extractpsel newrobocylinder2ndgen

extractpsel newrobocylinder2ndgen
Program controller
for RCP2 series
Type List
Program controller capable of operating RCP2 series actuator. Various control functions are combined into a single
unit.
C
Type
Controller Integrated Type
Controller
Splash
Proof Type
Cleanroom
Type
Gripper /
Rotary Type
Arm / Flat
Type
Rod
Type
Slider
Type
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PSEL
Controller
Name
Program mode
Positioner mode
Both actuator operation and communication with external
equipment can be handled by a single controller.
When two axes are connected, arc interpolation and path
operation can be performed.
Up to 1,500 positioning points are supported. Push-motion
operation and teaching operation are also possible.
ERC2
PS-24
Gateway
unit
Controller
Models
External
view
Description
Number of position points
1500 points
Model
PSEL
PCON
Series
C
I
* With a 1-axis specification, the section denoted by (Axis 2) need not be specified.
(
I
)
Number of
(Axis 1)
(Axis 2)
Type connected
axes
Motor type Encoder type Options Motor type Encoder type Options
I/O type I/O cable length
Standard type
0
1
1-axis specification
2
2-axis specification
SSEL
ASEL
PSEL
SCON
ACON
C
XSEL
0
Power-supply
voltage
I
Incremental
PSEL
Incremental
0
No cable
2
2m
20P 20 square pulse motor type
20P 20 square pulse motor type
3
3m
28P 28 square pulse motor type
28P 28 square pulse motor type
5
5m
42P 42 square pulse motor type
42P 42 square pulse motor type
56P 56 square pulse motor type
56P 56 square pulse motor type
B
335
I
Brake
B
DC24V
NP
PIO NPN specification
PN
PIO PNP specification
(standard)
Brake
PSEL
Controller
System Configuration
Controller Integrated Type
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Slider
Type
PLC
0.2m
Conversion cable
(Refer to p. 344)
Model: CB-SEL-SJ002
(optional)
1m
PC software (Refer to p. 343)
Model: IA-101-X-MW (Comes with a RS232C cable)
IA-101-X-USB (Comes with a USB cable)
3m
System-memory backup battery (Refer to p. 344)
Model: AB-5-CS (with case)
AB-5 (battery only)
(optional) *1
Controller
USB cable (Refer to p. 344)
Model: CB-SEL-USB010
(Supplied with the PC software
IA-101-X-USB)
Splash
Proof Type
5m
Cleanroom
Type
RS232C cable
Model: CB-STE1MW050-EB
(Supplied with
the PC software
IA-101-X-MW)
2m
Gripper /
Rotary Type
4m
Panel unit
(Refer to p. 344)
Model: PU-1
(optional)
Arm / Flat
Type
I/O flat cable
Model: CB-DS-PIO020
(Supplied with the controller)
Refer to p. 344 for details on
a replacement cable.
Rod
Type
Teaching pendant (Refer to p. 343)
Model: IA-T-X / XD / XA
(optional)
*1 The system-memory backup battery is
an option required if you wish to retain
flags and other data used in the
programs even after the power is
turned off.
Controller
Models
Gateway
unit
PS-24
24-VDC power supply
(Refer to p. 293)
<Model: PS-241 (100-V input)>
<Model: PS-242 (200-V input)>
(optional)
ERC2
PCON
Motor cable
<Model CB-RCP2-MAccc>
Standard 1m / 3m / 5m
Refer to p. 314 for a
replacement cable.
ACON
Actuator RCP2 series
SCON
Encoder cable
<Model CB-RCP2-PAccc>
Standard 1m / 3m / 5m
Refer to p. 314 for a replacement cable.
