IAI America RCP2-CF User Manual
Rcp2 series robo cylinder controller
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Table of contents
Document Outline
- Please Read Before Use
- CAUTION
- CE Marking
- Table of Contents
- Safety Guide
- 1. Overview
- 2. Specifications
- 3. Installation and Noise Elimination
- 4. Wiring
- 5. I/O Signal Control and Signal Functions
- 5.1 PIO Patterns and Signal Assignments
- 5.2 Interface Circuit
- 5.3 Details of I/O Signal Functions
- 5.3.1. Details of Each Input Signal
- ( Start (CSTR)
- ( Command position number (PC1 to PC32)
- ( Pause (*STP)
- ( Home return (HOME)
- ( Servo ON (SON)
- ( Alarm reset (RES)
- ( Operation mode (MODE)
- ( Current-position write (PWRT)
- ( Jog (JOG+, JOG-)
- ( Movement to each position (ST0 to ST3)
- 5.3.2 Details of Each Output Signal
- ( Completed position number (PM1 to PM32)
- ( Moving (MOVE)
- ( Position complete (PEND)
- ( Home return completion (HEND)
- ( Zone (ZONE1, ZONE2)
- ( Current operation mode (MODES)
- ( Write completion (WEND)
- ( Completion of each position (PE0 to PE3)
- ( Ready (SRDY)
- ( Alarm (*ALM)
- ( Emergency stop (*EMGS)
- (Reference) Output Signal Changes in Each Mode
- 6. Data Entry <Basics>
- 6.1 Description of Position-Data Table
- 6.2 Explanation of Modes
- 6.2.1 Positioning Mode Push = 0
- 6.2.2 Push & Hold Mode Push = Other than 0
- 6.2.3 Speed Change during Movement
- 6.2.4 Operation at Different Acceleration and Deceleration Settings
- 6.2.5 Pause
- 6.2.6 Zone Signal Output
- 6.2.7 Home Return
- 6.2.8 Teaching Mode (Jogging/Teaching Using PIO)
- 6.2.9 Overview of the “4 Points” (Air Cylinder) Mode
- 6.3 Notes on the ROBO Gripper
- 7. Operation <Practical Steps>
- 7.1 How to Start
- 7.2 How to Execute Home Return
- 7.3 Home Return and Movement after Start (PIO Pattern = “1: [Standard]”)
- 7.4 Positioning Mode (Back and Forth Movement between Two Points)
- 7.5 Push & Hold Mode
- 7.6 Speed Change during Movement
- 7.7 Operation at Different Acceleration and Deceleration Settings
- 7.8 Pause
- 7.9 Zone Signal Output
- .10 Incremental Moves
- 7.11 Notes on Incremental Mode
- 7.12 Jogging/Teaching Using PIO
- 8. Parameters
- 8.1 Parameter Classification
- 8.2 Parameter Table
- 8.3 Parameter Settings
- 8.3.1 Parameters Relating to the Actuator Stroke Range
- ( Soft limit
- ( Zone boundary
- ( Home return direction
- ( Home return offset
- 8.3.2 Parameters Relating to the Actuator Operating Characteristics
- ( PIO jog speed
- ( Default speed
- ( Default acceleration/deceleration
- ( Default positioning band (in-position)
- ( Default acceleration only MAX flag
- ( Push & hold stop judgment period
- ( Current-limiting value at standstill during positioning
- ( Current-limiting value during home return
- ( Direction of excitation phase signal detection
- 8.3.3 Parameters Relating to the External Interface
- ( PIO pattern selection
- ( Movement command type
- ( Pause input disable selection
- ( Servo ON input disable selection
- ( Serial communication speed
- ( Minimum delay time for slave transmitter activation
- 8.3.4 Servo Gain Adjustment
- ( Servo gain number
- 9. Controlling Multiple Controllers via Serial Communication
- 10. Troubleshooting
- 10.1 Action to Be Taken upon Occurrence of Problem
- 10.2 Alarm Level Classification
- 10.3 Alarm Description Output Using PIO
- 10.4 Alarm Description and Cause/Action
- 10.5 Messages Displayed during Operation Using the Teaching Pendant or PC Software
- 10.6 Specific Problems
- ( I/O signals cannot be exchanged with the PLC.
- ( The RDY lamp does not illuminate after the power is input.
- ( Only the RDY lamp illuminates when the servo ON signal is input after the power was input.
- ( Both the RDY lamp and ALM lamp illuminate when the power is input.
- ( Home return ends in the middle in a vertical application.
- ( Noise occurs during downward movements in a vertical application.
- ( Vibration occurs when the actuator is stopped.
- ( The actuator overshoots when decelerated to a stop.
- ( The home and target positions sometimes shift.
- ( The speed is slow during push & hold operation.
- ( The actuator moves only a half of, or twice as much as, the specified movement.
- ( A servo error occurred while the actuator was moving (ROBO Gripper).
- ( Abnormal operation results when the servo is turned ON after the power ON.
- ( Abnormal noise is heard from a controller of absolute specification upon completion of home return.
- ( The ALM lamp blinks when the power is cut off.
- 11. Function Check and Replacement of the Radiating Fan
- 12. Replacing the Absolute Data Retention Battery
- * Appendix
- List of Supported Actuator Specifications
- Example of Basic RCP2 Positioning Sequence
- Change History