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IAI PCON-CA Series User Manual
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POWER CON
PCON-CB/LC
17
(5) Gripper T
ype
(3-Finger Gripper)
Note
Finger attachment is not in
cluded in the actuator package. Please p
repare separately
.
(6) Rotary T
ype
(330
°
Rotatio
n S
pecification)
(Multiple Rotation S
pecification)
For Multiple Rotation
T
ype with the origin reversed type, the directions of
+
and
−
are the oth
er way
around.
０
330
°
－
＋
+
+
+
Finger Attachment
(Note)
30
32
Table of Contents
Default Chapter
7
Table of Contents
7
Power con Pcon-Cb/Lc
11
Safety Guide
15
Precautions in Operation
22
International Standards Compliances
25
Name for each Parts and Their Functions
26
Actuator Axes
30
Chapter 1 Specifications Check
33
Product Check
33
Parts
33
Teaching Tool
34
Instruction Manuals Related to this Product, Which Are Contained in the Instruction Manual (DVD)
34
How to Read the Model Plate
35
How to Read the Model
35
List of Basic Specifications
36
Appearance
38
CB Type・・・・・・For Incremental Screw-Fixed Type
38
CB Type・・・・・・For Incremental DIN Rail-Fixed Type
39
CB Type・・・・・・For Simple Absolute Screw-Fixed Type
40
CB Type・・・・・・For Simple Absolute DIN Rail-Fixed Type
41
CFB Type・・・・・For Incremental Screw-Fixed Type
42
CFB Type・・・・・For Incremental DIN Rail-Fixed Type
43
Absolute Battery Unit (Option for Simple Absolute Type)
44
I/O Specifications
45
PIO Input and Output Interface
45
Pulse Train Input Output Interface
46
Options
47
Pulse Converter : AK-04
47
Installation and Storage Environment
48
Installation Environment
48
Storage and Preservation Environment
48
Noise Elimination and Mounting Method
49
Chapter 2 Wiring
51
Positioner Mode (PIO Control)
51
Wiring Diagram (Connection of Devices)
51
PIO Pattern Selection and PIO Signal
52
Wiring
57
Power Supply Connector (for Power Supply and Emergency Stop)
57
Absolute Circuit (for Simplified Absolute Type Only)
61
Motor • Encoder Circuit
61
PIO Circuit
62
Pulse Train Control Mode
68
Wiring Diagram (Connection of Devices)
68
I/O Signals in Pulse Train Control Mode
69
PIO Pattern 6 (Incremental Type for Actuator)
69
PIO Pattern 7 (Incremental Type for Actuator)
70
Wiring
71
Power Supply Connector (for Power Supply and Emergency Stop)
71
Motor • Encoder Circuit
75
PIO Circuit
76
Circuits for Pulse Train Control
78
Power con Pcon-Cb/Lc
78
Wiring Method
79
Wiring Layout of Power Supply Connector
79
Connection to Actuator
80
Connection of PIO
81
Connection of Pulse Train Signal
82
SIO Connector Connection
83
Chapter 3 Operation
85
Basic Operation
85
Basic Operation Methods
85
Parameter Settings
88
Operation in Positioner Mode
89
PIO Pattern Selection and Main Functions
89
Overview of Major Functions
90
Operation Modes of Rotary Actuator in Multiple Rotation Mode and Command Limitations
90
Set of Position Table
91
(This Section Is Not Required in Selection of Pulse Train Control Mode.)
91
Control of Input Signal
96
Operation Ready and Auxiliary Signals = Common to Patterns 0 to 5
96
Emergency Stop Status (EMGS)
96
Operation Mode (RMOD, RMDS)
97
Servo on (SON, SV, PEND)
98
Home Return (HOME, HEND, PEND, MOVE)
99
Zone Signal and Position Zone Signal (ZONE1, ZONE2, PZONE)
103
Alarm, Alarm Reset (*ALM, RES)
105
Binary Output of Alarm Data Output (*ALM, PM1 to 8)
106
Brake Release (BKRL)
108
Operation with the Position No. Input = Operations of PIO Patterns 0 to 3
109
Positioning [Basic] (PC1 to PC**, CSTR, PM1 to PM**, PEND, MOVE, LOAD, TRQS)
109
Speed Change During the Movement
114
Pitch Feeding (Relative Movement = Incremental Feed)
115
Pressing Operation
117
Tension Operation
122
Multi-Step Pressing
124
Teaching by PIO (MODE, MODES, PWRT, WEND, JISL, JOG+, JOG-)
125
Pause and Operation Interruption (*STP, RES, PEND, MOVE)
127
Direct Position Specification (Solenoid Valve Mode 1) = Operation of PIO Pattern 4
129
Positioning [Basic] (ST0 to ST6, PE0 to PE6, PEND)
129
Pitch Feeding (Relative Movement = Incremental Feed)
131
Pressing Operation
133
Tension Operation
137
Multi-Step Pressing
139
Pause and Operation Interruption (ST*, *STP, RES, PE*, PEND)
140
Direct Position Specification (Solenoid Valve Mode 2) = Operation of PIO Pattern 5
142
Home Return (ST0, HEND)
142
Features of LS Signals (LS0 to 2)
146
Positioning [Basic] (ST0 to ST2, LS0 to LS2)
