RCP2-C/CG - Intelligent Actuator

RCP2-C/CG - Intelligent Actuator
RCP2 Controller
RCP2-C/CG
Operating method
Number of positions that can be registered
Power-supply voltage
Dedicated RCP2 Controller
Positioner operation
Standard 16 positions / Maximum 64 positions
24 VDC
1 Features
1 Space-saving design with a 51% smaller footprint
The compact, slim body of 35 mm in width x 68.1 mm in depth saves
space in the installation of the panel. Of course, the driver, control unit
and power stages are all housed within the unit, so no cumbersome
wiring or adjustment is needed. Simply connect the actuator, and your
equipment is ready to go.
A footprint reduction of approx. 49%
2 Multi-point positioning covering up to 64 points
The increased PIO points and expanded internal memory allow the
registration of position data for up to 64 points, so the controller can
effortlessly perform complex operations. With this simple, high-function
controller you can also perform positioning at an accuracy of ± 0.02
mm, simply by specifying PIO positions from a PLC.
Host system (PLC)
4
Internal or external relay for cutting off the
iiiiiiiiimotor's drive power upon emergency stop
The controller, which incorporates its own drive-power cutoff relay,
ensures safety by cutting off the motor's drive power when an
emergency stop is actuated. To further enhance safety, use the
external relay type that cuts off the motor's drive power using a safety
relay provided externally to the controller.
5
Useful software functions
The controller provides a range of useful functions that take
advantage of the AC servo features, thus allowing the setting and
execution of complex operations.
Convenience is further enhanced with an increase in the number of
zone-signal outputs to two.
Useful Software Functions
1 Positioning band setting function
Normally a movement completion signal (position complete signal) is
output when the target position is reached. With the RCP2 this signal
can be output at an arbitrary position before the target position. For
example, this function can be used to shorten the tact time.
200mm/sec
100mm/sec
Decelerating
Accelerating
Accelerating
Actuator's current
position number
Position number
Speed
Decelerating
Stationary
Time
The signal is input
20 mm before.
The signal is input 10 mm before.
RDY RUN ALM
Position 1
Position 2
PIO
2 Incremental move function
AD/RS
PORT
ON
OFF
SIO
RCP2 controller
ENC
BK
RIS
NOM
MOT
S1
S2
MPI
MPO
24V
N
F.G
Actuator
The controller allows for incremental movement, or movement of an
arbitrary distance specified from the current position.
You can perform continuous moves at a fixed pitch for as many
positioning points as desired, simply by repeating incremental
movements with the same distance specification.
300mm/sec
Speed
Stationary
Time
3 Five pin-assignment patterns for PIO signals
You can now choose from a total of five pin-assignment patterns for PIO
signals, including the pattern allowing for position specification of up to
64 points, the pattern providing two zone-signal outputs, and the pattern
for teaching operation (refer to page 155).
The PIO connector is the same as the one used by the conventional
RCP controller (RCP-C), and the factory-set pin assignments are also
the same. Therefore, the PIO wiring need not be adjusted after replacing
your RCP controller with an RCP2.
100
Position number Position 0
Coordinate 0
Position 1
Coordinate 100
25
25
Position 2
Coordinate 25
The slider operation can be paused in keeping with the ON/OFF status of
an external signal.
Use this function to stop the operation temporarily or provide an interlock
with surrounding equipment.
Pause-signal input
ON
OFF
Accelerating
Speed
Time
ROBO Cylinder General Catalog
25
3 Pause function
(Note) You cannot replace only your RCP controller with an RCP2
and continue using the RCP actuator.
151
25
Decelerating
Accelerating
Decelerating
4 Push & hold operation
The slider can be maintained in a condition where it is continually
pressed against the load, just like an air cylinder.
This function is used for clamp fitting or other applications requiring that
the load be pressed.
5 Zone output function
This function outputs a signal when the slider enters a specified range
during operation.
It can be used to set a danger area or provide a pseudo sensor function.
ON
OFF
300mm/sec
Decelerating
Accelerating
Time
Specified zone-signal output range
Positioning band: 50 mm
*
2 Model
RCP2 - C - RXA - I - PM - O - P - K
Series
Motor
Indicate the name of each series.
Indicate the type of motor used by the actuator.
PM: Pulse motor
Controller type
Indicate the classification based on controller function.
Power-supply voltage
C : An emergency-stop circuit is provided, and when an external
emergency-stop input is received the actuator will be stopped
and the motor drive power will be cut off at the relay inside the
controller.
(Use this type for general applications.)
GC : There is no emergency-stop circuit in the controller, but a
terminal to cut off the motor drive power is provided. Therefore,
the safety standard corresponding to Safety Category 2 can be
met if the user constructs an emergency-stop circuit externally to
the controller using a safety relay, etc.
Indicate the type (current direction) of input/output signals.
* This field can be left blank unless you need to specify the
PNP type.
(Blank) : NPN type
P
: PNP type
)
(Blank) : No bracket
K
: With bracket
RCS
Controllers
(
I/O signal pattern
Absolute battery bracket
Actuator type
Indicate the type of the actuator to be operated.
SA5, SA6, SA7, SS, SM, SSR, SMR, RXA, RSA, RMA,
GRS, GRM, RTB, RTC
Indicate the I/O (I/O signal) type (current direction).
0: 24 VDC
Actuator
Options
Information on
Guide Types
If the load is still not
contacted at the end of
the positioning band, the
position complete signal
will not be output.
