IAI RCP2 Series User Manual

7. Operation <Practical Steps>.............................................................. 59
7.1 How to Start................................................................................................................................ 59
7.1.1 Standard Specification ......................................................................................................... 59
7.1.2 Absolute Specification..........................................................................................................61
7.2 How to Execute Home Return ................................................................................................... 62
7.2.1 Standard Specification ......................................................................................................... 62
7.2.2 Absolute Specification..........................................................................................................63
7.2.3 Operation Timings at PIO Pattern = “0: [Conventional]” ...................................................... 64
7.2.4 Operation Timings at PIO Pattern ≠ “0: [Conventional]” ...................................................... 65
7.3 Home Return and Movement after Start (Home Return Not Using the Dedicated Input)
(PIO Pattern = “0: [Conventional]”) ............................................................................................66
7.4 Positioning Mode (Back and Forth Movement between Two Points) ........................................ 68
7.5 Push & Hold Mode ..................................................................................................................... 70
7.6 Speed Change during Movement .............................................................................................. 72
7.7 Operation at Different Acceleration and Deceleration Settings.................................................. 74
7.8 Pause ......................................................................................................................................... 76
7.9 Zone Signal Output .................................................................................................................... 78
7.10 Incremental Moves..................................................................................................................... 80
7.11 Notes on Incremental Mode .......................................................................................................82
7.12 Jogging/Teaching Using PIO......................................................................................................84
8. Parameters........................................................................................ 86
8.1 Parameter Classification ............................................................................................................ 86
8.2 Parameter Table......................................................................................................................... 86
8.3 Parameter Settings .................................................................................................................... 87
8.3.1 Parameters Relating to the Actuator Stroke Range............................................................. 87
z Soft limit ...................................................................................................................................... 87
z Zone boundary ........................................................................................................................... 87
z Home return direction................................................................................................................. 88
z Home return offset...................................................................................................................... 88
8.3.2 Parameters Relating to the Actuator Operating Characteristics .......................................... 88
z PIO jog speed............................................................................................................................. 88
z Default speed ............................................................................................................................. 88
z Default acceleration/deceleration ...............................................................................................88
z Default positioning band (in-position) ......................................................................................... 89
z Default acceleration only MAX flag ............................................................................................ 89
z Push & hold stop judgment period ............................................................................................. 89
z Current-limiting value at standstill during positioning ................................................................. 90
z Current-limiting value during home return .................................................................................. 90
8.3.3 Parameters Relating to the External Interface..................................................................... 90
z PIO pattern selection .................................................................................................................. 90
z Pause input disable selection..................................................................................................... 91
z Servo ON input disable selection ............................................................................................... 91
z Serial communication speed ......................................................................................................91
z Minimum delay time for slave transmitter activation .................................................................. 91

IAI RCP2 Series Specifications

General

Control Output	Pulse Train
Power Supply Voltage	24 V DC
Storage Temperature	-10 to 60°C
Type	Controller
Control Method	Position Control
Communication Interface	RS-232C
Humidity	85% RH (non-condensing)