PSEL
ASEL
SSEL
336
XSEL
PSEL
Controller Integrated Type
Slider
Type
Rod
Type
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PSEL
Controller
I/O Specifications
n Input Part External input specifications
Item
Input voltage
Input current
Specification
24VDC ± 10%
7mA/circuit
ON voltage (Min) NPN : DC16V / PNP : DC8V
OFF voltage (Max) NPN : DC5V / PNP : DC19V
Photocoupler
Insulation method
NPN specification
Item
Load voltage
Maximum load current
Residual voltage
Insulation method
Specification
DC24V
100mA/point 400mA/8 points
Max 0.1mA/point
Photocoupler
NPN specification
P24
P24V
Internal circuit
External
power
supply
+24V
Internal
circuit
R=560Ω
Input terminal
Each input
Each output
R=3.3kΩ
Load
External
power
supply
+24V
N
Controller
Splash
Proof Type
Cleanroom
Type
Gripper /
Rotary Type
Arm / Flat
Type
ON/OFF voltage
n Output Part External output specifications
NPN specification
NPN specification
N
R=560Ω
Internal
circuit
P24
Load
Input terminal
Each input
Each output
R=3.3kΩ
PS-24
ERC2
The PSEL controller lets you select either the “program mode” in which the actuator is operated by programs input to
the controller, or the “positioner mode” in which the actuator moves to the positions specified by PLC signals received
from the host.
The positioner mode provides the following five input patterns each supporting different applications.
n Controller Functions by Type
Operation mode
Features
Program mode
Various operations including linear/arc interpolation operation, path operation ideal for coating processes, etc.,
arch-motion operation and palletizing operation can be performed using the Super SEL language that lets you
program complex control actions using simple commands.
SCON
ACON
PCON
Explanation of I/O Functions
Standard mode
PSEL
ASEL
A basic operation mode in which a position number is specified and then a start signal is input to start operation.
Push-motion operation and 2-axis linear interpolation operation are also supported.
Product-type
Multiple works of the same shape with slightly different hole positions can be handled using movement
switchover mode commands to the same position numbers by simply changing the product type number.
Positioner mode
2-axis
With a 2-axis controller, each axis can be commanded and operated separately.
independent mode
SSEL
Teaching mode
XSEL
External
power
supply
+24V
N
Gateway
unit
Controller
Models
Internal circuit
External
power
supply
+24V
The slider (rod) can be moved via an external signal to store the achieved position as position data.
DS-S-C1
If you were using a DS-S-C1 controller before, you can replace it with a PSEL controller without having to
compatible mode change the host programs. * This mode does not ensure actuator compatibility.
337
PSEL
PSEL
Controller
Explanation of I/O Functions
Slider
Type
Program Mode
24-V input
P24
This signal is used to reset the system to create the same condition after power reconnection.
This signal is used to start the program selected by port Nos. 016 to 022.
These signals are used with a program command to wait for external input.
Controller
This signal is output upon an alarm. (Contact B)
This signal is output once the controller has started properly and entered a ready state.
These signals can be turned ON/OFF freely using program commands.
Connect 0V.
24
OV
24
Gateway
unit
OV
Positioner, Standard Mode
Pin
Category
number
Positioner,
Standard Mode
Function
016
017
018
019
020
021
022
023
000
001
002
003
004
005
006
007
008
009
010
011
012
013
014
015
300
301
302
303
304
305
306
307
24-V input
Position input 10
Position input 11
Position input 12
Position input 13
—
—
—
Error reset
Start
Home return
Servo ON
Push
Pause
Cancellation
Interpolation setting
Position input 1
Position input 2
Position input 3
Position input 4
Position input 5
Position input 6
Position input 7
Position input 8
Position input 9
Alarm
Ready
Position complete
Home return complete
Servo ON output
Push motion complete
System-memory backup battery error
Absolute-data backup battery error
0-V input
Connect 24V.
Port Nos. 007 to 019 are used to specify a target position number.
Numbers can be specified either as BCD or binary codes.
P24
SCON
Port Nos. 007 to 019 are used to specify a target position number.
Numbers can be specified either as BCD or binary codes.
PSEL
This signal is output upon an alarm. (Contact B)
This signal is output once the controller has started properly and entered a ready state.
This signal is output upon completion of movement to the specified position.
This signal is output upon completion of home return.
This signal is output while the servo is on.
This signal is output upon completion of push-motion operation.
This signal is output when the system-memory backup battery voltage has dropped (to the warning level).
This signal is output when the absolute-data backup battery voltage has dropped (to the warning level).
Connect 0V.
ASEL
SSEL
N
ACON
Output
—
—
—
This signal is used to reset minor errors. (The power must be reconnected to reset serious errors.)
This signal is used to cause the actuator to start moving to the selected position.
This signal is used to perform home return.
This signal is used to switch the servo on/off.
This signal is used to perform push-motion operation.
When this signal is turned OFF while the actuator is moving, the actuator wil pause. When the signal is turned ON, the actuator wil resume and complete the remaining operation.