How to Install
Actuator
Position 1
Coordinate 100
ERC
Controllers
Stationary
RCP2
Controllers
Time
RCS
Actuators
Speed
Load
Speed
Decelerating
RCP2
Actuators
Zone-signal output
■ Example of push & hold operation
Accelerating
ERC
Actuators
RCP2 Controller
Encoder type
Indicate whether the encoder installed in the actuator should
be an “absolute type” or “incremental type.
I: Incremental type
Since the slider position data are cleared each time the power is turned
off, home return must be performed every time the actuator is powered up.
A: Absolute type
The current slider position will be retained even after the power is
turned off, so home return need not be performed.
ROBO Cylinder General Catalog
152
RCP2 Controller
3 System Configuration Diagram
■ Compatible actuators
■ Host system (PLC)
Teaching pendant
< RCA-T/TD >
< RCA-E >
< RCA-P >
RCP2 Series
Slider Type
Slider Motor-Reversed Type
Rod Type
Gripper
Rotary
I/O flat cable, 2 m
(Supplied with the controller.)
(Refer to page 160.)
Motor cable Standard: 1 m/3 m/5 m (Refer to page 160.)
Encoder cable Standard: 1 m/3 m/5 m (Refer to page 160.)
(Supplied with the actuator.)
PC software
< RCB-101-MW >
(Refer to page 173)
Communication cable, 5 m
5m (Refer to page 172.) 1
*
(Supplied with
the PC software.)
* 1 The PC communication cable consists of
Absolute-data
backup battery
an external equipment communication cable
(CB-RCA-SIO050) and an RS485
conversion adapter (RCB-CV-MW).
<AB-4>
(Supplied with controller)
(Refer to P160)
■ Main power ■ I/O power
DC24V
DC24V
4 I/O Wiring Diagrams
■
■
Input Part External input
Item
Input voltage
Input current
Number of input points
Leak current
Method
Specification
24 VDC ± 10%
7 mA / circuit
10 points
1 mA or less / point
Photocoupler
Output Part External output
Item
Load voltage
Maximum load current
Number of output points
Residual voltage
Method
NPN Specification
NPN Specification
P24
P24V
External
power supply
+24V
Specification
24 VDC
20 mA / point
10 points
2 V or less
Photocoupler
R=560Ω
Each output OUT 0 ~ 9
Internal circuit
Load
External
power supply
Internal circuit
Input terminal
+24V
Each input
IN 0 ~ 9
R=3.3kΩ
N
PNP Specification
PNP Specification
N
P24V
External
power supply
+24V
R=560Ω
Internal circuit
Internal circuit
Load
Input terminal
Each input
IN 0 ~ 9
R=3.3kΩ
Each output OUT 0 ~ 9
N
153
ROBO Cylinder General Catalog
External
power supply
+24V
RCP2 Controller
RCP2
Actuators
Actuator
MOT
A1(A)
PIO
Upper stage Brown 1 1A
+24 [V]
Output side
(Signal abb.) 0 [V]
Command position 1
Command position 2
Command position 4
Command position 8
Pause
Start
Home return
Servo ON
Reset
(Not used)
(Not used)
(Not used)
Input side
Completed position 1
Completed position 2
Completed position 4
Completed position 8
Zone output
Moving
Position complete
Home return completion
Emergency stop
Ready
Alarm
2A
N
3A
PC1
Yellow 1
4A
PC2
Green 1
5A
PC4
PC8
24 VDC
+24 [V]
Output side
0 [V]
Command position 1
Command position 2
Command position 4
Command position 8
Pause
Start
Home return
Servo ON
Reset
(Not used)
(Not used)
(Not used)
Input side
Completed position 1
Completed position 2
Completed position 4
Completed position 8
Zone output
Moving
Position complete
Home return completion
Emergency stop
Ready
Alarm
B3(B)
6A
7A
Gray 1
8A
White 1
9A
Black 1
10A
HOME
Brown 2
11A
SON
Red 2
12A
RES
Orange 2
Blue
Black
White
Red
Black
Green
5 (GND)
Orange (Black 2)
6 (5V)
Orange (Red 2)
9 (ENB)
Yellow (Black 1)
10 (ENB)
Yellow (Red 1)
11 (ENA)
White (Black 1)
Green 2
2B
12 (ENA)
White (Red 1)
Blue 2
3B
PM1
13 (BK-)
Light blue (Black 1)
Purple 2
4B
PM2
14 (BK+)
Light blue (Red 1)
Gray 2
5B
White 2
6B
PM4 GN D
PM8
ZONE
Black 2
7B
8B
Red 3
9B
Orange 3
10B
HEND
Yellow 3
11B
Green 3
12B
*EMGS
Blue 3
13B
PG
Encoder
Holding brake
Brake release
switch
PEND
24V
SRDY
*A LM
Controller
SIO
1 (SGA)
2 (SGB)
3 (+5V)
4
5 (EMGA)
6 (+24V)
7 (GND)
8 (EMGB)
RCP2
(PORT switch)
Terminal box
S1
S2
MPI
MPO
24V
N
FG
PIO
Upper stage Brown 1 1A
P24
2A
N
Orange 1
3A
PC1
Yellow 1
4A
PC2
Green 1
5A
PC4
PC8
Blue 1
6A
Purple 1
7A
Actuator
MOT
(Signal abb.)
