb/plb/pob first step guide first edition · 3. instruction manuals related to this...

Product Check The standard configuration of this product is comprised of the following parts. If you find any fault with the product you have received, or any missing parts, contact us or our distributor. 1. Parts

2. Teaching Tool (to be purchased separately) 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.

3. Instruction Manuals related to this product, which are contained in the Instruction Manual (DVD).

No. Name Manual No. 1 PCON-CYB/PLB/POB Controller Instruction Manual ME0353 2 ACON-CYB/PLB/POB and DCON-CYB/PLB/POB Controller Instruction Manual ME0354 3 PC Software RCM-101-MW/ RCM-101-USB Instruction Manual ME0155 4 Touch Panel Teaching to Apply for TB-01 Instruction Manual ME0324

5 Instruction Manual for the serial communication [for Modbus] (When RGW-SIO is used with SIO Thru Mode) ME0162

4. How to read the model plate

5. How to read the model

P C O N - C Y B - 5 6 P WA I - N P - 2 - 0 - D N - * *

A C O N - C Y B - 2 0 WA I - N P - 2 - 0 - D N - * *

D C O N - C Y B - 3 I - N P - 2 - 0 - D N - * *

PCON Specification Item Contents

Number of Controlled Axes 1 axis Power-supply Voltage DC24V 10%

20P, 20SP, 28P Max. 1A High-thrust function is disabled Max. 2.2A

Load current (including control side current consumption)

MotorType 28SP, 35P,

42P, 56P High-thrust function is enabled Rated 3.5A / Max. 4.2A

Power Supply for Electromagnetic Brake(for actuator equipped with brake)

24V DC ±10% 0.15A (Max.)

Heat Generation 8W (5W when high output setting is invalid) Rush Current (Note 1) 8.3A Motor Control System Weak field-magnet vector control Corresponding Encoder Incremental encoder, Battery-less absolute encoder: Resolution 800pulse/rev

High resolution battery-less absolute encoder: Resolution 8192pulse/rev Actuator Cable Length Max. 20m Serial Communication Interface (SIO port) RS485 : 1 channel (based on Modbus Protocol RTU/ASCII)

Speed : 9.6 to 230.4Kbps External Interface PIO Spec. Signal I/O dedicated for 24V DC (selected from NPN/PNP) … Input 8 points

max., Output 8 points max. Cable length Max. 10m Data Setting and Input PC software, touch panel teaching Data Retention Memory Saves position data and parameters to non-volatile memory

(There is no limitation in number of writing.) CYB Positioner mode / Solenoid valve mode (selected by parameter setting) Operation Mode PLB/POB Pulse train control mode

Number of Positions in Positioner Mode Max. 64 points (Note) Number of positions differs depending on the selection in PIO pattern. Differential system: Max. 200kpps Cable length Max. 10m Input Pulse Open collector system: Max. 60kpps Cable length Max. 2m

Command Pulse Multiplying Factor (Electrical Gear: A/B)

1/50 < A/B < 50/1 Setting range of A and B (set to parameter) : 1 to 4096

Pulse Train Interface (PLB/POB)

Feedback Pulse Output None LED Display (mounted on front panel) SV (Green)/ALM (Red): Servo ON/Alarm generated

Item Contents Electromagnetic Brake Control Release Brake released by inputting 24V DC and 150mA to dedicated terminal (BKLS) on

power supply connector Insulation Resistance 500V DC 10MΩ or more Protection Function against Electric Shock Class Basic insulation Weight Screw-fixed type: 230g or less, DIN rail-fixed type: 265g or less Cooling Method Natural air-cooling External Dimensions Screw-fixed type: 28W×80H×69D, DIN rail-fixed type: 28W×85H×77.5D

Surrounding Air Temperature 0 to 40°C Surrounding Humidity 85%RH or less (non-condensing) Surrounding Environment [Refer to 1.6 Installation and Storage Environment] Surrounding Storage Temperature

-20 to 70°C (Excluding battery)

Usage Altitude 1,000m or lower above sea level Protection Class IP20

Environment External Dimensions

Vibration Durability Frequency 10 to 57Hz / Swing width : 0.075mm Frequency 57 to 150Hz / Acceleration : 9.8m/s2 XYZ Each direction Sweep time: 10 min. Number of sweep: 10 times

Note 1: In-rush current can differ depending on the impedance of the power line. ACON and DCON Specification

Contents Item ACON DCON

Number of Controlled Axes 1 axis Power-supply Voltage DC24V ±10%

Series Motor Type Rated Low Power Consumption Type Max. (Note 2) Rated Max.