When this signal is turned OFF while the actuator is moving, the actuator will stop and the remaining operation will be cancelled.
With a 2-axis specification, turning ON this signal causes the actuator to move via linear interpolation.
PCON
Input
Wiring diagram
ERC2
Port
number
PS-24
1A
1B
2A
2B
3A
3B
4A
4B
5A
5B
6A
6B
7A
7B
8A
8B
9A
9B
10A
10B
11A
11B
12A
12B
13A
13B
14A
14B
15A
15B
16A
16B
17A
17B
Controller
Models
CPU reset
Start
General-purpose input
General-purpose input
General-purpose input
General-purpose input
General-purpose input
General-purpose input
General-purpose input
General-purpose input
General-purpose input
General-purpose input
General-purpose input
General-purpose input
General-purpose input
General-purpose input
General-purpose input
Alarm
Ready
General-purpose output
General-purpose output
General-purpose output
General-purpose output
General-purpose output
General-purpose output
0-V input
Splash
Proof Type
N
Connect 24V.
Program No. 1 selection
Program No. 2 selection
Program No. 4 selection
These signals are used to select the program to be started.
Program No. 8 selection
(BCD input using ports 016 to 022)
Program No. 10 selection
Program No. 20 selection
Program No. 40 selection
Cleanroom
Type
Output
Wiring diagram
Gripper /
Rotary Type
Input
016
017
018
019
020
021
022
023
000
001
002
003
004
005
006
007
008
009
010
011
012
013
014
015
300
301
302
303
304
305
306
307
Function
Program Mode
Arm / Flat
Type
1A
1B
2A
2B
3A
3B
4A
4B
5A
5B
6A
6B
7A
7B
8A
8B
9A
9B
10A
10B
11A
11B
12A
12B
13A
13B
14A
14B
15A
15B
16A
16B
17A
17B
Port
number
Rod
Type
Pin
Category
number
Controller Integrated Type
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338
XSEL
PSEL
Controller Integrated Type
Slider
Type
Rod
Type
Arm / Flat
Type
Gripper /
Rotary Type
Cleanroom
Type
Splash
Proof Type
Controller
Controller
Models
Gateway
unit
PS-24
ERC2
PCON
ACON
SCON
PSEL
ASEL
SSEL
XSEL
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PSEL
Controller
Explanation of I/O Functions
Positioner, Product-Type Switchover Mode
Pin
Category
number
1A
1B
2A
2B
3A
3B
4A
4B
5A
5B
6A
6B
7A
7B
8A
8B
9A
9B
10A
10B
11A
11B
12A
12B
13A
13B
14A
14B
15A
15B
16A
16B
17A
17B
Port
number
P24
Input
Output
Positioner,
Product-Type
Switchover Mode
24-V input
016
017
018
019
020
021
022
023
000
001
002
003
004
005
006
007
008
009
010
011
012
013
014
015
300
301
302
303
304
305
306
307
N
Position/product type input 10
Position/product type input 12
Position/product type input 12
Position/product type input 13
Position/product type input 14
Position/product type input 15
Position/product type input 16
Error reset
Start
Home return
Servo ON
Push
Pause
Cancellation
Interpolation setting
Position/product type input 1
Position/product type input 2
Position/product type input 3
Position/product type input 4
Position/product type input 5
Position/product type input 6
Position/product type input 7
Position/product type input 8
Position/product type input 9
Alarm
Ready
Position complete
Home return complete
Servo ON output
Push motion complete
System-memory backup battery error
Absolute-data backup battery error
0-V input
Function
Wiring diagram
Connect 24V.
Port Nos. 007 to 022 are used to specify a target position number
and a product type number.
Position numbers and product type numbers are assigned by
parameter settings.
Numbers can be specified either as BCD or binary codes.
This signal is used to reset minor errors. (The power must be reconnected to reset serious errors.)
This signal is used to cause the actuator to start moving to the selected position.
This signal is used to perform home return.
This signal is used to switch the servo on/off.
This signal is used to perform push-motion operation.
When this signal is turned OFF while the actuator is moving, the actuator wil pause. When the signal is turned ON, the actuator wil resume and complete the remaining operation.
When this signal is turned OFF while the actuator is moving, the actuator will stop and the remaining operation will be cancelled.
With a 2-axis specification, turning ON this signal causes the actuator to move via linear interpolation.
