Position Controller for RoboCylinder. Position Controller for Micro Cylinder

Transcription

1 Position Controller for RoboCylinder Position Controller for Micro Cylinder Feature Compatible with Battery-less Absolute Encoder *ACON-CB only RCA equipped with a battery-less absolute encoder is supported. Since no battery is needed to retain position data, less space is required in the control panel, which in turn leads to lower both initial and maintenance costs of your equipment. Compatible with Many Major Field Networks Compatible with DeviceNet, CC-Link, PROFIBUS-DP, PROFINET IO, CompoNet, EtherCAT, and EtherNet/IP. Field network connection allows for less-wiring, direct numerical commands, position number commands, current position reading, and more. Maintenance Timings Can Be Checked Using the Traveled Distance Calculation Function The total distance traveled by the actuator is calculated and recorded in the controller. If the preset distance is exceeded, a signal is output from the controller. This function can be used to check when to add grease or perform the next periodic inspection. It s time to add grease! signal PLC A signal is automatically output to the PLC when the preset maintenance/inspection timing (number of operations or distance traveled) is reached. The Calendar Function Can Retain Alarm Timestamps The built-in calendar function (clock function) records alarms and other events with timestamps, which helps analyze the causes of troubles should they occur. <Maintenance information> Equipped with the Offboard Tuning Function *ACON-CB only The offboard tuning function lets you set an optimal gain for the load. ACON-CB / DCON-CB

2 List of s s ACON-CB / DCON-CB External view Field Network type I/O type Positioner type Pulse-train type DeviceNet CC-Link PROFIBUS-DP CompoNet EtherCAT EtherNet/IP PROFINET IO I/O type model number NP/PN PLN/PLP DV CC PR CN EC EP PRT ACON-CB Battery-less absolute spec. Incremental spec. With absolute battery Simple absolute With absolute spec. battery unit Without absolute battery DCON-CB When you use absolute spec. of RCA series actuator, please choose an absolute spec. controller. ACON Series Type Motor Type Encoder Type I/O Type I/O Cable Length Supply Power Simple Absolute Mounting CB CGB Standard type Safety category compliant WAI A Battery-less absolute/incremental Absolute HA LA High accel./decel. Energy-saving DCV W motor W motor S W motor (*) W motor W motor S W motor (*) W motor (*) When connecting RCA-SAAC/ RAAC (*) When connecting RCA-RA /RGS / RGD /RCA-SA /TA NP PN PLN PLP DV CC PR CN EC EP (NPN) (PNP) Pulse-train (NPN) Pulse-train (PNP) DeviceNet CC-Link PROFIBUS-DP CompoNet EtherCAT EtherNet/IP No cable m m m cable will be (Blank) AB ABU ABUN Battery-less absolute spec. Incremental spec. Absolute spec. Simple absolute spec. (With absolute battery) Simple absolute spec. (With absolute battery unit) Simple absolute spec. (Without absolute battery / battery unit) * Simple absolute spec. can be chosen when the actuator s encoder type is incremental type. PRT PROFINET IO (Blank) Screw mounting DN DIN rail mounting DCON Series Type Motor Type I Encoder Type I/O Type I/O Cable Length Supply Power Mounting CB CGB Standard type Safety category compliant.w DC brush-less motor NP PN PLN PLP DV I Incremental (NPN) (PNP) Pulse-train (NPN) Pulse-train (PNP) DeviceNet No cable m m m cable will be DCV CC PR CN EC CC-Link PROFIBUS-DP CompoNet EtherCAT (Blank) DN Screw mounting DIN rail mounting EP EtherNet/IP PRT PROFINET IO ACON-CB / DCON-CB

