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

More documents

Recommendations

Info

• Connecting the teaching pendant to a SIO converter Configure the contact circuit for the EMG switch on the teaching pendant using EMG1/EMG2 on the power/emergency-stop terminal block on the SIO converter. (S1/S2 on the controller’s terminal block are not used.) 24V 0V SIO converter EMG signal EMG2 Teaching pendant EMG1 CR ON OFF Port switch [<strong>Controller</strong> 1] MPI CR MPO 24V EMG- Relay 0V [<strong>Controller</strong> 2] MPI MPO 24V EMG- Relay 0V [<strong>Controller</strong> 3] MPI MPO 24V EMG- Relay 0V 22
4.2 External Drive-Power Cutoff Relay <strong>Type</strong> (<strong>PCON</strong>-<strong>CG</strong>) 4.2.1 External Connection Diagram An example of standard wiring is shown below. (Note) The encoder cable shown in the example is the standard cable for the controller with the maximum current of 2 A. As for the robot cable or the cable for the dedicated controller for the high-thrust type, refer to 4.4.2, “Encoder Relay Cable.” <strong>Controller</strong> Connected to teaching pendant or PC SIO <strong>PCON</strong>-<strong>CG</strong> 1 (SGA) Connection detection circuit 2 (SGB) 3 (+5V) 4 5 (EMGA) 6 (+24V) 7 (GND) 8 (EMGB) Terminal block Input power supply 24 VDC 24V 0V FG Motor drivepower cutoff circuit S1 S2 MPI MPO 24V 0V EMG - MO Motor relay cable CB-RCP2-MA *** Blue Actuator Black White Red M 0 V (NPN specification) 24 V (PNP specification) I/O flat cable CB-PAC-PIO *** PIO 1A P24 2A 5A Input PG Black Green Encoder relay cable CB-RCP-PA *** Motor 24 V (NPN specification) 0 V (PNP specification) 20A 1B Output Yellow Blue Orange Pink 24-VDC power for input/output signals For details on I/O signal connection, refer to 4.3, “Connecting the I/O Cables.” 16B 19B 20B 0V Purple Green Brown Gray Red Encoder Holding brake GND Brake release switch 24V 23
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 and 18: 1.3 System Configuration 1.3.1 Inte
Page 19 and 20: 1.4 Procedure from Unpacking to Tes
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: [3] Enabling the EMG switch on the
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
Page 71 and 72: (4) Acceleration/deceleration • E
Page 73 and 74: (9) Acceleration/deceleration mode
Page 75 and 76: (3) SS8C type Low-speed type (Lead:
Page 77 and 78: (3) RA4C type (4) RA6C type Low-spe
Page 79 and 80: (2) Load was not contacted (missed)
Page 81 and 82: 6.2.5 Pause The actuator can be pau
Page 83 and 84: 6.2.8 Overview of Teaching
Page 85 and 86: [2] 64-point type Command position
Page 87 and 88:
Item Air cylinder RCP2 Determined b
Page 89 and 90:
(2) Removing the gripped load This
Page 91 and 92:
• Full servo control mode The pul
Page 93 and 94:
7. Operation 7.1 How to Start 7.1.
Page 95 and 96:
• Procedure of Normal Operation T
Page 97 and 98:
Warning: Since the drive motor uses
Page 99 and 100:
• Full-scale operation This produ
Page 101 and 102:
(Note) If the home is not yet estab
Page 103 and 104:
7.3 Positioning Mode (Back and Fort
Page 105 and 106:
7.4 Push & Hold Mode Example of use
Page 107 and 108:
7.4.1 Return Action after Push & Ho
Page 109 and 110:
No. Position [mm] Position table (F
Page 111 and 112:
No. Position [mm] Position table (F
Page 113 and 114:
Command position Start Note Positio
Page 115 and 116:
Controller PIO Ref
Page 117 and 118:
7.9 Incremental Moves Example of us
Page 119 and 120:
7.9.1 Judgment Method of End Positi
Page 121 and 122:
(2) Push & hold mode The following
Page 123 and 124:
7.10 Jogging/Teaching Using PIO If
Page 125 and 126:
7.11 Operation in 7-point T
Page 127 and 128:
• The movement com</stron
Page 129 and 130:
7.12 Operation in 3-point T
Page 131 and 132:
• Speed change during movement If
Page 133 and 134:
8. Parameters 8.1 Parameter Table C
Page 135 and 136:
8.2 Detail Explanation of Parameter
Page 137 and 138:
• Default speed The factory setti
Page 139 and 140:
• Automatic servo-off delay time
Page 141 and 142:
• Enable function Whether to enab
Page 143 and 144:
• Movement comma
Page 145 and 146:
• Output mode of position <strong
Page 147 and 148:
8.2.4 Servo Gain Adjustment Before
Page 149 and 150:
9. PC/Teaching Pendant Connection M
Page 151 and 152:
[2] Link-connection terminal block
Page 153 and 154:
9.5 Detail Connection Diagram SIO c
Page 155 and 156:
10.2 Alarm Level Classification Ala
Page 157 and 158:
10.4 Alarm Description and Cause/Ac
Page 159 and 160:
Code Error name Cause/Action 0CC Co
Page 161 and 162:
Code Error name Cause/Action 0F4 Un
Page 163 and 164:
Code Message name Description 180 A
Page 165 and 166:
10.6 Specific Problems • I/O sign
Page 167 and 168:
• A servo error occurred while th
Page 169 and 170:
Appendix * Appendix List of Support
Page 171 and 172:
Appendix • Correlation diagram of
Page 173 and 174:
Page 175 and 176:
Page 177 and 178:
Appendix Example of Basic P
Page 179 and 180:
Appendix R Position 3 set signal PC
Page 181 and 182:
Appendix No. Category Name Unit Rec
Page 183 and 184:
169
show all

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

You also want an ePaper? Increase the reach of your titles

Delete template?

Save as template?