2W 0.8A 4.6A 5W 1.0A 6.4A 10W(RCL) 1.3A 6.4A 10W(RCA/RCA2) 1.3A 2.5A 4.4A 20W 1.3A 2.5A 4.4A 20W(Model: 20S) 1.7A 3.4A 5.1A

RCA, RCA2 ,RCL

30W 1.3A 2.2A 4.4A

Load current (It does not including control side current oonsumption) (Note3)

RCD 3W 0.7A 1.5A Power Supply for Electromagnetic Brake (for actuator equipped with brake)

24V DC ±10% 0.15A (Max.)

Heat Generation 8W (5W when high output setting is invalid) Rush Current (Note 1) 10A Motor Control System Sinusoidal waveform (AC) drive Rectangular waveform (DC) driveCorresponding Encoder Incremental encoder

Battery-less absolute encoder Incremental encoder

RCA Incremental Spec. 800pulse/rev RCA2-***N 1048pulse/rev RCA2 Other than RCA2-***N

800pulse/rev

RCA /RCA2

Battery-less Absolute Mounted

16834pulse/rev

RA1, RA4, SA1, SA4 715pulse/rev RA2, RA5, SA2, SA5 855pulse/rev

RCL

RA3, RA6, SA3, SA6 1145pulse/rev

Cor

resp

ondi

ng E

ncod

er

Res

olut

ion

RCD 400pulse/rev (RA1D/GRSN) 480pulse/rev (RA1DA/GRSNA)

Actuator Cable Length MAX. 20m Serial Communication Interface (SIO port) RS485 : 1 channel (based on Modbus Protocol RTU/ASCII)

Speed : 9.6 to 230.4Kbps External Interface PIO Type Signal I/O dedicated for 24V DC (selected from NPN/PNP) … Input 8 points

max., Output 8 points max. Cable length max. 10m Data Setting and Input PC Software, Touch Panel Teaching Data Retention Memory Saves position data and parameters to non-volatile memory

(There is no limitation in number of writing.) CYB Positioner mode / Solenoid valve mode (selected by parameter setting) Operation Mode PLB/POB Pulse train control mode

Number of Positions in Positioner Mode Max. 64 points (Note) Number of positions differs depending on the selection in PIO pattern.Differential system (Line Driver System): max. 200kpps Cable length: max. 10m

Input Pulse

Open collector system: Max. 60kpps Cable length Max. 2m

Command Pulse Multiplying Factor (Electrical Gear: A/B)

1/50 < A/B < 50/1 Setting range of A and B (set to parameter): 1 to 4096

Pulse Train Interface. (Note 4)

Feedback Pulse Output

None

LED Display (mounted on front panel) SV (Green) / ALM (Red): Servo ON/Alarm generated Electromagnetic Brake control Release Brake released by inputting 24V DC and 150mA to dedicated terminal

(BKLS) on power supply connector Insulation Resistance 500V DC 10M or more Protection Function against Electric Shock Class Basic insulation Weight Screw-fixed type : 230g or less, DIN rail-fixed type : 265g or less Cooling Method Natural air-cooling External Dimensions Screw-fixed type: 28W×80H×69D, DIN rail-fixed type: 28W×85H×77.5D

Surrounding Air Temperature 0 to 40C Surrounding Humidity 85%RH or less (non-condensing) Surrounding Environment [Refer to Installation and Storage Environment] Surrounding Storage Temperature

-20 to 70C (Excluding battery)

Usage Altitude 1,000m or lower above sea level Protection Class IP20

Environment External Dimensions

Vibration Durability Frequency 10 to 57Hz / Swing width : 0.075mm Frequency 57 to 150Hz / Acceleration : 9.8m/s2 XYZ Each direction Sweep time: 10 min. Number of sweep: 10 times