Red 1
8A
9A
Black 1
10A
HOME
Brown 2
11A
SON
Red 2
12A
RES
B1(A)
B2(VMM)
B3(B)
*STP
Red
Black
Green
M
Motor
1 (FG)
CSTR
13A
2B
A2(VMM)
A3(B)
Lower stage Yellow 2 1B
Green 2
A1(A)
Blue
Black
White
ENC
Gray 1
White 1
Orange 2
Motor
1 (FG)
CSTR
Lower stage Yellow 2 1B
Brown 3
M
ENC
*STP
13A
24V
0V
FG
User equipment
B2(VMM)
Blue 1
Cutoff circuit
for motor
drive power
Input power
supply
B1(A)
Purple 1
Teaching pendant
and PC connection
right applies to PIO pattern “1”
(standard). Please note that the
factory setting is PIO pattern “0”
(conventional).
A3(B)
Red 1
Orange 1
g External Drive-Power Cutoff Relay Type (Model: RCP2-CG)
* The wiring diagram shown to the
A2(VMM)
P24
RCS
Actuators
24V
0V
FG
Information on
Guide Types
24 VDC
S1
S2
MPI
MPO
24V
N
EMG
ERC
Controllers
Input power
supply
Terminal box
How to Install
Actuator
External EMG switch
(PORT switch)
RCP2
Controllers
right applies to PIO pattern “1”
(standard). Please note that the
factory setting is PIO pattern “0”
(conventional).
RCP2
RCS
Controllers
Teaching pendant
and PC connection
* The wiring diagram shown to the
Controller
SIO
1 (SGA)
2 (SGB)
3 (+5V)
4
5 (EMGA)
6 (+24V)
7 (GND)
8 (EMGB)
Actuator
Options
g Internal Drive-Power Cutoff Relay Type (Model: RCP2-C)
ERC
Actuators
5 External Connection Diagrams
5 (GND)
Orange (Black 2)
6 (5V)
Orange (Red 2)
9 (ENB)
Yellow (Black 1)
10 (ENB)
Yellow (Red 1)
11 (ENA)
White (Black 1)
12 (ENA)
White (Red 1)
Blue 2
3B
PM1
13 (BK-)
Light blue (Black 1)
Purple 2
4B
PM2
14 (BK+ )
Light blue (Red 1)
Gray 2
5B
White 2
6B
PM4 GND
PM8
Black 2
7B
ZONE
Brown 3
8B
MOVE
Red 3
9B
PEND
Orange 3
10B
HEND
Yellow 3
11B
Green 3
12B
SRDY
Blue 3
13B
*A LM
PG
Encoder
Holding brake
Brake release
switch
24 V
ROBO Cylinder General Catalog
154
RCP2 Controller
6 I/O Signal Table
This controller provides five PIO patterns to meet the needs of various applications. Simply change the
parameter setting (0 to 4), and you can use any one of the five patterns specified below.
Note: Two or more of the following patterns cannot be used in combination, so exercise caution.
(For example, 64-point positioning cannot be implemented while two zone signals are used.)
Parameter
PIO pattern
(PIO pattern selection)
Features
This pattern is compatible with the pin assignments of the RCP-C controller.
(Factory setting)
0
Conventional
1
Standard
All functions of the conventional pattern, plus home-return command input, servo ON input,
reset input, moving output and ready output.
2
64-point positioning
The input ports for positioning command positions are extended to allow for specification of
up to 64 points.(The servo ON signal and ready output have been removed.)
3
zone output signals
Two zone output signals are set.
(The moving output has been removed.)
4
Teaching
This pattern allows for jogging and teaching (writing of current position coordinates)
using I/Os.The mode can be switched between "Normal" and "Teaching". In the Normal
mode, the same operations available with the standard pattern can be performed.
Parameter (PIO pattern) selection
0
Pin No.
1
2
3
4
Standard
64-point
positioning
2 zone
output signals
Teaching
Category
Wire color
1A
P24
Upper stage Brown 1
P24
2A
N
Red 1
N
3A
Conventional
Normal mode Teaching mode
Orange 1
CSTR
PC1
PC1
PC1
PC1
4A
Yellow 1
PC1
PC2
PC2
PC2
PC2
5A
Green 1
PC2
PC4
PC4
PC4
PC4
6A
Blue 1
PC4
PC8
PC8
PC8
PC8
Purple 1
PC8
7A
8A
Input
9A
Black 1
11A
Brown 2
12A
Red 2
13A
*
–
White 1
10A
–
–
Gray 1
*
STP
PC16
PC32
–
*
STP
CSTR
CSTR
CSTR
HOME
HOME
HOME
–
SON
*STP
SON
–
RES
RES
RES
STP
Orange 2
(Not used)
1B
Lower stage Yellow 2
(Not used)
2B
Green 2
(Not used)
MODE
*
JOG +
STP
CSTR
PWRT
HOME
SON
RES
JOG –
3B
Blue 2
PM1
PM1
PM1
PM1
PM1
4B
Purple 2
PM2
PM2
PM2
PM 2
PM2
5B
Gray 2
PM4
PM4
PM4
PM4
PM4
White 2
PM8
PM8
PM8
PM8
PM8
6B
7B
Output
Black 2
PEND
ZONE
PM16
ZONE1
MODES
8B
Brown 3
HEND
MOVE
PM32
ZONE2
MOVE
9B
Red 3
ZONE
PEND
PEND
PEND
*
HEND
HEND
HEND
10B
Orange 3
11B
Yellow 3
12B
13B
ALM
PEND
WEND
HEND
Internal cutoff relay type: *EMGS / External cutoff relay type: (Not used)
Green 3
–
SRDY
MOVE
SRDY
SRDY
Blue 3
–
*ALM
*ALM
*ALM
*ALM
Note: (1) The signals indicated by * (ALM, STP, EMGS) use the negative logic, so they remain ON in normal conditions of use.