3 <ACON-CB/CGB> PC Compatible Software (Please see P. ) For RSConnection : RCM--MW Teaching Pendant For USB Connection (Please see P. ) : RCM--USB : TB- ver... or later Standard.m Simple Absolute Battery Unit (Please see P. ) : SEP-ABU (DIN rail mounting) : SEP-ABUS (Screw mounting) Supplied when "ABU" Is Chosen as the Simple Absolute m Supplied with PC Compatible Software Simple Absolute Battery (Battery Only) (Please see P. ) : AB- Supplied when "AB" Is Chosen as the Simple Absolute PLC I/O Flat Cable (Please see P. ) : CB-PAC- Standard m Supplied w/ Spec. Controller Controller : ACON-CB Field Networks DeviceNet, CC-Link, PROFIBUS-DP, CompoNet, EtherCAT, EtherNet/IP, PROFINET IO Motor Power Circuit Breaker (Customer to supply) Battery for the Absolute Spec. Required only for CGB type (Please see P. ) : AB- (without a case) : AB-CS (with a case) Supplied when the Absolute Spec. Is Selected Supplied w/actuator Integrated Motor-encoder Cable Please see P. for maintenance cables DCV Power Supply V V FG RCA Series RCA Series RCL Series (w/o CE conformity yet) <DCON-CB/CGB> PC Compatible Software (Please see P. ) For RS Connection : RCM--MW For USB Connection : RCM--USB ver... or later Supplied w/actuator Integrated Motor-encoder Cable Supplied when the cable length Teaching Pendant (Please see P. ) : TB- Please see P. for maintenance cables RCD-RADA RCD-GRSNA m Supplied with PC Compatible Software PLC I/O Flat Cable (Please see P. ) : CB-PAC- Standard m Supplied w/ Spec. Controller Controller : DCON-CB Field Networks DeviceNet, CC-Link, PROFIBUS-DP, CompoNet, EtherCAT, EtherNet/IP, PROFINET IO DCV Power Supply V V FG Motor Power Circuit Breaker (Customer to supply) * Integrated motor-encoder cable varies depending on Required only for CGB type applicable controller code of RCD actuator. RCD-RADA Applicable controller [D] : CB-CA-MPA CB-CA-MPA -RB (Robot cable) Applicable controller [D] : CB-CAN-MPA CB-CAN-MPA -RB (Robot cable) RCD-GRSNA Applicable controller [D] : CB-CAN-MPA CB-CAN-MPA -RB (Robot cable) ACON-CB / DCON-CB

4 I/O Interface (Common to ACON-CB/DCON-CB) Input Part Part Item Input voltage Input current ON/OFF voltage DCV ±% ma circuit ON voltage DC8V Min. OFF voltage DCV Max. Item Load voltage Max. load current Leak current DCV ma circuit ma Max. / point NPN NPN External power supply DCV P 8.k Input terminal Internal circuit Internal circuit terminal P N Load External power supply DCV PNP PNP External power supply DCV Input terminal N.k 8 Internal circuit Internal circuit terminal P N External power supply DCV Load Types of Patterns (Control Patterns) (Common to ACON-CB/DCON-CB) There are 8 types of control methods ACON-CB and DCON-CB support. Please select in Parameter No. ( Pattern selection ) the pattern which best suits your purpose of use. Type Set value of Parameter No. Mode Summary Pattern Pattern Pattern (Factory setting) Positioning mode (Standard type) Teaching mode (Teaching type) -point mode ( positioning points) Number of positioning points: points Position number command: Binary Coded Decimal (BCD) Zone signal output (*): point Position zone signal output (*): point Number of positioning points: points Position number command: Binary Coded Decimal (BCD) Position zone signal output (*): point Jog (inching) operation using signals is supported Current position data can be written to the position table using signals Number of positioning points: points Position number command: Binary Coded Decimal (BCD) Position zone signal output (*): point Pattern -point mode ( positioning points) Number of positioning points: points Position number command: Binary Coded Decimal (BCD) No position zone signal output Pattern Solenoid valve mode (-point type) Number of positioning points: points Position number command: Individual number signal ON Zone signal output (*): point Position zone signal output (*): point Pattern Solenoid valve mode (-point type) Number of positioning points: points Position number command: Individual number signal ON Completion signal: A signal equivalent to a LS (limit switch) signal can be output Zone signal output (*): point Position zone signal output (*): point Pattern (Note ) Pattern (Note ) Pulse-train mode for incremental Pulse-train mode for absolute Home return function Zone signal output (*): points No feedback pulse output Setting a reference point ( place) Home return function Zone signal output (*): points No feedback pulse output (*) Zone signal output: A desired zone is set by Parameter No. and or and, and the set zone always remains effective once home return has completed. (Note ) Pulse Train Control is available only if the pulse train control type is indicated (from ACON-PLN/PLP and DCON-PLN/PLP) at the time of purchase. ACON-CB / DCON-CB