Note 1 In-rush current can differ depending on the impedance of the power line. Note 2 The current reaches the maximum when the excitation phase is detected on the motor that the servo is turned on for

the first time after the power is supplied. (TYP 1 to 2 second, Max. 10 second)

PCON-CYB/PLB/POB, ACON-CYB/PLB/POB, DCON-CYB/PLB/POB

First Step Guide First Edition Thank you for purchasing our product. Make sure to read the Safety Guide and detailed Instruction Manual (CD/DVD) included with the product in addition to this First Step Guide to ensure correct use. This Instruction Manual is original. Using or copying all or part of this Instruction Manual without permission is prohibited. The company names, names of products and trademarks of each company shown in the sentences are registered

trademarks.

No. Part Name Model Reference

1 Controller Main Body Refer to “How to read the model plate”, “How to read the model”

Accessories

2 I/O Flat Cable (Enclosed in CYB type) CB-PAD-PIO shows the cable

length

3 I/O Flat Cable (Enclosed in PLB/POB type) CB-PAD-PIOS shows the cable

length 4 First Step Guide

5 Instruction Manual (CD/DVD)

6 Safety Guide

No. Name Model

1 PC Software (RS232C converter adapter and external equipment communication cable are included) RCM-101-MW

2 PC Software (USB converter adapter, USB cable and external equipment communication cable are included) RCM-101-USB

3 Touch Panel Teaching TB-01 4 Touch Panel Teaching (with deadman switch attached on the left) TB-01D 5 Touch Panel Teaching (with deadman switch attached on the right) TB-01DR

Basic Specifications

DCON

<Series>

<Type> CYB : Solenoid Valve Type PLB/POB: Pulse Train Control Type

<Detail of Connected Axis> [Motor Type] 3 : 2.5W Brushless DC Motor

[Encoder Type] I : Incremental

<I/O Type> NP : NPN Specification (Sync. Type)(Standard) PN: PNP Specification (Source Type)

PCON

<Series>


<Detail of Connected Axis> [Motor Type] 20P : 20 pulse motor 20SP : 20 pulse motor 28P : 28 pulse motor 28SP : 28 pulse motor 35P : 35 pulse motor 42P : 42 pulse motor 42SP: 42 pulse motor 56P : 56 pulse motor

[Encoder Type] WAI : Incremental/Battery-less Absolute Shared

ACON

<Series>


<Detail of Connected Axis> [Motor Type]

2 : 2W AC servo motor 5 : 5W AC servo motor 10 : 10W AC servo motor 20 : 20W AC servo motor 20S : 20W AC servo motor 30 : 30W AC servo motor

[Encoder Type] WAI : Incremental/Battery-less Absolute Shared

[Option] HA : High Acceleration/Deceleration Type LA : Low Power Consumption TypeNo description : Standard Type

Warning : Operation of this equipment requires detailed installation and operation instructions which are provided on the DVD Manual included in the box this device was packaged in. It should be retained with this device at all times.

A hardcopy of the Manual can be requested by contacting your nearest IAI Sales Office listed at the back cover of the Instruction Manual or on the First Step Guide.

Serial number Model Model

SER NO.InputOutputActuator

* *CAUTION: Connect the wiring correctly and properly, use IAI specified cables or min 60°C Cu wire.

IP20

******************DC24V A0-24Vac,3ph,0-333Hz, A

*****

<Identification for IAI use only> * There is no identification in some cases

<Type of Installation> (Not Specified) : Screw Attachment Type DN : DIN Rail Mounting Type

<Power-supply Voltage> 0: 24V DC

<I/O Cable Length> 0: Equipped with No Cable 2: 2m (Standard) 3: 3m 5: 5m

<I/O Type> NP : NPN Specification (Sync. Type)

(Standard) PN : PNP Specification (Source Type)





<I/O Type> NP : NPN Specification (Sync. Type)

(Standard) PN : PNP Specification (Source Type)





Note3 Control power capacity is 0.3A.

Screw-fixed Type

DIN Rail-fixed Type

Installation Environment This product is capable for use in the environment of pollution degree 2*1 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.