Port Nos. 007 to 022 are used to specify a target position number
and a product type number.
Position numbers and product type numbers are assigned by
parameter settings.
Numbers can be specified either as BCD or binary codes.
This signal is output upon an alarm. (Contact B)
This signal is output once the controller has started properly and entered a ready state.
This signal is output upon completion of movement to the specified position.
This signal is output upon completion of home return.
This signal is output while the servo is on.
This signal is output upon completion of push-motion operation.
This signal is output when the system-memory backup battery voltage has dropped (to the warning level).
This signal is output when the absolute-data backup battery voltage has dropped (to the warning level).
Connect 0V.
OV
24
OV
24
Positioner, 2-axis Independent Mode
Pin
Category
number
1A
1B
2A
2B
3A
3B
4A
4B
5A
5B
6A
6B
7A
7B
8A
8B
9A
9B
10A
10B
11A
11B
12A
12B
13A
13B
14A
14B
15A
15B
16A
16B
17A
17B
339
Port
number
Positioner,
Product-Type
Switchover Mode
016
017
018
019
020
021
022
023
000
001
002
003
004
005
006
007
008
009
010
011
012
013
014
015
300
301
302
303
304
305
306
307
24-V input
Position input 7
Position input 8
Position input 9
Position input 10
Position input 11
Position input 12
Position input 13
Error reset
Start 1
Home return 1
Servo ON 1
Pause 1
Cancellation 1
Start 2
Home return 2
Servo ON 2
Pause 2
Cancellation 2
Position input 1
Position input 2
Position input 3
Position input 4
Position input 5
Position input 6
Alarm
Ready
Position complete 1
Home return complete 1
Servo ON output 1
Position complete 2
Home return complete 2
Servo ON output 2
0-V input
P24
Input
Output
N
PSEL
Function
Wiring diagram
Connect 24V.
Port Nos. 010 to 022 are used to specify a target position number.
Position numbers for axis 1 and those for axis 2 are assigned by
parameter settings.
This signal is used to reset minor errors. (The power must be reconnected to reset serious errors.)
This signal is used to cause axis 1 to start moving to the selected position.
This signal is used to move axis 1 to the home.
This signal is used to switch on/off the servo for axis 1.
When this signal is turned OFF while axis 1 is moving, the actuator will pause. When the signal is
turned ON, the actuator will resume and complete the remaining operation.
This signal is used to cancel the movement of axis 1.
This signal is used to cause axis 2 to start moving to the selected position.
This signal is used to move axis 2 to the home.
This signal is used to switch on/off the servo for axis 2.
When this signal is turned OFF while axis 2 is moving, the actuator will pause. When the signal is
turned ON, the actuator will resume and complete the remaining operation.
This signal is used to cancel the movement of axis 2.
Port Nos. 010 to 022 are used to specify a target position number.
Position numbers for axis 1 and those for axis 2
parameter settings.
This signal is output upon an alarm. (Contact B)
This signal is output once the controller has started properly and entered a ready state.
This signal is output upon completion of movement of axis 1 to the specified position.
This signal is output upon completion of home return of axis 1.
This signal is output while the servo for axis 1 is on.
This signal is output upon completion of movement of axis 2 to the specified position.
This signal is output upon completion of home return of axis 2.
This signal is output while the servo for axis 2 is on.
Connect 0V.
PSEL
Controller
Explanation of I/O Functions
Slider
Type
Positioner, Teach Mode
Input
This signal is used to reset minor errors. (The power must be reconnected to reset serious errors.)
This signal is used to cause the actuator to start moving to the selected position.
This signal is used to switch the servo on/off.
When this signal is turned OFF while the actuator is moving, the actuator will pause. When
the signal is turned ON, the actuator will resume and complete the remaining operation.
Port Nos. 003 to 013 are used to specify a target position number
and a position number under which to input the current position.
When the teaching mode specification signal at port No. 014 is ON,
the current value will be written under the specified position number
upon turning ON of the start signal at port No. 000.
While this signal is input, axis 1 moves in the positive direction.
This signal is output upon an alarm. (Contact B)
This signal is output once the controller has started properly and entered a ready state.
This signal is output upon completion of movement to the specified position.
This signal is output upon completion of home return.
This signal is output while the servo is on.
—
This signal is output when the system-memory backup battery voltage has dropped (to the warning level).