(2) Pin Nos. 13A, 1B and 2B cannot be connected.
(3) The NPN specification and PNP specification use the same pin assignments for connection of the power circuit, so there is no need to reverse the power-circuit pins for the PNP
qqqspecification.
(4) Pin No. 11B is valid only on the internal cutoff relay type. (It is not connected in the external cutoff relay type.)
155
ROBO Cylinder General Catalog
7 Overview of I/O Signal Functions
PIO Pattern Function Table * Indicates that the setting is available, while – indicates that the setting is not available. The figures indicate the numbers of points.
Input signals
3
4
64
–
–
–
–
–
–
–
–
–
Moving
–
1
–
–
1
–
–
2
16
–
–
Explanation of Signal Names
Category
Input
Output
Signal name
Signal abbreviation
Function overview
Start
CSTR
A starting trigger that starts movement at the rise edge
Servo ON
SON
The servo remains ON while this signal is ON.
The servo remains OFF while this signal is OFF.
Alarm reset
RES
The remaining travel amount is reset at the rise edge when an alarm is present or operation is paused.
Home return
HOME
Home return operation starts at the rise edge.
Operation mode
MODE
ON: Teaching mode, OFF: Normal mode
Current position write
PWRT
When this signal has been ON for 20msec, the current position will be written to the
position number selected by PC1 through PC8.
+ Jog
JOG +
The slider moves in the positive direction while this signal is ON.
– Jog
JOG –
The slider moves in the negative direction while this signal is ON.
*Pause
*STP
The motor decelerates to a stop at the ON→OFF fall edge.
Command position number
PC1
PC2
PC4
PC8
PC16
PC32
The target position number is input (binary input).
Ready
SRDY
This signal is always output once the servo is turned ON and the system is ready to
operate. The signal is synchronized with the ON/OFF status of the "RUN" LED on the
front panel of the enclosure.It is used by the PLC to determine when it can start operation.
Moving
MOVE
This signal turns ON while the slider is moving, and turns OFF while it is stopped.
It is used during push & hold operation to determine whether the load is contacted.
Position complete
PEND
This signal turns ON when positioning is completed with the target position reached and the slider
enters the specified in-position range.It is used to determine whether positioning has been completed.
Home return completion
HEND
This signal turns ON when home return has been completed.
Zone
ZONE1
ZONE2
This signal is output when the current actuator position is inside the range set by the applicable
parameter.It can be used as a limit switch at an intermediate point or as a simple ruler.
*ALM
This signal remains ON in normal condition and turns OFF when an alarm generates. It is
synchronized with the OFF/ON status of the corresponding LED on the front panel of the enclosure.
*Alarm
RCP2
Actuators
–
Zone
Completed position number
PM1
PM2
PM4
PM8
PM16
PM32
Current operation mode
MODES
ON: Teaching mode, OFF: Normal mode
* Emergency stop
* EMGS
This signal is enabled on a controller equipped with a simple emergency-stop relay.
OFF: Emergency stop is actuated
Write completion
WEND
This signal is output upon the completion of writing to the nonvolatile memory in
response to a position-information write command.
RCS
Actuators
zone output signals
Teaching
16
2
–
16
Ready
Information on
Guide Types
16
Jog
Actuator
Options
Conventional
Standard
64-point positioning
1
Output signals
Current
position Reset
write
How to Install
Actuator
0
Number of Servo Home
Pause
return
positioning
ON
command
points
ERC
Controllers
PIO pattern
RCP2
Controllers
(PIO pattern
selection)
RCS
Controllers
Parameter
ERC
Actuators
RCP2 Controller
The relevant position number is output once positioning is complete.
The signal will turn OFF once the next movement starts.
It is used by the PLC to check if the commanded position has definitively been
reached.
ROBO Cylinder General Catalog
156
RCP2 Controller
Item
9 External Dimensions
Unit: mm
Controller
<No battery bracket>
Description
35.0
Compatible actuators
RPC2-SA5 / SA6 / SA7 / SS / SM / SSR / SMR
RXA / RSA / RMA / GRS / GRM / RTB / RTC
Input power
DC24V ±10 %
Power capacity
2 A max.
Number of controlled axes
1 axis
Control method
Weak field-magnet vector control (patent pending)
Positioning command
Position number specification
Position number
Standard 16 points, maximum 64 points
Backup memory
Position number data and parameters are saved in the nonvolatile memory.
The serial E2PROM can be rewritten 100,000 times.
PIO
PIO RCP2-C (CG) : 10 dedicated inputs
(10 points) / 10 dedicated outputs (11 points), selectable from five patterns
LED indicators
RDY (green), RUN (green), ALM (red)
I/F power
External power supply: 24 V ± 10%, 0.3 A, insulated
Communication
RS485 1 channel (terminated externally)
53.0
178.5
170.5
*The battery is not affixed
to the controller, but
supplied separately in the
same package as the
controller.
