Document Outline

• Please Read Before Use
• CAUTION
• CE Marking
• Table of Contents
• Safety Guide
• 1. Overview
  • 1.1 Introduction
  • 1.2 How to Read Model Number
  • 1.3 Handling of Secondary Batteries for the Absolute Specification
  • 1.4 Safety Precautions
  • 1.5 Warranty Period and Scope of Warranty
• 2. Specifications
  • 2.1 Basic Specifications
    • 2.1.1 Backup Batteries for the Absolute Specification
    • 2.1.2 Specifications of the Large-Capacity Type (RCP2-CF)
  • 2.2 Name and Function of Each Part of the Controller
    • 2.2.1 Names
    • 2.2.2 Functions
  • 2.3 External Dimensions
    • 2.3.1 Standard Specification
    • 2.3.2 Absolute Specification with Battery Bracket
    • Absolute Specification without Battery Bracket
    • 2.3.3 Large-Capacity Type (RCP2-CF-***)
• 3. Installation and Noise Elimination
  • 3.1 Installation Environment
  • 3.2 Power Supply
  • 3.3 Noise Elimination and Grounding
  • 3.4 Heat Radiation and Installation
• 4. Wiring
  • 4.1 Internal Drive-Power Cutoff Relay Type (RCP2-C, RCP2-CF)
    • 4.1.1 Configuration
    • 4.1.2 External Connection Diagram
    • 4.1.3 Wiring the Power Supply/Emergency-Stop Switch
  • 4.2 External Drive-Power Cutoff Relay Type (RCP2-CG)
    • 4.2.1 Configuration
    • 4.2.2 External Connection Diagram
    • 4.2.3 Wiring the Power Supply/Motor Power Cutoff Relay
  • 4.3 Connecting the I/O Cables
    • ( PIO pattern 0 [Conventional]
    • ( PIO pattern 1 [Standard]
    • ( PIO pattern 2 [64-point positioning]
    • ( PIO pattern 3 [2 zone output signals]
    • ( PIO pattern 4 [Teaching]
    • ( PIO pattern 5 [4 points] (air cylinder)
  • 4.4 Connecting the Actuator
    • 4.4.1 Motor Extension Cable
    • 4.4.2 Encoder Extension Cable
    • ( [Standard controller (2 A)]
    • ( [Large-capacity controller (6 A)]
  • 4.5 Connecting the Communication Cable
• 5. I/O Signal Control and Signal Functions
  • 5.1 PIO Patterns and Signal Assignments
    • 5.1.1 Explanation of Signal Names
    • ( PIO pattern = “0: [Conventional],” “1: [Standard],” “2: [64-point positioning],” “3: [2 zone output signals]”
    • ( PIO pattern = “4: [Teaching]”
    • ( PIO pattern = “5: [4 points]
    • 5.1.2 Signal Assignment Table for Respective PIO Patterns
  • 5.2 Interface Circuit
    • 5.2.1 External Input Specifications
    • 5.2.2 External Output Specifications
  • 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
    • 6.1.1 Relationship of Push Force at Standstill and Current-Limiting Value
    • (1) SA5/SA6/SS type (2) SA7 type
    • (3) SM type
    • (1) RPA type (2) RXA type
    • (3) RSA/RSW type (4) RMA/RMW type
    • (5) RFA/RFW type
  • 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
    • 7.1.1 Standard Specification
    • 7.1.2 Absolute Specification (Absolute Reset)
  • 7.2 How to Execute Home Return
    • 7.2.1 Standard Specification
    • 7.2.2 Absolute Specification
    • 7.2.3 Operation Timings at PIO Pattern = “0: [Conventional]”
    • 7.2.4 Operation Timings at PIO Pattern = “5: [4 Points]”
    • 7.2.5 Operation Timings at PIO Pattern ≠ “0: [Conventional]” or “5: [4 Points]”
  • 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
    • 7.5.1 Return Action after Push & Hold by Relative Coordinate Specification
  • 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
  • 9.1 Basic Specifications
  • 9.2 Connection Example
  • 9.3 SIO Converter
  • 9.4 Address Switch
  • 9.5 Connection Cables
  • 9.6 Detail Connection Diagram
• 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
    • (1) Message level alarms
    • (2) Operation-cancellation level alarms
    • (3) Cold-start level alarms
  • 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
  • Recording of Position-Data Table
  • Recording of Parameters
• Change History