This signal is output when the absolute-data backup battery voltage has dropped (to the warning level).
Connect 0V.
OV
24
OV
24
Pin
Category
number
24-V input
Position No. 1000
—
—
—
—
—
—
CPU reset
Start
Hold (pause)
Cancellation
Interpolation setting
Position No. 1
Position No. 2
Position No. 4
Position No. 8
Position No. 10
Position No. 20
Position No. 40
Position No. 80
Position No. 100
Position No. 200
Position No. 400
Position No. 800
Alarm
Ready
Position complete
—
—
—
System-memory backup battery error
Absolute-data backup battery error
0-V input
Connect 24V.
(Same as port Nos. 004 to 015)
—
—
—
—
—
—
This signal is used to reset the system to create the same condition after power reconnection.
This signal is used to cause the actuator to start moving to the selected position.
When this signal is turned OFF while the actuator is moving, the actuator wil pause. When the signal is turned ON, the actuator wil resume the remaining operation.
When this signal is turned OFF while the actuator is moving, the actuator will stop and the remaining operation will be cancelled.
With a 2-axis specification, turning ON this signal causes the actuator to move via linear interpolation.
Input
Port Nos. 004 to 016 are used to specify a target position number.
Numbers can be specified as BCD.
PSEL
This signal is output upon an alarm. (Contact A)
This signal is output once the controller has started properly and entered a ready state.
This signal is output upon completion of movement to the specified position.
—
—
—
This signal is output when the system-memory backup battery voltage has dropped (to the warning level).
This signal is output when the absolute-data backup battery voltage has dropped (to the warning level).
Connect 0V.
ASEL
SSEL
N
SCON
Output
ACON
016
017
018
019
020
021
022
023
000
001
002
003
004
005
006
007
008
009
010
011
012
013
014
015
300
301
302
303
304
305
306
307
P24
Wiring diagram
PCON
Function
ERC2
Positioner,
Standard Mode
PS-24
1A
1B
2A
2B
3A
3B
4A
4B
5A
5B
6A
6B
7A
7B
8A
8B
9A
9B
10A
10B
11A
11B
12A
12B
13A
13B
14A
14B
15A
15B
16A
16B
17A
17B
Port
number
Gateway
unit
Positioner, DS-S-C1 Interchangeable Mode
Controller
Models
N
These signals are used to specify an inching travel distance.
(The travel distance is the sum of values specified by port Nos. 019 to 022.)
Controller
Output
Connect 24V.
While this signal is input, axis 1 moves in the negative direction.
While this signal is input, axis 2 moves in the positive direction.
While this signal is input, axis 2 moves in the negative direction.
Splash
Proof Type
24-V input
Axis 1 JOGAxis 2 JOG+
Axis 2 JOGInching specification (0.01mm)
Inching specification (0.1mm)
Inching specification (0.5mm)
Inching specification (1mm)
Error reset
Start
Servo ON
Pause
Position input 1
Position input 2
Position input 3
Position input 4
Position input 5
Position input 6
Position input 7
Position input 8
Position input 9
Position input 10
Position input 11
Teaching mode specification
Axis 1 JOG+
Alarm
Ready
Position complete
Home return complete
Servo ON output
—
System-memory backup battery error
Absolute-data backup battery error
0-V input
Wiring diagram
Cleanroom
Type
016
017
018
019
020
021
022
023
000
001
002
003
004
005
006
007
008
009
010
011
012
013
014
015
300
301
302
303
304
305
306
307
P24
Function
Gripper /
Rotary Type
Positioner,
Product-Type
Switchover Mode
Arm / Flat
Type
1A
1B
2A
2B
3A
3B
4A
4B
5A
5B
6A
6B
7A
7B
8A
8B
9A
9B
10A
10B
11A
11B
12A
12B
13A
13B
14A
14B
15A
15B
16A
16B
17A
17B
Port
number
Rod
Type
Pin
Category
number
Controller Integrated Type
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340
XSEL
PSEL
Specification Table
General
specifications
Communication
Program
Control
specifications
Basic specifications
Item
Connectable actuators
Input power supply
Power-supply capacity
Dielectric strength voltage
Breakdown resistance
Rush current
Specification
RCP2 series actuator (Note 1)
DC24V ±10%
5.5A max. 5.5A
500VDC, 10MΩ or above
500VAC, 1 minute
30A max.
