PCON-C/CG Controller Positioner Type - pulsar.com.tr

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1.3.2 External Drive-Power Cutoff Relay <strong>Type</strong> (<strong>PCON</strong>-<strong>CG</strong>) Standard teaching pendant Host system Supplied flat cable 24-VDC I/O power supply RS232C type USB type PC PC software (optional) PERSONAL COMPUTER RCP2 actuator Input power 24 V supply 24 0V VDC Motor drivepower cutoff circuit Safety relay Contactor S1 S2 MPI MPO 24V 0V EMG- 4
1.4 Procedure from Unpacking to Test Operation and Adjustment If you are using this product for the first time, carry out each step by referring to the procedure below to ensure that all necessary items are checked and all wires are connected correctly. 1 Check the content in the package If you found any missing part or part specified for a different model, please contact your dealer. • <strong>Controller</strong> <strong>PCON</strong>-C • Actuator • I/O flat cable CB-PAC PIO* * * • Motor cable CB-RCP2-MA* * * • Encoder cable CB-RCP2-PA* * * <strong>PCON</strong>-<strong>CG</strong> • Operation manual • Teaching pendant RCM-T (standard) RCM-E (simple) RCM-P (data setting unit) • PC software RC232C type USB type (Software <strong>com</strong>es with connection cables.) 2 Installation [1] Affix the actuator first, and then install the robot hand. → Refer to the operation manual for the applicable actuator. [2] Install the controller. → Chapter 3, “Installation” 3 Wiring/connection • Wire the 24-V power supply. • Connect the grounding wire to ground. • Wire the emergency stop circuit and motor drive power supply. • Connect the motor cable and encoder cable. • Connect the I/O flat cable. 4 Turn on the power and check for alarms Supply the 24-V power after confirming that the emergency stop circuit is not actuated. If the monitor LED [SV/ALM] on the front face of the controller illuminates for two seconds and then turns off, the controller is functioning properly. If [SV/ALM] illuminates in red, it means an alarm has generated. Connect a PC or teaching pendant to check the nature of the alarm, and remove the cause by referring to Chapter 10, “Troubleshooting.” 5 Set the PIO pattern/safety speed Set the mode selector switch on the front face of the controller to the “MANU” side. On the PC screen or teaching pendant, set the MANU operating mode to [Teaching mode: Enable safety speed/Inhibit PIOs]. In this condition, set appropriate values in parameter No. 25 (PIO pattern selection) and parameter No. 35 (Safety speed). * The factory-set PIO pattern and safety speed are “standard type” and “100 mm/s or less,” respectively. → Chapter 8, “Parameter Settings” 5
Page 1 and 2: PCON-C/CG<
Page 3 and 4: CAUTION 3. Initial Parameter Settin
Page 5 and 6: Safety Precautions (Please read bef
Page 7 and 8: • Turn off the power to the produ
Page 9 and 10: Table of Contents 1. Overview .....
Page 11 and 12: 6.2.3 Speed Change during Movement
Page 15 and 16: 1. Overview 1.1 Introduction This p
Page 17: 1.3 System Configuration 1.3.1 Inte
Page 21 and 22: 1.5 Warranty Period and Scope of Wa
Page 23 and 24: 2.2 Name and Function of Each Part
Page 25 and 26: 2.3 External Dimensions An external
Page 27 and 28: [2] Precautions regarding wiring me
Page 29 and 30: 4. Wiring 4.1 Internal Drive-Power
Page 31 and 32: (2) Wiring the emergency-stop switc
Page 33 and 34: 24V EMG signal S1 [Controll
Page 35 and 36: [3] Enabling the EMG switch on the
Page 37 and 38: 4.2 External Drive-Power Cutoff Rel
Page 39 and 40: (2) Wiring the motor power cutoff r
Page 41 and 42: 4.3 Connecting the I/O Cables • P
Page 43 and 44: • PIO pattern 2 [256-point Positi
Page 45 and 46: • PIO pattern 4 [7-point
Page 47 and 48: Caution: When performing a continui
Page 49 and 50: 4.4.2 Encoder Relay Cable • Conne
Page 51 and 52: 5. I/O Signal Control and Signal Fu
Page 53 and 54: 5.2 PIO Patterns and Signal Assignm
Page 55 and 56: • PIO pattern = 1 [Teaching type]
Page 57 and 58: • PIO pattern = 3 [512-point type
Page 59 and 60: • PIO pattern = 5 [3-point type]
Page 61 and 62: 5.3 Details of I/O Signal Functions
Page 63 and 64: • Brake release (BKRL) When the a
Page 65 and 66: • Movement to each position (ST0
Page 67 and 68: • Home return com</strong
Page 69 and 70:
• Emergency stop (*EMGS) This sig
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(4) Acceleration/deceleration • E
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(9) Acceleration/deceleration mode
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(3) SS8C type Low-speed type (Lead:
Page 77 and 78:
(3) RA4C type (4) RA6C type Low-spe
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(2) Load was not contacted (missed)
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6.2.5 Pause The actuator can be pau
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6.2.8 Overview of Teaching
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[2] 64-point type Command position
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Item Air cylinder RCP2 Determined b
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(2) Removing the gripped load This
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• Full servo control mode The pul
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7. Operation 7.1 How to Start 7.1.
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• Procedure of Normal Operation T
Page 97 and 98:
Warning: Since the drive motor uses
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• Full-scale operation This produ
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(Note) If the home is not yet estab
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7.3 Positioning Mode (Back and Fort
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7.4 Push & Hold Mode Example of use
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7.4.1 Return Action after Push & Ho
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No. Position [mm] Position table (F
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No. Position [mm] Position table (F
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Command position Start Note Positio
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Controller PIO Ref
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7.9 Incremental Moves Example of us
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7.9.1 Judgment Method of End Positi
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(2) Push & hold mode The following
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7.10 Jogging/Teaching Using PIO If
Page 125 and 126:
7.11 Operation in 7-point T
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• The movement com</stron
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7.12 Operation in 3-point T
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• Speed change during movement If
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8. Parameters 8.1 Parameter Table C
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8.2 Detail Explanation of Parameter
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• Default speed The factory setti
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• Automatic servo-off delay time
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• Enable function Whether to enab
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• Movement comma
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• Output mode of position <strong
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8.2.4 Servo Gain Adjustment Before
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9. PC/Teaching Pendant Connection M
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[2] Link-connection terminal block
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9.5 Detail Connection Diagram SIO c
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10.2 Alarm Level Classification Ala
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10.4 Alarm Description and Cause/Ac
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Code Error name Cause/Action 0CC Co
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Code Error name Cause/Action 0F4 Un
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Code Message name Description 180 A
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10.6 Specific Problems • I/O sign
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• A servo error occurred while th
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Appendix * Appendix List of Support
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Appendix • Correlation diagram of
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Page 175 and 176:
Page 177 and 178:
Appendix Example of Basic P
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Appendix R Position 3 set signal PC
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Appendix No. Category Name Unit Rec
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PCON-C/CG Controller Positioner Type - pulsar.com.tr

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