IAI PCON-CB series

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9. Appendix

9.4 List of Specifications of Connectable Actuators

9-130 ME0342-4B

RCP6 Series (Gripper type)

GRST7C/GRST7R

Current-limiting value (%)

Gripping force (N)

Lead 8

Current-limiting value (%)

Gripping force (N)

Lead 2

Main Page

Table of Contents5
Safety Guide11
Precautions for Handling18
Precautions for PC Connection to Controller Grounded at Positive Terminal of 24V DC Power Supply23
International Standard Compliance24
Actuator Coordinate System25
Overview30
System Configuration32
Name for each Parts and Their Functions33
Starting Procedures38
Product Check45
Parts45
Teaching Tool46
Product Check46
How to Read the Model Plate47
How to Read the Model48
Operation Modes and Functions49
Operation Mode of Controller49
Positioner Mode (PCON-CB/CBP I/O Type: NP and PN)50
Positioner Mode50
Pulse Train Control Mode (PCON-CB/CBP I/O Type: PLN and PLP)52
Pulse Train Control Mode52
Field Network Operation Modes and Features53
List of Basic Specifications55
External View57
CB/CBP Type57
CB Type59
CB Type60
CFB Type61
CFB Type62
Absolute Battery Unit (Option for Simple Absolute Type)63
I/O Specifications64
PIO Input and Output Interface64
Pulse Train Input Output Interface65
Options66
Pulse Converter (Model: AK-04)66
Absolute Battery • Absolute Battery Unit67
Loadcell68
Installation and Storage Environment70
Installation Environment70
Storage and Preservation Environment70
Noise Elimination and Mounting Method71
Noise Elimination71
Installation and Mounting72
Positioner Mode (PIO Control)76
Wiring Diagram (Connection of Devices)76
PIO Pattern Selection and PIO Signal77
Wiring82
Pulse Train Control Mode101
Wiring Diagram (Connection of Devices)101
I/O Signals in Pulse Train Control Mode and each Functions102
Each Functions102
Wiring104
Wiring Method117
Wiring Layout of Power Supply Connector117
Connection to Actuator118
Connection of PIO119
Connection of Pulse Train Signal120
SIO Connector Connection122
Field Network Connector of PIO123
Basic Operation127
How to Turn on Power127
Basic Operation Methods128
Parameter Settings134
Operation in Positioner Mode135
Operation Modes of Rotary Actuator in Multiple Rotation Mode and Command Limitations137
Mode and Command Limitations137
Set of Position Table138
Control of Input Signal147
Operation Ready and Auxiliary Signals (Common to Patterns 0 to 7)148
Operation Ready and Auxiliary Signals148
(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 Mode227
I/O Signal Controls229
Operation Ready and Auxiliary Signals230
Pulse Train Input Operation242
Settings of Basic Parameters Required for Operation246
Parameter Settings Required for Advanced Operations250
Operation of Field Network Type254
Absolute Reset255
How to Perform Absolute Reset256
Absolute Battery Charge261
Collision Detection Feature264
Collision Detection Judgement265
How to Settings266
How to Adjustment267
Power-Saving Function268
AUTO Servo off and Full Servo Function268
Auto Current down Function272
Parameter List277
Parameter Details282
Servo Adjustment333
Periodic Inspection338
Periodic Inspection Items339
Requests When Replacing Units341
Consumable Parts342
Component Replacement343
Replacement of Absolute Battery343
How to Replace Fan Unit345
Preventive Maintenance Function346
Maintenance Information346
Predictive Maintenance Function349
Fan349
Overload Warning350
Action to be Taken Upon Occurrence of Problem354
Fault Diagnosis356
Impossible Operation of Controller356
Positioning and Speed of Poor Precision (Incorrect Operation)360
Positioning and Speed of Poor Precision360
Generation of Noise And/Or Vibration362
Impossible Communication363
About Alarms364
Simple Alarm Codes364
Alarm Level366
Alarm Details367
Way to Set Multiple Controllers with 1 Teaching Tool385
Connecting Example386
Detailed Connection Diagram of Communication Lines387
Axis No. Setting388
Handling of E-CON Connector (How to Connect)389
SIO Converter390
Communications Cable392
External Dimension392
Conformity to Safety Category393
System Configuration393
Wiring and Setting of Safety Circuit394
Examples of Safety Circuits396
TP Adapter and Accessories402
Example of Basic Positioning Sequence (PIO Pattern 0 to 3)405
I/O Assignment405
Ladder Sequence406
List of Specifications of Connectable Actuators416
Specifications for Actuators416
Correlation Diagrams of Speed and Payload458
Push Force / Gripping Force and Current Limit Value512
Rotational Speed and Output Torque / Allowable Inertial Moment523
Pressing Force / Pulling Force and Current Limit of Pulse Pressing526
Warranty Period528
Scope of the Warranty528
Honoring the Warranty528
Limited Liability529

IAI PCON-CB series - Page 514

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