XYZ directions 10~57Hz One-side amplitude 0.035mm (continuous), 0.075mm (intermittent)
Vibration resistance
58~150Hz 4.9m/s2 (continuous), 9.8m/s2 (intermittent)
1 axis/2 axes
Number of controlled axes
Maximum total output of connected axes
–
Position detection method
Incremental encoder
Speed setting
From 1mm/s. The maximum limit varies depending on the actuator.
Acceleration setting
From 0.01G. The maximum limit varies depending on the actuator.
Operation method
Program operation / Positioner operation (switchable)
Programming language
Super SEL language
Number of programs
64 programs
Number of program steps
2,000 steps
Number of multi-tasking programs
8 programs
Number of positioning points
1,500 points
Data storage device
Flash ROM (A system-memory backup battery can be added as an option)
Teaching pendant or PC software
Data input method
Number of I/O points
24 input points / 8 output points (NPN or PNP selectable)
I/O power supply
Externally supplied 24VDC ± 10%
CB-DS-PIO (supplied with the controller)
PIO cable
RS232C (D-sub, half-pitch connector) / USB connector
Serial communication function
(To be supported in the future)
Field network
CB-RCP2-MA (20m max.)
Motor cable
MoCB-RCP2-PA (20m max.)
Encoder cable
Motor overcurrent, motor driver temperature check, overload check, encoder open-circuit check, soft limit
Protective functions
over, system error, battery error, etc.
Ambient operating temperature, humidity
0~40°C, 10~95% (non-condensing)
Operating ambience
Free from corrosive gases. In particular, there shall be no significant powder dust.
Protection class
IP20
Weight
Approx. 450g
43mm W ×159mm H ×110mm D
External dimensions
(Note 1) The high-thrust type (RA10C), high-speed type (HS8C/HS8R) and waterproof type (RCP2W-SA16) cannot be operated.
External Dimensions
PS-24
Gateway
unit
Controller
Models
Controller
Splash
Proof Type
Cleanroom
Type
Gripper /
Rotary Type
Arm / Flat
Type
Rod
Type
Slider
Type
Controller Integrated Type
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PSEL
Controller
ERC2
PSEL 1-axis controller
PSEL 2-axis controller
(80)
43
110
ø5
(80)
110
137
151
159
137
151
159
SCON
ACON
PCON
ø5
43
3
XSEL
SSEL
ASEL
PSEL
5
341
PSEL
5
3
PSEL
Controller
Controller Integrated Type
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Name of Each Part
Slider
Type
1 Motor connector for axis 1
10
11
6
7
8
it to the left position (RLS side) forcibly releases the
brake, while setting it to the right position (NOM side)
causes the controller to automatically control the brake.
4 Encoder connector for axis 1
Connect the encoder cable of the axis 1 actuator.
6 Encoder connector for axis 2
Connect the encoder cable of the axis 2 actuator.
7 Status indicator LEDs
T hese LEDs are used to indicate the operating
8 Panel unit connector
the controller status and error numbers.
13 System-memory backup battery connector
If you wish to retain the various data recorded in the SRAM
of the controller even after the power is cut off, connect
the necessary battery to this connector. This battery is
installed externally to the unit. The controller does not come
standard with the battery (it must be specified as an option).
14 Motor power input connector
This connector is used to input the motor power. It
consists of a 2-pin, 2-piece connector by Phoenix
Contact.
15 Control power/system input connector
This connector is used to connect the control power
input, emergency stop switch, and enable switch. It
consists of a 6-pin, 2-piece connector by Phoenix
Contact.
PCON
A connector for the panel unit (optional) that displays
teaching pendant when the running mode is MANU.
A special conversion cable is needed to connect a
conventional D-sub, 25-pin connector.
ERC2
15
12 Teaching pendant (TP) connector
A half-pitch I/O 26-pin connector that connects a
PS-24
14
connector is connected, the TP connector is disabled
and all communication inputs to the TP connector
are cut off.
Gateway
unit
PWR: This LED indicates that the controller is
receiving power.
RDY: This LED indicates that the controller is
ready to perform program operation.
ALM: This LED indicates that the controller is
abnormal.
EMG: This LED indicates that an emergency
stop is actuated and the drive source is
cut off.
SV1: This LED indicates that the axis 1 actuator
servo is on.
SV2: This LED indicates that the axis 2 actuator
servo is on.
