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PCON-C
IAI PCON-C User Manual
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4
PERSONAL
COMPUTER
S1
S2
MPI
MPO
24V
0V
EMG-
Standard teaching
pendant
<RCM-T>
Host system <PLC>
Supplied flat
cable
Input power
supply 24
VDC
24-VDC I/O
power supply
PC
PC software
(optional)
RS232C type
<RCM-101-MW>
USB type
<RCM 101-USB>
RCP2 actuator
Motor drive-
power cutoff
circuit
Safety relay
Contactor
1.3.2
External Drive-Power Cutoff Relay T
ype (PCON-CG)
21
23
Table of Contents
Default Chapter
14
Table of Contents
14
1 Overview
19
Introduction
19
How to Read the Model Specification
20
System Configuration
21
Internal Drive-Power Cutoff Relay Type (PCON-C/CF)
22
External Drive-Power Cutoff Relay Type (PCON-CG)
22
Procedure from Unpacking to Test Operation and Adjustment
23
Warranty Period and Scope of Warranty
25
2 Specifications
26
Basic Specifications
26
Name and Function of each Part of the Controller
27
External Dimensions
29
Installation Environment
30
Power Supply
30
3 Installation and Noise Elimination
31
Noise Elimination and Grounding
31
Heat Radiation and Installation
32
Internal Drive-Power Cutoff Relay Type (PCON-C/CF)
33
4 Wiring
34
External Connection Diagram
34
Wiring the Power Supply/Emergency-Stop Switch
35
External Drive-Power Cutoff Relay Type (PCON-CG)
41
External Connection Diagram
42
Wiring the Power Supply/Emergency-Stop Switch
43
Connecting the I/O Cables
45
PIO Pattern 0 [Standard Type]
46
PIO Pattern 1 [Teaching Type]
46
PIO Pattern 2 [256-Piont Mode]
48
PIO Pattern 3 [512-Piont Mode]
49
PIO Pattern 4 [Solenoid Valve Mode 1]
50
PIO Pattern 5 [Solenoid Valve Mode 2]
50
Connecting the Actuator
53
Connecting the PCON-C/CG and Actuator
53
Connecting the PCON-CF and Actuator
55
Connecting the Communication Cable
56
5 I/O Signal Control and Signal Functions
57
Interface Circuit
57
External Input Specifications
57
External Output Specifications
58
PIO Patterns and Signal Assignments
59
Explanation of Signal Names
60
PIO Pattern = 0: Positioning Mode [Standard Type]
60
PIO Pattern = 1: Teaching Mode [Teaching Type]
61
PIO Pattern = 2: 256-Point Mode [256-Point Type]
62
PIO Pattern = 3: 512-Point Mode [512-Point Type]
63
PIO Pattern = 4: Solenoid Valve Mode 1 [7- Point Type]
64
PIO Pattern = 5: Solenoid Valve Mode 2 [3-Point Type]
65
Signal Assignment Table for Respective PIO Patterns
66
Details of I/O Signal Functions
67
Details of each Input Signal
67
Command Position Number (PC1 to PC256)
67
Operating Mode (RMOD)
67
Start (CSTR)
67
Alarm Reset (RES)
68
Home Return (HOME)
68
Pause (*STP)
68
Servo on (SON)
68
Brake Release (BKRL)
69
Current-Position Write (PWRT)
69
Manual Operation Switching (JISL)
69
Operation Mode (MODE)
69
Direct Position Command (ST0 to ST6) [7-Point Type]
70
Jog (JOG+, JOG-)
70
Movement to each Position (ST0 to ST2) [3-Point Type]
71
Details of each Output Signal
72
Completed Position Number (PM1 to PM256)
72
Moving (MOVE)
72
Operating Mode Status (RMDS)
72
Position Complete (PEND)
72
Current Operation Mode (MODES)
73
Home Return Completion (HEND)
73
Write Completion (WEND)
73
Zone (ZONE1, ZONE2)
73
Alarm (*ALM)
74
Movement Complete at each Position (PE0 to PE6) [7-Point Type]
74
Position Detection Output at each Position (LS0 to LS2) [3-Point Type]
74
Ready (SV)
74
Emergency Stop (*EMGS)
75
Load Output Judgment Status (LOAD)
75
Output Signal Changes in each Mode
75
Torque Level Status (TRQS)
75
6 Data Entry <Basics
76
Description of Position Table
76
Relationship of Push Force at Standstill and Current-Limiting Value
80
SA5C/SA6C/SS7C Type
80
SA7C Type
80
Slider Type
80
SS8C Type
81
RA2C Type
82
RA3C Type
82
Rod Type
82
RA4C Type
83
RA6C Type
83
RA10C/W-RA10C Type
84
Explanation of Modes
85
Positioning Mode
85
Push & Hold Mode
85
Torque Check Function in Push & Hold Operation
87
Speed Change During Movement
89
Operation at Different Acceleration and Deceleration Settings
89
Pause
90
Zone Signal Output
90
Home Return
91
Overview of Teaching Type
92
Overview of 7-Point Type
93
Overview of 3-Point Type
95
Notes on the ROBO Gripper
97
Power-Saving Modes at Standby Positions
99
Using a Rotary Actuator in Multi-Rotation Specification
102
How to Use
102
7 Operation <Practical Steps
103
How to Start
103
Timings after Power on
103
Procedure after Initial Startup until Actuator Adjustment
103
Procedure of Normal Operation
105
Position Table and Parameter Settings Required for Operation
107
Safety Speed During Manual Feed
107
