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IAI PCON-CB series User Manual
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9. Appendix
9.4 List of Specif
ications of Connect
able
A
ctuators
9-
66
ME0342-4B
RCP3
S
er
i
es
Actuator
series
Type
Feed
screw
N
o. of
encod
er
puls
e
s
Lead
[mm]
Mounting
direction
M
ini
m
u
m
speed
[mm/
s
]
Maximu
m spee
d
[mm/s]
M
axi
m
u
m
ac
cel
er
at
i
o
n
/deceler
ation
[G]
M
i
ni
m
um
pus
h f
or
c
e
[N
]
M
axi
m
u
m
pus
h
fo
r
c
e
[N
]
R
a
t
ed
p
u
s
h
speed
[mm/
s
]
RCP3
(Slider
type)
SA6C
SA6R
Ball
screw
800
6
Horizontal
8
300 (at 50 to 550st)
285 (at 600st)
245 (at 650st)
210 (at 700st)
185 (at 750st)
1
65
(
a
t
8
00
s
t
)
0.7
80
115
20
V
ertical
0.
3
3
Horizontal
4
150 (at 50 to 550st)
140 (at 600st)
120 (at 650st)
105 (at 700st)
90 (at 750st)
8
0 (
a
t
8
00
s
t
)
0.7
160
230
V
ertical
0.
3
RCP3
(Rod type)
RA2AC
RA2AR
Lead
screw
800
4
H
o
r
i
z
on
t
a
l
/
vertical
5
180 (at 25st)
2
00
(
a
t
5
0
t
o
10
0
s
t
)
0.2
0.9
6.6
5
2
3
1
00
1
.
9
1
3.
2
1
2
5
0
3
.
8
2
6.
4
Ball
screw
Standard
type
4
H
or
i
z
on
t
a
l
5
180 (at 25st)
200 (at 50 to
100st)
0
.
3
3.6
12.6
V
e
r
t
i
c
a
l
0
.
2
2
H
or
i
z
on
t
a
l
3
100
0
.
3
7.2
25.2
V
e
r
t
i
c
a
l
0
.
2
1
H
or
i
z
on
t
a
l
2
50
0
.
3
14.4
50.4
V
e
r
t
i
c
a
l
0
.
2
Ball
screw
High
thrust
type
4
H
or
i
z
on
t
a
l
5
180 (at 25st)
2
00
(
a
t
5
0
t
o
10
0
s
t
)
0
.
3
6.6
23.1
V
e
r
t
i
c
a
l
0
.
2
2
H
or
i
z
on
t
a
l
3
100
0
.
3
13.2
46.2
V
e
r
t
i
c
a
l
0
.
2
1
H
or
i
z
on
t
a
l
2
50
0
.
3
26.4
92.4
V
e
r
t
i
c
a
l
0
.
2
RA2BC
RA2BR
Lead
screw
800
6
H
o
r
i
z
on
t
a
l
/
vertical
8
180 (at 25st)
280 (at 50st)
3
00
(
a
t
7
5
t
o
15
0
s
t
)
0.2
0.6
4.4
5
4
5
180 (at 25st)
2
00
(
a
t
5
0
t
o
15
0
s
t
)
0.9
6.6
2
3
1
00
1
.
9
1
3.
2
Ball
screw
Standard
type
6
H
or
i
z
on
t
a
l
8
180 (at 25st)
280
(at 50st)
3
00
(
a
t
7
5
t
o
15
0
s
t
)
0
.
3
1.8
6.3
V
ertical
0.
2
4
H
or
i
z
on
t
a
l
5
180 (at 25st)
2
00
(
a
t
5
0
t
o
15
0
s
t
)
0
.
3
3.6
12.6
V
e
r
t
i
c
a
l
0
.
2
2
H
or
i
z
on
t
a
l
3
100
0
.
3
7.2
25.2
V
e
r
t
i
c
a
l
0
.
2
1
H
or
i
z
on
t
a
l
2
50
0
.
3
14.4
50.4
V
e
r
t
i
c
a
l
0
.
2
Ball
screw
High
thrust
type
6
Horizontal
8
180 (at 25st)
280 (at 50st)
3
00
(
a
t
7
5
t
o
15
0
s
t
)
0.3
4.4
15.4
V
ertical
0.
2
4
H
or
i
z
on
t
a
l
5
180 (at 25st)
200 (at 50 to 150st)
0
.
3
6.6
23.1
V
e
r
t
i
c
a
l
0
.
2
2
H
or
i
z
on
t
a
l
3
100
0
.
3
13.2
46.2
V
e
r
t
i
c
a
l
0
.
2
1
H
or
i
z
on
t
a
l
2
50
0
.
3
26.4
92.4
V
e
r
t
i
c
a
l
0
.
2
9.4 List of Specif
ications of
Connect
able Actuat
ors
ME0342-4B
9-
67
RCP3
Series
Actuator
series
Type
Feed
screw
No. of
encod
er
pulses
Lead
[mm]
Mounting
direction
Minimum
speed
[mm/s]
Maximu
m spee
d
[mm/s]
Maximum
accel
eratio
n
/deceler
ation
[G]
Minimum
push force
[N]
Maximum
push
force
[N]
Rated
push
speed
[mm/s]
RCP3
(
Table
type)
TA3C
TA3R
Ball
screw
800
6
Horizontal
8
300
0.3
10
15
20
Vertical
200
0.2
4
Horizontal
5
200
0.3
15
22
Vert
ical
133
0.2
2
Horizontal
3
100
0.2
30
45
V
ertical
67
TA4C
TA4R
Ball
screw
800
6
Horizontal
8
300
0.3
15
25
20
Vertical
0.2
4
Horizontal
5
200
0.3
22
37
Vertical
0.2
2
Horizontal/
vertical
3
100
0.2
45
75
TA5C
TA5R
Ball
screw
800
10
Horizontal
13
465
0.3
21
34
20
Vert
ical
400
0.2
5
Hor
izontal
7
250
0.3
41
68
Vertical
0.2
2.
5
Horizontal/
vertical
4
125
0.2
82
136
TA6C
TA6R
Ball
screw
800
12
Horizontal
15
560
0.3
35
60
20
Vert
ical
500
0.2
6
Hor
izontal
8
300
0.3
70
110
Vertical
0.2
3
Horizontal/
vertical
4
150
0.2
140
189
TA7C
TA7R
Ball
screw
800
12
Horizontal
15
600
0.3
35
60
20
Vertical
580
0.2
6
Horizontal
8
300
0.3
70
110
Vertical
0.2
3
Horizontal/
vertical
4
150
0.2
140
189
450
452
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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First Step Guide
5 pages
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IAI PCON-CB series Specifications
General
Brand
IAI
Model
PCON-CB series
Category
Controller
Language
English
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