11 USB connector
A connector for PC connection via USB. If the USB
Controller
Models
condition of the controller.
Indication details are as follows:
The left position indicates the MANU (manual
operation) mode, while the right position indicates
the AUTO (automatic operation) mode. Teaching
can only be performed as manual operation, and
automatic operation using external I/Os is not
possible in the MANU mode.
Controller
it to the left position (RLS side) forcibly releases the
brake, while setting it to the right position (NOM side)
causes the controller to automatically control the brake.
13
the controller.
Splash
Proof Type
5 Brake switch for axis 2
This switch is used to release the axis brake. Setting
10 Mode switch
This switch is used to specify the running mode of
Cleanroom
Type
12
3 Brake switch for axis 1
This switch is used to release the axis brake. Setting
The I/O power is also supplied to the controller
through this connector (pins 1 and 34).
Gripper /
Rotary Type
5
Connect the motor cable of the axis 2 actuator.
A 34-pin flat connector is used for the DIO (24 IN/8
OUT) interface.
Arm / Flat
Type
4
2 Motor connector for axis 2
9 I/O connector
A connector for interface I/Os.
Rod
Type
1
2
3
9
Connect the motor cable of the axis 1 actuator.
ACON
SCON
PSEL
ASEL
SSEL
342
XSEL
PSEL
Teaching pendant
■ Features A teaching device providing program/
IA—T—X/XD
position input function, test operation
function, monitoring function, and more.
Description
Standard type with
connector conversion cable
—
IA—T—X
Standard type
—
IA—T—XD—J
Deadman switch type with
connector conversion cable
—
IA—T—XD
Deadman switch type
—
IA—T—XA—J
ANSI type with
connector conversion cable
—
IA—T—XA
ANSI type
—
80
90
■ Configuration
■ Specifications
Item
Ambient operating
temperature, humidity
Operating ambience
0.2m
IA—T—XA:5m
The PSEL controller is supported by
version 1.40 or later (or 1.30 or later
with the ANSI type).
ERC2
IA—T—XA
Cable length
4m
5m
Display
LCD with
20 characters x 4 lines
LCD with 32 characters
x 8 lines
Conversion cable: CB—SEL—SJ002
■ Features A startup support software program offering program/position input
function, test operation function, monitoring function, and more.
The functions needed for debugging have been enhanced to help
reduce the startup time.
■ Model IA—101—X—MW—J
(with RS232C Cable + Connector Conversion Cable)
■ Configuration
ACON
PCON
IA—T—X/XD
Temperature 0~40°C, Humidity 85% RH or below
Free from corrosive gases. In particular,
Protective structure
there shall be no significant powder dust. conforming to IP54
Approx. 600g
Approx. 650g
(excluding cable)
PC Software (Windows Only)
PS-24
Gateway
unit
Controller
Models
Note
5m
0.2m
RS232C cable
CB—ST—E1MW050—EB
Connector
conversion cable:
CB—SEL—SJ002
SCON
PC software (CD)
PSEL
58.3
46.7
133
255
Model
IA—T—X—J
Weight
Note
The PSEL controller is supported by
version 7.0.0.0 or later.
■ Model IA—101—X—USB (with USB Cable)
ASEL
■ Configuration
SSEL
45
28
■ Model
IA—T—X/XD:4m
XSEL
IA—T—XA
120
265
Controller Integrated Type
Slider
Type
Rod
Type
Arm / Flat
Type
Gripper /
Rotary Type
Cleanroom
Type
Options
Controller
Splash
Proof Type
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PSEL
Controller
Dummy plug
DP—3
1m
PC software (CD)
343
PSEL
USB cable
CB—SEL—USB010
PSEL
Controller
Options
� Features
� Features
to a PC using a USB cable, install this
plug on the teaching port to cut off the
enable circuit. (This plug comes with
the PC software IA-101-X-USB.)
� Model AB—5—CS (with Case)
43
� Model DP—3
AB—5 (Battery Only)
Arm / Flat
Type
114
17
� Features When connecting your PSEL controller
If your programs use global flags, etc.,
you need this battery to retain data
even after the power is turned off.
Rod
Type
� Model PU—1 (Cable Length 3m)
ø3.2
Dummy plug
System-Memory Backup Battery
A display for checking controller error
codes and active program numbers.