5 Patterns and Signal Assignments (Common to ACON-CB/DCON-CB) Please connect an external device (such as PLC) according to this table. Pin number A A A A A A A 8A 9A A A A A A A A A 8A 9A A B B B B B B B 8B 9B B B B B B B B B 8B 9B B Category Input function Number of positioning points Home return signal Jog signal Teaching signal (writing current position) Brake release Moving signal Zone signal Position zone signal Positioning mode points V V Pulse Input Input Pulse Input V V IN IN IN IN IN IN IN IN IN8 IN9 IN IN IN IN IN IN OUT OUT OUT OUT OUT OUT OUT OUT OUT8 OUT9 OUT OUT OUT OUT OUT OUT PC PC PC PC8 PC PC BKRL HOME *STP CSTR PM(ALM) PM(ALM) PM(ALM) PM8(ALM8) PM PM MOVE ZONE PZONE/ZONE PEND *BALM (*)/L Parameter No., pattern selection Teaching mode -point mode -point mode Solenoid valve points points points points (*) (*) P P PC PC PC ST PC PC PC ST PC PC PC ST PC8 PC8 PC8 ST PC PC PC ST PC PC PC ST MODE PC PC ST JISL PC8 PC8 JOG+ PC JOG BKRL BKRL BKRL HOME HOME HOME HOME *STP *STP *STP *STP CSTR/PWRT CSTR CSTR PM(ALM) PM(ALM) PM(ALM) PE PM(ALM) PM(ALM) PM(ALM) PE PM(ALM) PM(ALM) PM(ALM) PE PM8(ALM8) PM8(ALM8) PM8(ALM8) PE PM PM PM PE PM PM PM PE MOVE PM PM PE MODES PM8 PM8 ZONE PZONE/ZONE PZONE/ZONE PM PZONE/ZONE PEND/WEND PEND PEND PEND *BALM (*)/L *BALM (*)/L *BALM (*)/L *BALM (*)/L N N Solenoid valve points ST ST(JOG+) ST (*) BKRL LSO LS(TRQS) LS (*) ZONE PZONE/ZONE *BALM (*)/L (*) In the table above, asterisk symbol ( * ) accompanying each code indicates a negative logic signal. PM to PM8 are alarm binary code output signals that are used when an alarm generates. (*) In all patterns other than, this signal can be switched with PZONE by setting Parameter No. 9 accordingly. (*) This signal is dedicated only for ACON-CB. Reference: Negative logic signal Signals denoted by * are negative logic signals. Negative logic input signals are processed when turned OFF. Negative logic output signals normally remain ON while the power is supplied, and turn OFF when the signal is output. ACON-CB / DCON-CB

6 Pulse-train Control Circuit (Common to ACON-CB/DCON-CB) Host Unit = Host unit Positioning unit Pulse command (corresponding to line driver C) erential Type A A B 8B ACON/DCON connector PP /PP NP /NP Pulse Converter: AK- Open-collector command pulses are pulses. Use this converter if the host controller outputs open-collector pulses. Host unit Positioning unit Pulse command V V V Host Unit = Open Collector Type The AK- (optional) is needed to input pulses. V DC V V Pulse converter AK- (sold separately) V PP V *PP PP NP NP *NP 9B B V V A A B 8B 9B B ACON/DCON connector PP /PP NP /NP V V Item Input power Input pulse Input frequency pulse Mass Accessories Opencollector Input V GND PP NP DCV ±% (max. ma) Open-collector (Collector current: max. ma) khz or less g or less (excluding cable connectors) --L (M) (e-con connector) x Applic. wire: AWG No. ~ AK Differential PP /PP NP /NP Caution: Use the same power supply for open collector input/output to/from the host and for the AK-. Command Pulse Input Patterns Command pulse-train pattern Input terminal Forward Reverse Forward pulse-train Reverse pulse-train A forward pulse-train indicates the amount of motor rotation in the forward direction, while a reverse pulse-train indicates the amount of motor rotation in the reverse direction. Pulse-train Negative logic Sign Low High The command pulses indicate the amount of motor rotation, while the sign indicates the rotating direction. Phase A/B pulse-train Command phases A and B ha erence (multiplier is ) indicate the amount of rotation and the rotating direction. Forward pulse train Reverse pulse-train Positive logic Pulse-train Sign High Low Phase A/B pulse-train ACON-CB / DCON-CB 8