68.1
ø5
Controller series / type RPC2-C / CG
(30)
8 Specification Table
17.5
5.0
Encoder interface
Incremental specification conforming to EIA RS-422A/423A
Absolute battery
backup time
Approx. 250 hours
Forced release of electr
omagnetic brake
Toggle switch on front panel of enclosure
62.0
35.0
2.0
69.7
(30)
4.8
Controller
<With battery bracket>
67.0
Absolute-data backup battery
(supplied only with a controller
of the absolute specification)
Motor/encoder cables: 20 m or less
Cable length
PIO cable: 5 m or less
Insulation strength
DC500V 10MΩ
Vibration resistance
10 ~ 57 Hz in XYZ directions / Pulsating amplitude: 0.035 mm (continuous),
0.075 mm (intermittent)
85%RH or less (non-condensing)
Operating environment
Not subject to corrosive gases.
Protection class
IP20
Weight
300g
Accessory
PIO flat cable (2 m)
3.2
Operating humidity
178.5
170.5
Operating temperature 0 ~ 40 deg
10 Names and Functions of Parts
1 LED indicators
RDY
Indicates that the CPU is operating normally
RUN
Indicates a normal operating condition
(the motor and encoder wiring has been
checked and the servo is ON
AL M
Indicates that an alarm is present or
an emergency stop has been actuated
1
RDY RUN ALM
PIO
7
2 Port switch (PORT)
AD/RS
2
PORT
ON
3
5
ON
SIO
BK
RIS
A signal-output selector switch for the SIO connector 3
9
NOM
MOT
OFF
S1
S2
6
MPI
MPO
Power for the teaching pendant and IAI
RS485 conversion adapter is output from
the SIO connector 3 . This switch is
connected to the EMG line (S1, S2) of 6 of
the teaching pendant.
Communication with the teaching pendant or
PC is disabled. However, since the SIO
signal line is active, the controllers can still
communicate with each other.
24 V
6 Terminal block
S1 • S2 An emergency-stop switch contact. When the
PORT switch 2 is turned ON, the emergency-stop
switch on the teaching pendant will be connected.
When the PORT switch is turned OFF, S1 and S2
will be shorted.
MPI
MPO
These terminals are used to cut off the motor's
drive power directly and externally using a
safety relay, etc. (Refer to page 22.)
24V
Positive side of the 24-VDC power supply
N
Negative side of the 24-VDC power supply
F.G
Note: Be sure to turn this switch OFF each time the SIO
connector has been plugged in or unplugged.
3 Teaching pendant/PC
connector (SIO)
A connector for the teaching pendant or
dedicated communication cable
4 Brake release switch (BK)
This switch is enabled only when the
actuator is used with a brake option.
RLS
NOM
ROBO Cylinder General Catalog
EMG
F.G
Emergency-stop input (RCP2-C)
Ground terminal (RCP2-CG)
7 PIO connector (PIO)
A PIO connector.
N
157
5 Motor cable connector (MOT)
A motor cable connector for the actuator
OFF
ENC
4
8
5.0
Brake is forcibly released
Brake is in use (normal setting)
8 Address switch (ADRS)
This switch is used to set the address for the controller axis. If
two or more controllers are connected via communication
cables, prevent duplicate controller addresses.
Setting range 0 ~ F
9 Encoder/brake connector (ENC)
This connector is used to connect the actuator's
encoder/brake cables.
RCP2 Controller
g Internal Drive-Power Cutoff Relay Type (Model: RCP2-C)
The internal drive-power cutoff relay type will stop the actuator operation and cut off the motor's drive
power of the actuator using the internal relay when the EMG (emergency stop) input signal is turned OFF
at the controller's terminal block. Representative connection examples are given below.
Refer to the operating manual for details.
n
EMG button
Connect the MPI and MPO terminals using a jumper cable (factory
setting).
Input power
S1
S2
MPI
MPO
24V
N
EMG
DC24V
Connect one end of the EMG button to the 24-V input power, and
connect the other end to the S1 terminal. Also connect the S2 and
EMG terminals using a jumper cable.
RCS
Actuators
n
(2) When two to eight controllers are used with a single power supply
Connect one end of the EMG button to the 24-v input power, and
connect the other end to the S1 terminal. Then, provide crossover
connections by sequentially connecting the S2 terminal of controller
EMG button
Input power
[Controller 1]
S1
S2
MPI
MPO
24V
N
EMG
1 to the S1 terminal of controller 2, the S2 terminal of controller 2
to the S1 terminal of controller 3, the S2 terminal of controller 3 to
the S1 terminal of controller 4, and so on, and connect the S2
terminal of the last controller to the EMG terminals of all
controllers. Use a relay terminal block for connection to the EMG
terminals. (Note) Do not insert more than one wire into a single terminal.
[Controller 2]
S1
S2
MPI
MPO
24V
N
EMG
[Controller 3]
S1
S2
MPI
MPO
24V
N
EMG
[Controller 4]
S1
S2
MPI
MPO
24V
N
EMG
How to Install
Actuator
n
Connect the MPI and MPO terminals using a jumper cable (factory
setting).
ERC
Controllers
n
(3) When nine or more controllers are used
Please contact IAI.
RCP2
Controllers
g External Drive-Power Cutoff Relay Type (Model: RCP2-CG)
The external drive-power cutoff relay type is designed to cut off the motor's drive power using an external safety relay, etc., and therefore no
internal emergency-stop circuit is provided. Accordingly, the user must design a circuit such as the one shown below, using a safety relay
unit, a contactor, etc.
