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IAI PCON-CB series User Manual
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9. Appendix
9.2 Conformi
ty to Saf
ety Category
9-
14
ME0342-4B
[2]
In case of category 2
Connecti
on Cable CB
-CON
-LB□□□
Controller
PCON-
CGB/CGFB
ENB
OUT
ENBIN
ENB2+
ENB2-
ENB1+
ENB1-
EMGOUT
EMGIN
EMG
2+
EMG
2-
EMG
1+
EMG
1-
R
C
B-LB
-TGS
Motor
Power
Supply
MPI
MPO
12
1
1
10
9
8
7
6
5
4
3
2
1
24V
Reset SW
Emergency s
top SW
G9SA-301
(OMR
ON
)
24V
G9SA-301
(OMR
ON
)
41
33
23
13
T
32
T
31
T
12
T11
A2
A1
1
2
3
4
5
6
42
34
24
14
T
22
T
23
T
21
PE
B
A
41
33
23
13
T
32
T
31
T
12
T11
A2
A1
1
2
3
4
5
6
42
34
24
14
T
22
T
23
T
21
PE
B
A
24V
24V
Solenoid C
ontac
tor
Solenoid Contactor
Enable SW
Enable SW
EMG
-
S2
S1
24V
TB-02D,
TB
-01D
(R)
(or Dummy plug : D
P-4S
)
CB
-TB1-GC
□□□
397
399
Table of Contents
Table of Contents
5
Safety Guide
11
Precautions for Handling
18
Precautions for PC Connection to Controller Grounded at Positive Terminal of 24V DC Power Supply
23
International Standard Compliance
24
Actuator Coordinate System
25
Overview
30
System Configuration
32
Name for each Parts and Their Functions
33
Starting Procedures
38
Product Check
45
Parts
45
Teaching Tool
46
Product Check
46
How to Read the Model Plate
47
How to Read the Model
48
Operation Modes and Functions
49
Operation Mode of Controller
49
Positioner Mode (PCON-CB/CBP I/O Type: NP and PN)
50
Positioner Mode
50
Pulse Train Control Mode (PCON-CB/CBP I/O Type: PLN and PLP)
52
Pulse Train Control Mode
52
Field Network Operation Modes and Features
53
List of Basic Specifications
55
External View
57
CB/CBP Type
57
CB Type
59
CB Type
60
CFB Type
61
CFB Type
62
Absolute Battery Unit (Option for Simple Absolute Type)
63
I/O Specifications
64
PIO Input and Output Interface
64
Pulse Train Input Output Interface
65
Options
66
Pulse Converter (Model: AK-04)
66
Absolute Battery • Absolute Battery Unit
67
Loadcell
68
Installation and Storage Environment
70
Installation Environment
70
Storage and Preservation Environment
70
Noise Elimination and Mounting Method
71
Noise Elimination
71
Installation and Mounting
72
Positioner Mode (PIO Control)
76
Wiring Diagram (Connection of Devices)
76
PIO Pattern Selection and PIO Signal
77
Wiring
82
Pulse Train Control Mode
101
Wiring Diagram (Connection of Devices)
101
I/O Signals in Pulse Train Control Mode and each Functions
102
Each Functions
102
Wiring
104
Wiring Method
117
Wiring Layout of Power Supply Connector
117
Connection to Actuator
118
Connection of PIO
119
Connection of Pulse Train Signal
120
SIO Connector Connection
122
Field Network Connector of PIO
123
Basic Operation
127
How to Turn on Power
127
Basic Operation Methods
128
Parameter Settings
134
Operation in Positioner Mode
135
Operation Modes of Rotary Actuator in Multiple Rotation Mode and Command Limitations
137
Mode and Command Limitations
137
Set of Position Table
138
Control of Input Signal
147
Operation Ready and Auxiliary Signals (Common to Patterns 0 to 7)
148
Operation Ready and Auxiliary Signals
148
(Common to Patterns 0 to 7)
159
Operation with the Position No. Input (PIO Patterns 0 to 3 and 6)
162
Direct Position Specification (Operation of PIO Pattern 4 and 7)
189
Direct Position Specification (PIO Pattern 5)
211
Preparation for Operation in Force Sensor Pressing (Loadcell Calibration)
222
Pulse Train Control Mode
227
I/O Signal Controls
229
Operation Ready and Auxiliary Signals
230
Pulse Train Input Operation
242
Settings of Basic Parameters Required for Operation
246
Parameter Settings Required for Advanced Operations
250
Operation of Field Network Type
254
Absolute Reset
255
How to Perform Absolute Reset
256
Absolute Battery Charge
261
Collision Detection Feature
264
Collision Detection Judgement
265
How to Settings
266
How to Adjustment
267
Power-Saving Function
268
AUTO Servo off and Full Servo Function
268
Auto Current down Function
272
Parameter List
277
Parameter Details
282
Servo Adjustment
333
Periodic Inspection
338
Periodic Inspection Items
339
Requests When Replacing Units
341
Consumable Parts
342
Component Replacement
343
Replacement of Absolute Battery
343
How to Replace Fan Unit
345
Preventive Maintenance Function
346
Maintenance Information
346
Predictive Maintenance Function
349
Fan
349
Overload Warning
350
Action to be Taken Upon Occurrence of Problem
354
Fault Diagnosis
356
Impossible Operation of Controller
356
Positioning and Speed of Poor Precision (Incorrect Operation)
360
Positioning and Speed of Poor Precision
360
Generation of Noise And/Or Vibration
362
Impossible Communication
363
About Alarms
364
Simple Alarm Codes
364
Alarm Level
366
Alarm Details
367
Way to Set Multiple Controllers with 1 Teaching Tool
385
Connecting Example
386
Detailed Connection Diagram of Communication Lines
387
Axis No. Setting
388
Handling of E-CON Connector (How to Connect)
389
SIO Converter
390
Communications Cable
392
External Dimension
392
Conformity to Safety Category
393
System Configuration
393
Wiring and Setting of Safety Circuit
394
Examples of Safety Circuits
396
TP Adapter and Accessories
402
Example of Basic Positioning Sequence (PIO Pattern 0 to 3)
405
I/O Assignment
405
Ladder Sequence
406
List of Specifications of Connectable Actuators
416
Specifications for Actuators
416
Correlation Diagrams of Speed and Payload
458
Push Force / Gripping Force and Current Limit Value
512
Rotational Speed and Output Torque / Allowable Inertial Moment
523
Pressing Force / Pulling Force and Current Limit of Pulse Pressing
526
Warranty Period
528
Scope of the Warranty
528
Honoring the Warranty
528
Limited Liability
529
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IAI PCON-CB series Specifications
General
Brand
IAI
Model
PCON-CB series
Category
Controller
Language
English
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