147
Speed Change During the Movement
149
Pause and Operation Interruption (ST*, *STP, RES, PE*, PEND)
151
Pulse Train Control Mode (for Pulse Train Type)
152
I/O Signal Controls
153
Power con Pcon-Cb/Lc
153
Operation Ready and Auxiliary Signals
153
Emergency Stop Status (*EMGS)
153
System Ready (PWR)
153
Operation Mode (RMOD, RMDS)
154
Compulsory Stop (CSTP)
155
Servo on (SON, SV)
155
Home Return (HOME, HEND)
156
Datum Position Move (RSTR, REND)
159
Zone (ZONE1, ZONE2)
160
Alarm, Alarm Reset (*ALM, RES)
161
Binary Output of Alarm Data Output (*ALM, ALM1 to 8)
161
Brake Forcible Release (BKRL)
162
Command Pulse Input (PP•/PP, NP•/NP)
163
Pulse Train Input Operation
163
Position Complete (INP)
164
Deviation Counter Clear (DCLR)
165
Torque Limit Select (TL, TLR)
165
Electronic Gear Setting
166
Settings of Basic Parameters Required for Operation
166
Format Settings of Command Pulse Train
168
Pulse Train Datum Position (Parameter No. 167)
168
Clearing Deviation During Servo off or Alarm Stop
169
Parameter Settings Required for Advanced Operations
169
Position Command Primary Filter Time Constant
169
Torque Limit
169
Compulsory Stop Input
170
Deviation Counter Clear Input
170
Error Monitor During Torque Limiting
170
Pulse Count Direction
170
Torque Limit Command Input
170
Chapter 4 Field Network
171
PCON-CB/CFB Type
171
Chapter 5 Collision Detection Feature
175
Collision Detection Judgement
175
Settings
176
Adjustment
176
Chapter 6 Power-Saving Function
177
Automatic Servo-Off and Full Servo Functions
177
Automatic Current Reduction Feature
180
Chapter 7 Absolute Reset and Absolute Battery
181
Absolute Reset
181
Absolute Reset Procedure from Teaching Tool
181
Absolute Reset Using PIO
184
Absolute Battery (for Simple Absolute Type)
186
For the Type to Attach Battery to Controller Side
186
When Using Absolute Battery Unit
186
Absolute Encoder Backup Specifications
186
Absolute Battery Charge
186
Absolute Battery Voltage Drop Detection
187
Replacement of Absolute Battery
188
For the Type to Attach Battery to Controller Side
188
When Using Absolute Battery Unit
189
Chapter 8 Parameter
191
Parameter List
192
Detail Explanation of Parameters
196
Servo Adjustment
224
Power con Pcon-Cb/Lc
224
Chapter 9 Troubleshooting
227
Action to be Taken Upon Occurrence of Problem
227
Fault Diagnosis
228
Impossible Operation of Controller
228
Positioning and Speed of Poor Precision (Incorrect Operation)
232
Generation of Noise And/Or Vibration
234
Impossible Communication
235
Alarm Level
236
Alarm List
237
Chapter 10 Appendix
247
Way to Set Multiple Controllers with 1 Teaching Tool
247
Connecting Example
247
Detailed Connection Diagram of Communication Lines
248
Axis No. Setting
248
Handling of E-CON Connector (How to Connect)
249
SIO Converter
250
Communications Cable
252
External Dimension
252
Conformity to Safety Category
253
System Configuration
253
Wiring and Setting of Safety Circuit
254
Examples of Safety Circuits
256
TP Adapter and Accessories
262
When Connecting Power Supply with + Grounding
264
Maintenance
265
Consumed Parts
265
Maintenance Information
265
Replacement of Fan (PCON-CFB)
266
Example of Basic Positioning Sequence (PIO Pattern 0 to 3)
267
I/O Assignment
267
Ladder Sequence
268
Operation and Stop Circuit
268
Servo on (Emergency Stop) Circuit
268
Pause Circuit
269
Reset Circuit
270
Home Return Circuit
271
Actuator Start Circuit
272
Decode Circuit of Positioning Complete Position no
272
Position 1 Operation Circuit
273
Position 2 Operation Circuit
274
Position 3 Operation Circuit
275
Commanded Position No. Output Ready Circuit
276
Commanded Position No. Output Circuit
277
Start Signal Output Circuit
277
Other Display Circuits (Zone 1, Position Zone, and Manual Mode)
278
List of Specifications of Connectable Actuators
279
Chapter 11 Warranty
331
Warranty Period
331
Scope of the Warranty
331
Honoring the Warranty
331
Limited Liability
331
Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications
332
Other Items Excluded from Warranty
332
Change History
333
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First Step Guide
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IAI PCON-CA Series Specifications
General
Brand
IAI
Model
PCON-CA Series
Category
Controller
Language
English
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