• Location where the surrounding air temperature exceeds the range of 0 to 40C

• Location where condensation occurs due to abrupt temperature changes

• Location where relative humidity exceeds 85%RH • Location exposed to corrosive gases or combustible gases

• Location subject to direct vibration or impact • Location exposed to direct sunlight • Location where the product may come in

contact with water, oil or chemical droplets • Environment that blocks the air vent [Refer to

Installation and Noise Elimination Section] • Location exposed to significant amount of dust, salt or iron powder

When using the product in any of the locations specified below, provide a sufficient shield. • Location subject to electrostatic noise • Location where high electrical or magnetic field is present

• Location with the mains or power lines passing nearby

2. Storage and Preservation Environment The storage and preservation environment should comply with the same standards as those for the installation environment. In particular, when the machine is to be stored for a long time, pay close attention to environmental conditions so that no condensation forms. Unless specially specified, moisture absorbency protection is not included in the package when the machine is delivered. In the case that the machine is to be stored and preserved in an environment where condensation is anticipated, take the condensation preventive measures from outside of the entire package, or directly after opening the package.

Installation and Noise Elimination 1. Noise Elimination Grounding (Frame Ground)

2. Precautions regarding wiring method

1) Twist the wires for the 24V DC power unit. 2) Separate the communication line from the power line.

3. Noise Sources and Elimination Carry out noise elimination measures for power devices on the same power path and in the same equipment. The following are examples of measures to eliminate noise sources. 1) AC solenoid valves, magnet switches and relays

[Measure] Install a Surge absorber parallel with the coil. 2) DC solenoid valves, magnet switches and relays

[Measure] Install a diode parallel with the coil. Use a DC relay with a built-in diode.

4. Heat Radiation and Installation Design and build the structure considering the size of the control box, layout of the controllers and cooling so the ambient temperature around the controllers is 40degC or lower.

Connection to the RCP2, RCA, RCL Series

Connection to the RCP3, RCP4, RCP5, RCP6, RCA2 Series

Connection to the RCD Series

Note 1 Applicable Connection Cable Model Codes : Cable Length Example) 030 = 3m Model Name Cable Reference

RCP2 CB-PSEP-MPA Robot cable from 0.5 to 20m CB-APSEP-MPA Robot cable from 0.5 to 20m RCP3 CB-APSEP-MPA-LC Standard cable from 0.5 to 20mCB-CA-MPA-RB Robot cable from 0.5 to 20m RCP4(Except for GR* type),

RCD(Applicable Controller Symbol: D3) CB-CA-MPA Standard cable from 0.5 to 20mCB-CAN-MPA Standard cable from 0.5 to 20mRCP4(GR type),

RCP5, RCP6, RCD(Applicable Controller Symbol: D5) CB-CAN-MPA-RB Robot cable from 0.5 to 20m

RCA, RCL (Incremental Spec) CB-ASEP-MPA CB-ASEP2-MPA Robot cable from 0.5 to 20m

RCA (Serial Absolute Spec) RCA2

CB-APSEP-MPA Robot cable from 0.5 to 20m

Power Supply and Emergency Stop Circuit This shows the circuit example when the emergency stop switch in the teaching pendant is enabled on the emergency stop circuit to be built up by the client.

CR CR

CR

CR

CP

Emergency-stop Switch on the Teaching Pendant

Drive Cutoff Circuit

Brake Release Power Supply

Motor Power Supply

Control Power Supply

Emergency Stop Control Circuit

Power Supply Connector

(Note) Supply 24V when connecting actuator equipped with brake and release brake compulsorily

24V DC Power Supply

Emergency Stop Switch

External Emergency Stop Switch

Driving Source Cutoff relay (Coil Current 0.1A or less)

Teaching Tool Connection Detection Circuit (Contact opens when connected)

SIO Connector

Note: Connect a contact such as a contactor to the line between MPI and MPO terminals when it is necessary to cut off

the motor drive source externally for such a purpose as Safety Category application. Also, the rating of the emergency stop signal (EMG-) that turns on/off at the contact CR1 should be 24V DC and 10mA or less.

Caution: When supplying the power by turning ON/OFF the 24V DC, keep the 0V being

connected and have the +24V supplied/disconnected (cut one side only).