7 I/O Signals in Pulse-train Control Mode (Common to ACON-CB/DCON-CB) Please connect an external device (such as PLC) according to this table. Pin number Category I/O number Signal abbreviation Signal name A V P Power supply I/O power supply + V A V P Power supply I/O power supply + V Function description A Pulse PP erential pulse-train input (+) A input /PP erential pulse-train input (-) erential pulses are input from the host. Up to kpps can be input. A IN Servo ON The servo is ON while this signal is ON, and OFF while the signal is OFF. A IN Reset Present alarms are reset when this signal is turned ON. A IN HOME Home return Home return operation is performed when this signal is turned ON. 8A IN TL Torque limit selection When this signal is turned ON, the motor torque is limited to the value set by the parameter. The actuator is forcibly stopped when this signal has remained 9A IN CSTP Forced stop ON for ms or more. The actuator decelerates to a stop at the torque set in the controller and the servo turns OFF. A IN DCLR Deviation counter clear This signal clears the deviation counter. A Input IN BKRL Forced brake release The brake is forcibly released. A IN Operation mode switching The operation mode can be switched when the MODE switch on the controller is set to AUTO. (AUTO when this signal is OFF, and to MANU when the signal is ON.) A IN8 RSTR* Reference position movement command When this signal turns ON, the movement to the position set in parameter No. starts. *: Used only in Pattern A IN9 Not used A IN Not used A IN Not used A IN Not used 8A IN Not used 9A IN Not used A IN Not used B OUT PWR System ready This signal turns ON when the controller becomes ready after the main power has been turned on. B OUT Servo ON status This signal turns ON when the servo is ON. B OUT INP Positioning complete This signal turns ON when the amount of remaining travel pulses in the deviation counter falls within the in-position band. B OUT Home return complete This signal turns ON upon completion of home return. B OUT TLR Torque limited This signal turns ON upon reaching the torque limit while the torque is limited. B OUT Controller alarm status This signal turns ON when the controller is normal, and turns OFF when an alarm generates. This signal turns ON when the emergency stop of the B OUT Emergency stop status controller is cancelled, and turns OFF when an emergency stop is actuated. 8B OUT Operation mode status The operation mode status is output. This signal turns ON when the controller is in the manual mode. 9B OUT8 ALM B OUT9 ALM B OUT ALM B OUT ALM8 Parameter No. ( patterns /) Alarm code output signal An alarm code is output when an alarm generates. For details, refer to the operation manual. B OUT L Minor failure alarm This signal turns ON when the controller is normal, and turns OFF when a message-level alarm is generated. B OUT REND* The signal turns ON when the movement to the reference position set Refernce position movement complete in parameter No. is completed. *: Used only in Pattern B OUT ZONE Zone signal This signal turns ON when the current position of the actuator falls B OUT ZONE Zone signal within the parameter-set range. B Pulse NP erential pulse-train input (+) 8B input /NP erential pulse-train input (-) erential pulses are input from the host. Up to kpps can be input. 9B V N Power supply I/O power supply V B V N Power supply I/O power supply V (Note) * indicates a negative logic signal. Negative logic signals are normally ON while the power is supplied, and turn OFF when the signal is output. 9 ACON-CB / DCON-CB

8 (Common to ACON-CB/DCON-CB) operate the actuator. Please note that the data areas required on the PLC side will vary depending on the mode. Mode Descriptions Mode Remote I/O mode Position/simple direct value mode Half direct Full direct Remote I/O mode Description The number of positioning points and functions will vary depending on the operation patterns ( patterns) set by the controller's parameters. The target position value is directly inputted, while all other operational conditions (speed, acceleration, etc) are set by indicating the position number corresponding to the desired operating conditions from the position data table. The actuator is operated by directly inputting values for speed, acceleration/deceleration rate and push current, as well as the target position. The actuator is operated by directly inputting values for the target position, speed, acceleration/deceleration rate and push current, etc. In addition, you are able to read the current This mode is the same as the remote I/O mode above, with the added functionality of reading Required Data Size for Each Network DeviceNet CC-Link PROFIBUS-DP CompoNet EtherCAT EtherNet/IP PROFINET IO Remote I/O mode bytes station bytes bytes bytes bytes bytes Position/simple direct value mode 8 bytes station 8 bytes 8 bytes 8 bytes 8 bytes 8 bytes Half direct bytes stations bytes bytes bytes bytes bytes Full direct bytes stations bytes bytes bytes bytes bytes Remote I/O mode bytes station bytes bytes bytes bytes bytes List of Functions by Operation Mode Remote I/O mode Position/simple direct value mode Half direct Full direct Remote I/O mode Number of positioning points points 8 points Unlimited Unlimited points Operation by direct position data input Diret speed /acceleration input Push-motion operation Current position read Current speed read Operation by position number input Completed position number read * O indicates that the operation is supported, and indicates that it is not supported. ACON-CB / DCON-CB