Slider
Type
Panel Unit
Controller Integrated Type
www.actuator.ru тел.:(495) 662-87-56, e-mail: [email protected]
Gripper /
Rotary Type
USB Cable
Connector Conversion Cable
Cleanroom
Type
this cable to connect your controller
� Features Use
with USB port to a PC. If your controller
conversion cable is used to connect
� Features This
a D-sub, 25-pin connector for teaching
has no USB port (XSEL), connect a
RS232C cable to a USB cable via a USB
conversion adapter and connect the USB
cable to the USB port on the PC.
(Refer to the PC software IA-101-X-USBMW.)
pendant or PC software to the teaching
connector (half-pitch) on the PSEL controller.
Splash
Proof Type
� Model CB—SEL—SJ002 (Cable Length 0.2m)
� Model CB—SEL—USB010 (Cable Length 1m)
Controller
Spare Parts
Should you require spare parts after the purchase of your product for replacing the original cables, etc., refer to the model names specified below.
Model
* The standard motor cable is a
robot cable.
CB-RCP2-MA c c c
(20)
(20)
* c c c indicates the cable length (L). Lengths up to
20 m can be specified. Example) 080 = 8 m
(14)
(ø8)
(15)
CN3
(14)
C
N
1
(Front view)
(Front view)
Actuator end
M cable
CN1
1
A
Yellow
2 VMM Grey
3
A
Orange SLP-06V
4
B Orange (black 1)
(JST)
5 VMM Pink
6
B
White
A1
A2
A3
B1
B2
B3
Encoder Cable / Encoder Robot Cable
(13) (15)
(25)
(18)
(ø9)
(Front view)
(Front view)
Actuator end
Shield wire
SCON
Drain wire
ACON
L
Controller end
Pin Signal Cable
number name color CN2
1 ENA Brown
2 ENA Green
3 ENB Purple
4 ENB Pink
5
–
6
–
7
–
8
–
9 GND Blue
10 VBB Orange
11 VPS Yellow
–
12
–
13
–
14
–
15
16 BK+ Red
17 BK– Grey
18 F.G Drain
PCON
C
N
2
CN4
Signal
CN4 Cable name Pin
color
number
(BAT2) 16
(BAT1) 15
Orange (black 1) BK+ 14
Grey BK– 13
Brown ENA 12
Green ENA 11
Purple ENB 10
Pink ENB 9
8
Black –
Yellow VPS 7
Orange VBB 6
Blue GND 5
(N.C) 4
(N.C) 3
(N.C) 2
Drain F.G 1
XMP-18V
(JST)
(8)
(35)
(5)
ERC2
* The standard encoder cable is a normal cable. * c c c indicates the cable length (L). Lengths up
to 20 m can be specified. Example) 080 = 8 m
A robot cable can be specified as an option.
CB-RCP2-PA c c c /CB-RCP2-PA c c c -RB
PHDR-16VS
(JST)
Model
PS-24
L
Controller end
Orange A
Grey VMM
B
I-1318119-3 White
A
Yellow
(AMP)
Pink VMM
Orange (black 1) B
Gateway
unit
CN3
(28)
(8)
Controller
Models
Motor Cable
I/O Flat Cable
CB-DS-PIO c c c
* c c c indicates the cable length (L). Lengths up to
10 m can be specified. Example) 080 = 8 m
No.
2m
1A
No connector
17A
Flat cable, AWG28 (34 cores)
Color
Wire
Grey 2
White 2
Black 2
Brown 3
Red 3
Orange 3
Yellow 3
Green 3 Flat
cable
Blue 3
(pressurePurple 3
welded)
Grey 3
White 3
Black 3
Brown 4
Red 4
Orange 4
Yellow 4
SSEL
17B
PSEL
344
XSEL
Color
Wire No.
Brown 1
9B
Red 1
10A
Orange 1
10B
Yellow 1
11A
Green 1
11B
Blue 1
12A
Purple 1
12B
Flat 13A
Grey 1
White 1 cable 13B
(pressure- 14A
Black 1
welded)
Brown 2
14B
Red 2
15A
Orange 2
15B
Yellow 2
16A
Green 2
16B
Blue 2
17A
Purple 2
17B
ASEL
1B
1A
1B
2A
2B
3A
3B
4A
4B
5A
5B
6A
6B
7A
7B
8A
8B
9A
PSEL
Model
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