[Reference] Example for wiring to operate an actuator with minimized wiring

CP

24V DC Power Supply

Teaching Tool Connection Detection Circuit (Contact opens when connected)

Drive Cutoff Circuit

Emergency Stop Switch of Teaching Pendant

Power Supply Connector

Motor Power Supply

Emergency Stop Control Circuit

SIO Connector

Control Power Supply

Brake Release Power Supply

(Note) Supply 24V when connecting actuator equipped with brake and release brake compulsorily

I/O Signals

Function description for I/O Signals *Described below are the main signals. Refer to Instruction Manual for those not stated or more details. Category Signal

Abbreviation Signal Name Function Description

CSTR PTP strobe (start signal)

The actuator will start to move to the position set by the command position number.

PC1 to PC8 Command position number Input (in binary) a number of the position that is desired to move.

*STP Pause

When this signal turns OFF while the actuator is moving, the actuator will decelerate to stop. The remaining movement is in a hold while the actuator is stopped and will resume when the signal turns back ON

RES Reset An alarm will be reset when this signal is turned ON. Also, when it is turned ON in the pause mode (*STP is turned OFF), the remaining movement amount can be cancelled.

RSTR Datum Position Movement Signal

Turn this signal on and the actuator moves to the position set in Parameter No. 167.

Input

ASTR Continuous Round-Trip Operation Signal

While this signal is on, operation between two points is performed continuously.

PEND/INP Position complete It turns on when reached the positioning band range after moving. PEND will not turn off even if exceeded the positioning band. INP is OFF. PEND and INP can be switched over by the parameter.

PM1 to PM8 Completion position No.

The position No. reached after the positioning completion, is output (binary output).

PZONE Position zone

This signal will turn ON when the current actuator position enters the range specified the position data after position movement. Even though it can be used together with ZONE1, PZONE will become only available for operation by the set position number.

*ALM Alarm Turns ON when the controller is in normal condition, and turns OFF when an alarm is generated.

Output

REND Datum Position Movement Complete

It turns on when the movement to the datum position set in Parameter No. 167 is complete.

Signal with “*” expresses the signal of active low. It is ON when the power is applied to the controller, and turns OFF when the signal is output.

External Dimensions

System Configuration (Example)

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. Copper Wire: Connect to an ground cable with diameter 1.6mm (2mm2) or more. Ground Terminal Grounding resistance at 100or less

PCONACON

PCONACON

DCON

Motor/Encoder Connector



Connection Cable(Note 1)



Min. 10mm

Min. 10mm

Min.100mm Ensure enough space for wiring.

Min.100mm

Min.100mm

CeilingCeiling

FloorFloor

28 (0.5)

80(5

)

77.59

9

5

705

4

φ5

40 fr

om D

IN ra

il ce

nter

35.4

(Wid

th o

f 35m

m D

IN ra

il)

(73.8 from DIN rail surface)

Do not share the ground wire with or connect to other equipment. Ground each controller.

Controller Other equipment

Controller Other equipment Other equipment

Touch Panel Teaching (Sold separately)

Host System (PLC, etc...Please prepare separately)

Emergency StopCircuit

Power Source I/OControl (24V DC ···Pleaseprepare separately)

PC Software (Sold separately)

Actuator

24V DC Power Supply

Signal Assignment for each Mode The signal assignment of the I/O flat cable by PIO patterns is as shown in the table below. Connect external devices (such as PLC) following this table.

CYB PIO Pattern Selection

PLB/POB PIO Pattern Selection

0 1 2 3 4 5 1 2

Cat

egor

y

PIO Functions Number of

positioning Mode

Solenoid Valve Mode

1

Solenoid Valve Mode

2

Single Solenoid

Mode

Double Solenoid

Mode

User Select Mode

Pulse Train Control Mode

(Incremental)

Pulse Train Control Mode

(Battery-less Absolute)

Pin No.