9 External Dimensions (Common to ACON-CB/DCON-CB) (Screw mounting) (Screw mounting) φ φ φ Absolute battery (8) * The absolute battery is installed on the left side when the controller is viewed from the front side from DIN rail center. (DIN rail width: mm) Absolute battery from DIN rail center. (DIN rail width: mm) M (for mounting the FG line) M (for mounting the FG line) () (8) *The absolute battery is installed on the left side when the controller is viewed from the front side. () Absolute Battery Unit (DIN rail mounting) φ.. (.) Absolute battery. 8. (DIN rail mounting) (DIN rail mounting) from DIN rail center. (DIN rail width: mm) () Absolute Battery Unit (Screw mounting) from DIN rail center. (DIN rail width: mm).. () DIN securing tab moving width: mm () Item Number of controlled axes Power supply voltage Rush current from power supply Cooling method Backup memory I/O power supply Number of I/Os Serial communication Ambient operating temperature Ambient operating humidity Protection degree Mass Motor Power Capacity ACON-CB DCON-CB RCA/RCA RCL (w/o CE conformity yet) RCD ACON-CB DCON-CB axis DCV ±% A (Rush current limiting circuit is provided) Natural air cooling Available (RCA only) Not available FRAM (kbit) Number of rewrite: No limit DCV ±% IN/OUT Available ( ) Available RS8: channel (conforming to Modbus protocol) to C 8% RH or less (non-condensing) IP Battery-less absolute/incremental spec.: g, simple absolute spec.: g (incl. battery: g) Absolute spec.: g (incl. battery: g) Motor type W W W W(S) W W W W Standard / High-accel/decel Power-saving Rated [A] Max. [A] Rated [A] Max. [A] ACON-CB / DCON-CB

10 s (Common to ACON-CB/DCON-CB) Teaching Pendant Summary Setting A teaching device that has position input, test operation, monitoring function, etc. TB--C 9 (.) Rated voltage Power consumption Ambient operating temperature Ambient operating humidity Environmental resistance Mass DCV.W or less (ma or less) to C to 8%RH (Non-condensing) IP g (TB- box only) m PC Compatible Software (Windows Only) Summary A startup support software for inputting positions, performing test runs, and monitoring. With enhancements for adjustment functions, the startup time is shortened. XP SP or later/vista//8 Setting RCM--MW (External device communication cable and RS conversion unit included) ACON-CB/DCON-CB is supported by Ver... or later RS conversion adapter RCB-CV-MW m PC Compatible Software(CD).m External device communication cable CB-RCA-SIO Setting RCM--USB (External device communication cable, USB conversion adapter, and USB cable included) ACON-CB/DCON-CB is supported by Ver... or later m USB conversion adapter RCB-CV-USB m PC Compatible Software(CD) USB cable CB-SEL-USB External device communication cable CB-RCA-SIO Absolute Battery Unit Summary Battery unit that comes with a simple absolute to back up the current controller position. SEP-ABU SEP-ABUS used Replacement Battery (for Simple Absolute Spec.) Summary The replacement battery for the simple absolute AB- Item Ambient operating temperature and humidity Operating atmosphere Absolute battery Connection cable to connect between the controller and the absolute battery unit Mass SEP-ABU / SEP-ABUS to C (desirably around C), 9% RH or below (non-condensing) Free from corrosive gases : AB- (Ni-MH battery/life: approx. years) : CB-APSEP-AB(length:.m) Battery box: g or less Battery: g or less Replacement Battery (for Absolute Spec.) Summary The replacement battery for the absolute AB- ACON-CB / DCON-CB