Speed Override for Movement Commands from the PLC
107
Startup Adjustment
107
Full-Scale Operation
108
Output Mode of Complete Signal
108
Saving Energy When the Actuator Stands by after Completing the Home Return Operation Effected by the HOME Input Signal
108
Saving Energy When the Actuator Stands by for a Long Time after the Power Has Been Turned on
108
Saving Energy When the Actuator Stands by for a Long Time at the Target Position
108
Home Return Operation
109
Method Using the HOME Input Signal (PIO Pattern = 0 to 4)
109
Method Used When no HOME Input Signal Is Available (PIO Pattern = 5)
111
Positioning Mode (Back and Forth Movement between Two Points)
112
Push & Hold Mode
114
Return Action after Push & Hold by Relative Coordinate Specification
116
Speed Change During Movement
117
Operation at Different Acceleration and Deceleration Settings
119
Pause
121
Zone Signal Output
123
Incremental Moves
126
Judgment Method of End Position
128
Notes on Incremental Mode
129
Jogging/Teaching Using PIO
132
Operation in 7-Point Type
134
Operation in 3-Point Type
138
8 Parameters
142
Parameter Table
142
Detail Explanation of Parameters
144
Parameters Relating to the Actuator Stroke Range
144
Soft Limit
144
Software Limit Margin
144
Zone Boundary
145
Home Return Direction
146
Home Return Offset
146
Parameters Relating to the Actuator Operating Characteristics
146
Default Speed
146
PIO Inching Distance
146
PIO Jog Speed
146
Current-Limiting Value at Standstill During Positioning
147
Current-Limiting Value During Home Return
147
Default Acceleration/Deceleration
147
Default Positioning Band
147
Home Sensor Input Polarity
147
Speed Override
147
Default Direction of Excited-Phase Signal Detectio
148
Excited-Phase Signal Detection Time
148
Safety Speed
148
Automatic Servo-Off Delay Time
149
Default Standstill Mode
149
Push Completion Judgment Time
150
Push Speed
150
Enable Function
151
Load Output Judgment Time
151
Polarity of Home Check Sensor Input
151
Axis Operation Type
152
Ball Screw Lead Length
152
Rotational Axis Mode Selection
152
Shortcut Selection for Rotational Axis
152
Torque Check Range
152
Absolute Unit
153
Current-Limiting Value at Standstill after Missing Work in Push & Hold Operation
153
Parameters Relating to the External Interface
154
PIO Pattern Selection
154
Movement Command Type
155
Home-Return Input Disable Selection
156
Operating-Mode Input Disable Selection
156
Pause Input Disable Selection
156
Servo on Input Disable Selection
156
Minimum Delay Time for Slave Transmitter Activation
157
Output Mode of Position Complete Signal
157
SIO Communication Speed
157
Silent Interval Multiplier
158
Servo Gain Adjustment
159
Servo Gain Number
159
Speed Loop Proportional Gain
159
Speed Loop Integral Gain
160
Torque Filter Time Constant
160
9 Pc/Teaching pendant Connection Method in Multi-Axis Configurations
161
Connection Example
161
SIO Converter (Optional)
162
Address Switch
164
Connection Cables
164
Detail Connection Diagram
165
10 Troubleshooting
166
Action to be Taken Upon Occurrence of Problem
166
Alarm Level Classification
167
Alarm Description Output Using PIO
168
Alarm Description and Cause/Action
169
Message Level Alarms
169
Cold-Start Level Alarms
174
Messages Displayed During Operation Using the Teaching pendant
176
Specific Problems
179
I/O Signals Cannot be Exchanged with the PLC
179
The ALM Lamp Illuminates When the Power Is Input
179
The SV Lamp Does Not Illuminate When the Servo on Signal Is Input after the Power was Input
179
Home Return Ends in the Middle in a Vertical Application
180
Noise Occurs During Downward Movements in a Vertical Application
180
Vibration Occurs When the Actuator Is Stopped
180
The Actuator Overshoots When Decelerated to a Stop
180
The Home and Target Positions Sometimes Shift
180
The Speed Is Slow During Push & Hold Operation
180
The Actuator Moves Only a Half Of, or Twice as Much As, the Specified Movement
180
A Servo Error Occurred While the Actuator was Moving (ROBO Gripper)
181
Abnormal Operation Results When the Servo Is Turned on after the Power on
182
The SV Lamp Blinks
182
Appendix
183
List of Supported Actuator Specifications
183
Fault Check and Replacement of the Cooling Fan
196
Example of Basic PCON Positioning Sequence
198
Recording of Parameters
201
5
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IAI PCON-C Specifications
General
Brand
IAI
Model
PCON-C
Category
Controller
Language
English
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