Number of positioning

points 16 points 7 points 3 points 2 2 Select - -

1 - /PP /PP 2 - PP PP 3 - - /NP /NP 4 - - NP NP 5 IN0 PC1 ST0 ST0 ST0 ST0 SON SON

6 IN1 PC2 ST1 ST1

(JOG+) - ST1 (-) RES RES

7 IN2 PC4 ST2 ST2(Note 2) - ASTR HOME HOME 8 IN3 PC8 ST3 - - - TL TL 9 IN4 HOME ST4 SON SON SON CSTP CSTP

10 IN5 *STP ST5 - *STP *STP DCLR DCLR 11 IN6 CSTR ST6 - - - BKRL BKRL 12

Inpu

t

IN7 RES RES RES RES RES

Any signal to be

selected except for command position number signal CSTR - RSTR

13 OUT0 PM1

(ALM1) PE0 LS0 LS0/PE0 LS0/PE0 PWR PWR

14 OUT1 PM2

(ALM2) PE1 LS1

(TRQS) LS1/PE1 LS1/PE1 SV SV

15 OUT2 PM4

(ALM4) PE2 LS2(Note 2) PSFL PSFL INP INP

16 OUT3 PM8

(ALM8) PE3 HEND HEND HEND HEND HEND

17 OUT4 HEND PE4 SV SV SV TLR TLR

18 OUT5 PZONE/

ZONE1(Note 1) PE5 PZONE/

ZONE1(Note 1) PZONE/

ZONE1(Note 1) PZONE/

ZONE1(Note 1) ZONE1 ZONE1

19 OUT6 PEND PE6 *ALML *ALML *ALML *ALML REND 20

Out

put

OUT7 *ALM *ALM *ALM *ALM *ALM

Any signal to be

selected except for completion

position number signal PEND

*ALM *ALM (Note) “*” in codes above shows the signal of the active low.

PM1 to PM8 indicate the alarm binary code output signal when an alarm is generated. [Refer to Instruction Manual]

(Note1) Switching to PZONE is available by the parameter setting. (Note2) It is invalid before home-return operation.

PIO Input and Output Interface

Input Section Output Section Input Voltage DC24V 10% Load Voltage DC24V

Input Current 5mA 1circuit Peak Load Electric Current

50mA/1 points Spec.

ON/OFF Voltage

ON Voltage Min. 18V DC OFF Voltage Max. 6V DC

Residual Voltage 2V or less

NPN

Each input

Each input Logic

Circuit

15Ω Each output

Each output Load

LoadLogic Circuit

PNP

5.6KΩ

Each input Each input

Logic Circuit

15

Each output

Each output Load

Load

Logic Circuit Ω

Operation in Pulse Train Control Mode (PLB/POB) Pulse Train Input and Output Interface

Category Signal Abbreviation Signal Name Function Description

PP, /PP Input

NP, /NP Pulse Train Input

Input the command pulse train. The input pulse frequency differs for each type. [Refer to Basic Specifications]

PLB type: When Host Unit in Differential System (Example shows PCON, but ACON and DCON are the same.)

PCON

PP/PPNP/NP

(Note) Have 0V in common for the host (positioning unit) and the PIO connector. POB type: When Host Unit in Open Connector System (Example shows PCON, but ACON and DCON are the same.)

PCON

24V

/PP0V

/NP

(Note) Have 0V in common for the host (positioning unit) and the PIO connector.

Starting Procedures When using this product for the first time, pursue work while making sure to avoid omission and incorrect wiring by referring to the procedure below. Description of PC in this section indicates the PC software.

Refer to the section instrction manual “Product Check” for more detail. Controller (CON-CYB/PLB/POB) Actuator and Connecting Cable

(The cable differs depending on the actuator type. [Refer to Step4])

* Check also enclosed parts

Prepare either of those listed below separately. CD-ROM (Enclosed in RCM-101-) DVD Instruction Manual(The following software is included) (Includes the following instruction manuals) • RC PC Software [Refer to Operation Manuals related to this product, which are

provided on the DVD more detail.] 1) CON-CYB/PLB/POB Instruction Manual (This manual)

2) RC PC Software Instruction Manual (ME0155) )4230EM(launaMnoitcurtsnIgnihcaeTlenaPhcuoT)3

Teaching Pendant 4) Each Actuator Instruction Manual10-BT•

Step 1 Confirm All the Necessary Things are Prepared (Contact us or our sales agency in case of any missing)

CompletionSignal

SignalSignal

Actuator

Position Number +

Start Signal

Host Controller

No. [G]0

03.003.000.001103.003.000.0022

100.00200.00

Acceleration DecelerationVelocity[mm] [mm/s] [G]

Position

Teaching ToolController

Enter a data including position, velocity, acceleration or deceleration, etc. Edit

position table of controller

CompleteSignal

Signal

Actuator Controller

Command Pulse

Teaching Tool

Host Controller

Edit parameters of controller

Enter an electronic gear ratio.