11 Maintenance Parts Number CB-ASEP-MPA Integrated Motor-Encoder Robot Cable (Front () view) () () () () *Please indicate the cable length (L) in () L (e.g. 8=8m). Maximum length = m Actuator end Controller end Minimum bending radius R = 8mm or more (Dynamic bending condition) *Only robot cable is available for this model. (ø8.) () () for [RCA]-[ACON-CB] Connection Actuator end Pin number Red [U] Yellow [V] Black [W] Orange [BK+] Gray [BK-] Black [LS+] Brown [LS-] White [A+] Yellow [A-] Red [B+] Green [B-] Black Red Yellow White [BAT+] Shield [FG] Controller end Pin number Number CB-APSEP-MPA Integrated Motor-Encoder Robot Cable () (Front view) (8) *Please indicate the cable length (L) in () (e.g. 8=8m). Maximum length = m Actuator end Controller end Minimum bending radius R = 8mm or more (Dynamic bending condition) *Only robot cable is available for this model. L (ø8.) () () () Actuator end Pin number A B A B A B A B A B A B A8 B8 A B A9 B9 A B A B for [RCA/RCL]-[ACON-CB] Connection Black [øa] (U) White [VMM] (V) Brown [ø/a] (W) Green [øb] ( - ) Yellow [VMM] ( - ) Red [ø/b] ( - ) Orange [LS+] (BK+) Gray [LS-] (BK-) White [ - ] (A+) Yellow [ - ] (A-) Red [A+] (B+) Green [A-] (B-) Black [B+] (Z+) Brown [B-] (Z-) Shield [FG] (FG) Controller end Pin number Number () (Front view) () Actuator end No connector No connector CB-CAN-MPA Integrated Motor-Encoder Cable for [RCD]-[DCON-CB] CB-CAN-MPA -RB Integrated Motor-Encoder Robot Cable Connection *Please indicate the cable length (L) in (8) Flat cable ( cores) x L (e.g. 8=8m). Maximum length = m L B A (ø8.)(note ) Minimum bending radius R = 8mm or more (Dynamic bending condition) Number CB-PAC- I/O Flat Cable *Please indicate the cable length (L) in (e.g. 8=8m). Maximum length = m A B A B Half-pitch MIL socket: HIF-D-.R (Hirose) () () Controller end Note ) If the cable length is m or more, the diameter of the non-robot cable becomes ø9. while that of the robot cable becomes ø. *The cable model code should be CB-CA-MPA /CB-CA-MPA -RB when D is used as the applicable controller with RCD-RADA. HIF-D-.R No. Signal Cable A A A A A A A 8A 9A A A A A A A A A 8A 9A A name V V Pulse input IN IN IN IN IN IN IN IN IN8 IN9 IN IN IN IN IN IN color Brown- Red- Orange- Yellow- Green- Blue- Purple- Gray- White- Black- Brown- Red- Orange- Yellow- Green- Blue- Purple- Gray- White- Black- Pin no. Signal name Pin no. Signal name 9 8 S 9 øa/u VMM/V ø_a/w øb/- VMM/- ø_b/- LS+/BK+ LS-/BK- -/A+ -/A- A+/B+ A-/B- B+/Z+ B-/Z- BK+/LS+ BK-/LS- LS_GND VPS VCC GND FG S 9 9 S øa/u VMM/V ø_a/w øb/- VMM/- ø_b/- LS+/BK+ LS-/BK- -/A+ -/A- A+/B+ A-/B- B+/Z+ B-/Z- BK+/LS+ BK-/LS- LS_GND VPS VCC GND FG Wiring Flat cable A (crimped) No. B B B B B B B 8B 9B B B B B B B B B 8B 9B B Signal name OUT OUT OUT OUT OUT OUT OUT OUT OUT8 OUT9 OUT OUT OUT OUT OUT OUT Pulse input V V Cable color Brown- Red- Orange- Yellow- Green- Blue- Purple- Gray- White- Black- Brown- Red- Orange- Yellow- Green- Blue- Purple- Gray- White- Black- Wiring Flat cable B (crimped) AWG8 ACON-CB / DCON-CB