DC24V
24V
0V
Connects to the 24-V terminal and EMG terminal
Connects to the N terminal
[Controller 1]
[Controller 2]
[Controller 3]
S1
S1
S1
S2
S2
S2
MPI
MPI
MPI
MPO
MPO
MPO
24V
24V
24V
N
N
N
FG
FG
FG
RCS
Controllers
Input power
Information on
Guide Types
(1) When only one controller is used
Actuator
Options
* The emergency stop will not be cancelled without the following wiring, so exercise caution.
RCP2
Actuators
ERC
Actuators
Emergency-Stop Circuit
Contactor
S33 S34 S11 S12
13
23
33
43
51
Safety relay unit
* The above diagram shows only the safety-relay output circuit.
Phoenix Contact PSR-SCP-24UC-/ESA2/4X1/1X2/B
A1
A2
14
24
34
44
52
Determine the appropriate emergency-stop input circuit in accordance
with your equipment.
ROBO Cylinder General Catalog
158
RCP2 Controller
12 Connection of Multiple Controllers via Serial Communication
The following explains how to connect multiple controllers using a PC or PLC communication module as the host:
Basic Specifications
Item
Specification
Maximum number of units that
can be connected
16 units
Maximum cable length
100 m or less
220Ω
Terminal resistor
* Provide a communication path via bus connection and be sure to provide a terminal resistor at the end.
Connection Example
Teaching pendant
PC, etc.
* Use a commercial cross cable
for connection with the PC.
SIO converter (optional)
(built-in terminal resistor)
Model: RCB-TU-SIO-A (B)
* An e-CON connector, a junction and a terminal
register are supplied with a controller link cable.
E-Con connector (AMP 3-1473562-4)
Junction: (AMP 5-1473574-4)
FG
0V
24V
Terminal resistor
R=220Ω
Input power
0.2m
RDY RUN ALM
AD/RS
AD/RS
ENC
RIS
AD/RS
NOM
MOT
S1
PORT
OFF
ON
SIO
BK
PIO
PORT
OFF
OFF
ON
SIO
Controller link cable
Model: CB-RCB-CTL002
SIO
ENC
BK
RIS
0.2m
RDY RUN ALM
PIO
PORT
ON
Controller power
0.2m
RDY RUN ALM
PIO
* The user must provide the wiring
ENC
BK
NOM
MOT
RIS
NOM
between junctions.
MOT
S1
S1
S2
S2
S2
MPI
MPI
MPI
MPO
MPO
MPO
24V
24V
24V
N
N
N
F.G
F.G
F.G
RCP-C/CG
Controller 1
Controller 2
External Dimensions of SIO Converter
Vertical mounting specification
using DIN rail
Model: RCB-TU-SIO-A
Controller n
Controller Link Cable
Horizontal mounting specification
using DIN rail
Model: RCB-TU-SIO-B
(an e-CON connector, junction and terminal
register are supplied)
Model: CB-RCB-CTL002
(44)
45
* DIN rails are not supplied.
159
ROBO Cylinder General Catalog
e-CON connector
102
(44)
102
45
0.2m
Color
Yellow
Orange
Blue
Signal No.
SGA
1
SGB
2
GND
3
4
No. Signal Color
1
SGA Yellow
2
SGB Orange
3
+ 5V
4
5 EMGA
6 + 24V
Blue
7
GND
8 EMGB
RCP2 Controller
13 Spare Parts
ERC
Actuators
The following cables are supplied with the actuator and controller.
When ordering new cables for replacement, etc., please specify the required types by referring to the information below:
Motor Cable (For RCP2-C)
(20)
C
N
1
CN3
(Front view)
(Front view)
L
Machine end
CN1
Red
1
A
2 VMM Black
Blue
3
A
SLP-06V
Green (Yellow 3) (J.S.T. Mfg.)
4
B
5 VMM Black
White
6
B
RCS
Actuators
Controller end
M cable
CN3
Blue
A
A1
Black VMM A2
B
A3
I-1318119-3 White
(AMP)
Red
A
B1
Black VMM B2
Green (Yellow 3)
B
B3
(14)
Encoder Cable (RCP2-C)
CB-RCP2-PA
L
Controller end
Machine end
Pin Signal
No.
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
Shielded wire
Drain wire
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
Cable
Color
CN2
Information on
Guide Types
PHDR-16VS
(25)
(Front view)
(Front view)
(J.S.T. Mfg.)
(ø9)
(18)
C
N
2
CN4
(BAT2)
–
(BAT1)
–
Light blue (Red 1) BK+
Light blue (Black 1) BKWhite (Red 1) ENA
White (Black 1) ENA
Yellow (Red 1) ENB
Yellow (Black 1) ENB
SD
–
SD
–
Orange (Red 2) 5V
Orange (Black 2) GND
(NC)
–
(NC)
–
(NC)
–
Drain F.G
ENA White (Red 1)
ENA White (Black 1)
ENB Yellow (Red 1)
ENB Yellow (Black 1)
–
–
–
–
GND
5V
–
–
–
–
–
BK+
BKF.G
–
–
–
–
Orange (Black2)
Orange (Red 2)
–
–
–
–
–
Light blue (Red 1)
Light blue (Black 1)
Drain
Actuator
Options
(13) (15)
(35)
(8)
XMP-18V
Cable
Pin
Color Signal No.
CN4
(5)
(J.S.T. Mfg.)