The operation modes and control methods will defer depending on the type you have purchased. What is Positioner What is Pulse

lortnoCniarTnoitarepO

Operate the registered position data with PIO signal

Make operation with command pulse

Step 2 Check How to Operate

Step 3 Installation

Heat Radiation and InstallationKeep the ambient temperature of the controller at 40°C or less. 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. Install in the orientation shown in the figure below for heat radiation.

Step 4 Wiring Refer to Chapter 2 “Wiring”

[Positioner Operation] [Pulse Train Control]

Example for Basic Wiring

The connecting cable differs depending on the actuator [Refer to section 2.1.2 [2]]

Touch Panel Teaching (Sold separately)

Host System (PLC, etc...Please prepare separately)

Power Source I/O Control (24V DC Please prepare separately)

Power Source I/O Control (24V DC Please prepare separately)

Emergency Stop Circuit

PC Software (Sold separately)

* Wiring layout as the signals/features differ for each PIO pattern (selected in Parameter No. 25) in PIO.

Step 5 Operation

The control differs for positioner operation, pulse train control and also for each operation mode.Refer to the instruction manual for detail.

5.6k 15

15

Host unit

Positioning unit

Host unitPositioning unit

Treatment in Error Occurrence It is an alarm frequently generated at the startup. Follow the instruction below to make a treatment. Refer to the instruction manual for other codes.

Error Code Details Cause/Treatment

0B8 Excitement detection error

The excitation detection starts when the servo is turned ON for the first time after the power is supplied. The detection is not finished after a certain time (set to Parameter No.29) being passed. Possibility can be considered as; 1) Connection error or wire breakage of motor/encoder cables.2) Brake is not released (when equipped with a brake). 3) Load to the motor is high due to external force. 4) Power was turned on while touching to the mechanical end.5) The resistance in the actuator sliding operation is large.

0E5 Encoder receipt error

This shows the data was not received in normal condition from the encoder side to the controller (applicable part to Simple Absolute). Check if any wire breakage on a connector and the condition of wire connections. Interrupt the power to the peripheral equipment and activate only the actuator. If any error does not occur, it might be caused by noise.

0E8 A- and B-phase wire breaking

Encoder signals cannot be detected correctly. Check if any wire breakage on a connector and the condition of wire connections.

0EE Absolute encoder error detection 2

The position data cannot be detected properly in the Absolute encoder. Perform the absolute reset. Check the connection of the encoder cable.

20A Servo OFF during movement

It shows that a movement command was issued with the servo off. Make operation after the servo is turned on.

Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, JapanTEL +81-54-364-5105 FAX +81-54-364-2589

website: www.iai-robot.co.jp/

Ober der Röth 4, D-65824 Schwalbach am Taunus, GermanyTEL 06196-88950 FAX 06196-889524

SHANGHAI JIAHUA BUSINESS CENTER A8-303, 808, Hongqiao Rd. Shanghai 200030, ChinaTEL 021-6448-4753 FAX 021-6448-3992

website: www.iai-robot.com

Technical Support available in USA, Europe and China

Head Office: 2690 W. 237th Street, Torrance, CA 90505TEL (310) 891-6015 FAX (310) 891-0815

Chicago Office: 110 East State Parkway, Schaumburg, IL 60173TEL(847) 908-1400 FAX (847) 908-1399

TEL (678) 354-9470 FAX (678) 354-9471website: www.intelligentactuator.com

Atlanta Office: 1220 Kennestone Circle, Suite 108, Marietta, GA 30066

825 PhairojKijja Tower 12th Floor, Bangna-Trad RD., Bangna, Bangna, Bangkok 10260, ThailandTEL +66-2-361-4458 FAX +66-2-361-4456

Manual No.: ME0357-1B

20p : 20 dcon-cyb/plb/pob first step guide first edition · 3. instruction manuals related to this...

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