Model
-RB
L
Machine end
(J.S.T. Mfg.)
(Front view)
(Front view)
Controller end
PHDR-16VS
(25)
(ø9)
(18)
C
N
2
CN4
(BAT2)
–
(BAT1)
–
Light blue (Red 1) BK+
Light blue (Black 1) BKWhite (Red 1) ENA
White (Black 1) ENA
Yellow (Red 1) ENB
Yellow (Black 1) ENB
SD
–
SD
–
Orange (Red 2) 5V
Orange (Black 2) GND
(NC)
–
(NC)
–
(NC)
–
Drain F.G
Pin Signal
No.
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
Shielded wire
Drain wire
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
Cable
Color
CN2
ENA White (Red 1)
ENA White (Black 1)
ENB Yellow (Red 1)
ENB Yellow (Black 1)
–
–
–
–
GND
5V
–
–
–
–
–
BK+
BKF.G
–
–
–
–
Orange (Black2)
Orange (Red 2)
–
–
–
–
–
Light blue (Red 1)
Light blue (Black 1)
Drain
ERC
Controllers
(13) (15)
(35)
(8)
RCP2
Controllers
Cable
Pin
Color Signal No.
CN4
(5)
XMP-18V
CB-RCP2-PA
(J.S.T. Mfg.)
Model
How to Install
Actuator
Encoder Robot Cable (RCP2-C)
I/O Flat Cable (Common to RCP / RCP2-C / RCP2-CG)
Model
CB-RCA-PIO020
2m
No connector
B
A
No connector
13
26
1
14
No.
1
2
3
4
5
6
7
8
9
10
11
12
13
Signal name
+24V
N(24G)
Start
Command position 1
Command position 2
Command position 4
Command position 8
NC
NC
* Pause
NC
NC
NC
Color
Wiring
Brown-1
Red-1
Orange-1
Yellow-1
Green-1
Blue-1
Purple-1 Flat cable A
Gray-1
White-1
Black-1
Brown-2
Red-2
Orange-2
No.
14
15
16
17
18
19
20
21
22
23
24
25
26
Signal name
NC
NC
Completed position 1
Completed position 2
Completed position 4
Completed position 8
Positioning completion
Origin return completion
Zone
* Alarm
* Emergency stop
NC
NC
Color
Wiring
Yellow-2
Green-2
Blue-2
Purple-2
Gray-2
White-2
Black-2 Flat cable B
Brown-3
Red-3
Orange-3
Yellow-3
Green-3
Blue-3
RCS
Controllers
(15)
(14)
(28)
(20)
(ø8)
(8)
RCP2
Actuators
CB-RCP2-MA
Model
Absolute-Data Backup Battery
Model
AB-4
Specifications
Applicable controller RCP2-C/CG
Item
Battery type
Charge time
Description
Nickel hydrogen battery
Approx. 48 hours (at ambient temperature of 20ºC)
Battery time
Approx. 250 hours (at ambient temperature of
20ºC, when the battery is fully charged)
4.8V
Approx. 4 years
Nominal voltage
Average life
ROBO Cylinder General Catalog
160
RCP2 Controller
Differences between RCP-C and RCP2-C/CG
1 Changes to General Specifications
Item
Power-supply voltage
Current
Operating temperature
Operating humidity
Operating environment
Storage environment
Environment
Storage humidity
Vibration resistance
Protection class
Weight
Number of positions
Storage device
RCP2-C/CG
DC24V+10% / -15%
2A or less
0~40ºC
85%RH or below (non-condensing)
Free from corrosive gases.
-10~65%
90%RH or below (non-condensing)
10~57Hz in XYZ directions
Single amplitude 0.035mm (continuous)
0.075mm (intermittent)
IP 20
300g or less
Up to 64
EEPROM
RCP-C
DC24V±10%
2.5A or less
0~40ºC
85%RH or below
Free from corrosive gases
(IP20 or equivalent)
360g
16
EEPROM
2 Changes to Power Terminal Assignments and Emergency-Stop Input Specification
RCP-C
Symbol
FG
N
24V
EMG
EMG
RCP2-C
Explanation
A ground connection terminal
The ground side of the 24V power supply
A 24VDC power supply
Both terminals are used to connect an emergency-stop switch.
(The controller is shipped with the EMG terminals shorted.)
Symbol
S1
S2
MPI
MPO
24V
N
FG
*
*
*
*
Explanation
Emergency-stop switch contacts: The emergency-stop switch on the
teaching pendant is connected when the port switch is set to the ON
side. S1 and S2 are shorted when the port switch is set the OFF side.
A motor drive-power cutoff terminal
The positive side of the 24V power supply
The negative side of the 24V power supply
Ground connection
RCP2-C
This controller has a built-in relay to cut off the motor drive power.
Do not open the MPI and MPO terminals that are shorted.
The emergency-stop signal is input to the EMG terminal.
RCP2-CG
The MPI/MIO terminals are provided to allow ON/OFF of the motor
drive power externally when a safety circuit is constructed by the user.
S1, S2
S1 and S2 are contact outputs for the emergency-stop pushbutton
switch provided on the teaching pendant.
(Incorporate S1 and S2 in your safety circuit.)
If the controller has a built-in relay, FG becomes EMG,
meaning that it serves as an emergency-stop signal input terminal.
3 Changes to PIO Interface
RCP-C
Pin No. Category
Signal
1
P24
+24V
Connect this signal to the 24V power supply.
0V
2
N
Connect this signal to the 0V power supply.
3
Start
This signal is used to input a movement start command.
Command position 1
4
5
Command position 2 These signals are used input the position
6
Command position 4 number to be selected.
7
Command position 8
8
Input
Not used
Do not connect this signal.
9
*Pause
10
This signal is used to temporarily stop the moving actuator.
11
12
13
Do not connect this signal.
Not used
14
15
16
Completed position 1 These signals are used to output the position
17
Completed position 2 number upon completion of positioning.
18
Completed position 4 When an alarm occurs, these signals output
19
Completed position 8 the corresponding alarm number.
20
Positioning completion This signal is output when positioning is completed.
Output
21
Home return completion This signal is output when home return is completed.
22
Zone
This signal is output when the actuator enters the range set by the parameter.
23
This signal is output when the controller is abnormal.
*Alarm
24
*Emergency stop This signal is output when an emergency stop is actuated
25
Do not connect this signal.
Not used
26
Same setting as the conventional RCP
RCP2-C
Color
Brown-1
Red-1
Orange-1
Yellow-1
Green-1
Blue-1
Purple-1
Gray-1
White-1
Black-1
Brown-2
Red-2
Orange-2
Yellow-2
Green-2
Blue-2
Purple-2
Gray-2
White-2
Black-2
Brown-3
Red-3
Orange-3
Yellow-3
Green-3
Blue-3
Pin No.
Pin No. Category Signal
1A
P24
24V
2A
N
0V
3A
IN00
4A
IN01
5A
IN02
6A
IN03
7A
IN04
Input
8A
IN05
9A
IN06
10A
IN07
11A
IN08
12A
IN09
13A
1B
2B
3B
OUT00
4B
OUT01
5B
OUT02
6B
OUT03
Output
7B
OUT04
8B
OUT05
9B
OUT06
10B
OUT07
11B
*EMGS
12B
OUT08
Output
13B
OUT09
0
CSTR
PC1
PC2
PC4
PC8
–
–
*STP
–
–
(Factory setting)
Parameter (The function varies depending on the IOPN)
1
2
3
4
5
PC1
PC1
PC1
PC1
PC2
PC2
PC2
PC2
PC4
PC4
PC4
PC4
PC8
PC8
PC8
PC8
–
PC16
–
MODE
*STP
PC32
*STP *STP/JOG
CSTR
CSTR
CSTR CSTR/PWRT
HOME HOME HOME
HOME
SON
*STP
SON
SON
RES
RES
RES
RES/JOG(Reserved)
(Reserved)
(Reserved)
PM1
PM1
PM1
PM1
PM1
PM2
PM2
PM2
PM2
PM2
PM4
PM4
PM4
PM4
PM4
PM8
PM8
PM8
PM8
PM8
PEND ZONE
PM16 ZONE1 MODES
HEND MOVE
PM32 ZONE2 MOVE
ZONE
PEND
PEND
PEND PEND/WEND
HEND HEND HEND
HEND
*ALM
(Reserved: Emergency-stop status)
–
SRDY
RUN
SRDY
SRDY
–
*ALM
*ALM
*ALM
*ALM
ST0
ST1
ST2
ST3
–
*STP
–
–
–
RES
PE0
PE1
PE2
PE3
ZONE1
–
PEND
HEND
–
*ALM
* The RCP2 controller can be used with one of five PIO interface patterns selected by setting the applicable parameter
161
accordingly.
The PIO interface corresponding to the parameter setting “0” is exactly the same as the PIO interface of the RCP controller.
Since the connector shape is also the same, you can swap your current RCP controller with a RCP2 controller without
changing any settings, if PIO pattern “0” will be selected for the RCP2 controller. (There is no need to reassign PIOs.)
ROBO Cylinder General Catalog
4 Changes to Controller Dimensions/Installation Dimensions
RCP-C
ø5
RCP2
Actuators
5 Other Changes
1. Emergency-stop specification
• All RCP controllers are equipped with a built-in
emergency stop relay.
• The RCP2 series includes controllers equipped
with a built-in emergency-stop relay, just like the
conventional RCP series, and those not equipped
with a built-in emergency-stop relay (global
specification). RCP2 controllers without a built-in
relay are designed to operate with a safety circuit
(safety category 2) provided externally to the
controller. The user must provide this safety
circuit to cut off the motor drive power.
3. Controller link specification
• The method to link controllers is different between
the RCP and RCP2 series. Refer to the operating
manual for details.
2. CE mark
• The RCP series includes CE-certified controllers
for use in EU countries.
• Among the RCP2 series, the global specification
type (RCP2-CG) is scheduled to receive a CE
certification.
5. User parameters
• The user parameters have been changed for the
RCP2 series. Refer to the operating manual for
details.
RCS
Controllers
4. Compatibility of PC software and teaching pendants
• With the necessary version upgrade, the PC
software for RCP can be used with RCP2
controllers.
• The teaching pendants for RCP are also
compatible with the RCP2 series after the
necessary upgrade.
How to Install
Actuator
35
ERC
Controllers
5
RCP2
Controllers
5
Actuator
Options
Information on
Guide Types
RCS
Actuators
163
178.5
158
152.8
68.1
0.5
10
101
100.5
170.5 (Installation dimension)
46.3
36.6
10
158
155
148 (Installation dimension)
ø5
RCP2-C
ERC
Actuators
RCP2 Controller
ROBO Cylinder General Catalog
162
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