Power supply unit PLC. Gateway unit. 4 axes

Transcription

1 RCP6S Builtin Controller RCP6S with Builtin Controller Builtin controller for RCP6S Features via a field network with less wiring. allows us to keep the cable connected to the actuator of each axis short, and motor power supply and control signal lines can be connected as one cable between the hub and the RCP6S. * The number of connectable axes will vary depending on the type of field network and its. Please refer to P. 19 for more information. Control Panel for the RCP6S Builtin Controller Actuator Control panel Power supply cables Installation example axes axes axes axes *Maximum cable length between the gateway and RCP6S is 0m. If there is a hub in between, the maximum length is still 0m. The cable length from the gateway to the hub needs to be m or less. RCP6S Peripheral Equipment is required in order to operate RCP6S. : This is used in order to connect RCP6S to the field network. See P. 19 : This can expand the number of axes connected to the gateway. See P. 1 connection : This is used to connect RCP6S directly to the using Modbus serial communication. See P RCP6S

2 RCP6S Builtin Controller Basic Controller Specification List Specification Number of controlled axes Power supply voltage Control power capacity Load current (including controlside current consumption) Motor type Electromagnetic brake power (for actuator with brake) Heat output Inrush current (Note 1) Motor control method Compatible encoder Actuator cable length Motor type 8P, 3P, P, 6P 6SP, 60P 8P, 3P, P, 6P 6SP, 60P Serial communication interface (SIO port) External interface Data setting, input method Data retention memory LED display Insulation resistance Electric shock protection mechanism Cooling method 1 axis VDC±% 0.3A (Builtin controller only) 3.A max. Specification Description.7A max. VDC±% 0.1A (Note) For releasing brake, 0.7A for 0. sec is required. W (Motor type 8P, 3P, P, 6P) 19.W (Motor type 6SP, 60P) 8.3A (With inrush current protection circuitry) A (With inrush current protection circuitry) Weak field vector control Resolution of batteryless absolute encoder: 819 pulses/rev 0m max. RS8: 1CH (Modbus protocol RTU/ASCII compliant) Speed: 9.6~30.Kbps 1CH (Modbus protocol RTU) Field bus connection: DeviceNet, CCLink, PROFIBUSDP, EtherCAT, EtherNet/IP, PROFINETIO. (Note) Additional gateway connection is required. PC compatible software, touch panel teaching pendant Position data and parameters are saved in nonvolatile memory. (No limit to rewrite) SV (green) / ALM (red): Servo ON / Alarm triggered and emergency stop Not less than MΩ at 00VDC Class I basic insulation Natural air cooling Note1: Inrush current will flow for approximately msec after the power is turned on (at 0 C). Inrush current value differs depending on the impedance on the power supply line. <The Calculation of Number of Connectable Axes and Power Capacity> To calculate the number of axes connectable to one gateway and the current amperage of VDC, figure out (1) to () below and follow (6). (1) The Calculation of Number of Connectable Axes, and Motor Current Consumption Condition 1: Sum of motor current consumption connectable to one hub : 1.8A or less Condition : Number of controlled axes connectable to corresponding 1 : axes or less * By adjusting the number of connected axes or motor type, select the connected axes so each hub satisfies the formulas below. Sum of motor current consumption for hub = Motor current consumption of 1st axis + Motor current consumption of nd axis (if connected) Sum of motor current consumption + Motor current consumption of 3rd axis (if connected) + Motor current consumption of th axis (if connected) 1.8A = Motor current consumption of hub 1st + Motor current consumption of nd hub (if connected) + Motor current consumption of 3rd hub (if connected) + Motor current consumption of th hub (if connected) () Control Power Current Consumption: 0.3A Number of actuator + 0.6A (gateway ) + 0.3A Number of hub (3) Consumption current when excited phase detected: The maximum current value of the total motor consumption current when servos are turned on at the same time () Inrush Current: 8.3A (Motor type 8P, 3P, P, 6P) A (Motor type 6SP, 60P) () Current Consumption of Brake Release: Number of actuators with brake 0.7A * When servo is on, it should be 0.sec or less, after that retaining of released status should be 0.1A / axis. (6) Selection of Power Supply: Usually, the rated current is to be approximately 1. times higher than the total of Control Power + + above considering approximately 0% of margin to the load current. However, although it is for a short time, current of and will flow, so please take this into account and select a peak load support specification or select a power supply that has sufficient headroom. Avoid having all of the current from and from flowing at the same time by turning the servos on at different times from each other (Note 1). If a power supply with insufficient headroom is selected, voltage may drop instantaneously. Be careful especially when selecting a power source equipped with remote sensing. Note 1: The timing to turn the servo on can be tuned in Parameter No. 16 [Latency after Shutdown Release]. (Note) Ensure motor and control power supplies reference the same potential when using multiple power supplies. RCP6S 18

3 RCP6S Builtin Controller Options Unit (RCMP6GW) Features: This is used in order to connect RCP6S to the field network. Details: Compatible with many field networks. (Applicable networks: CCLink, DeviceNet, PROFIBUSDP, EtherCAT, EtherNet/IP, PROFINETIO) Motor power and control power for all of the connected axes can be supplied through the gateway. Monitoring during AUTO is possible. A miniusb connection comes standard. Each channel has O/I for drive source cutoff. Brake can be forcibly released by supplying power to the brake release input terminal for each channel. (In the case that the actuator is directly connected) When RCP6S is directly connected to the gateway, the communication time is msec. When RCP6S is connected to the gateway through the hub, the communication time is 0msec. The communication time does not become longer even if the connected axes increase. RCM Series P6GW Type (Blank) Standard (Separate controller) G Safety category compliant Connection Image CBRCP6SPWBIO CBRCP6SPWBIO RB (Robot cable) * Supplied with the actuator CC DV PR EC EP PRT The Number of Connectable Axes: Field network CCLink connection specification DeviceNet connection specification PROFIBUSDP connection specification EtherCAT connection specification EtherNet/IP connection specification PROFINET IO connection specification PC Teaching pendant TB0 CBRCP6SRLY CBRCP6SRLY RB (Robot cable) * Sold separately Maximum connectable axes for RCP6GW are as shown below. Direct value Simple direct value Positioner 1 Positioner Positioner 3 Positioner CCLink DeviceNet PROFIBUS EtherCAT EtherNet/IP PROFINET IO Available Models Models CCLink specification DeviceNet specification PROFIBUS specification EtherCAT specification EtherNet/IP specification PROFINET IO specification Safety category CCLink specification Safety category DeviceNet specification Safety category PROFIBUSDP specification Safety category EtherCAT specification Safety category EtherNet/IP specification Safety category PROFINET IO specification * For safety category compliant specification, DP will be included. Up to 16 axes (*1) of RCP6S can be connected per gateway with hub s. (*) Because both the motor power and control power for all the axes connected to the gateway can be supplied together, the required wiring for RCP6S can be connected as one cable between the hub and RCP6S. Also RCP6S can be directly connected to the gateway. (*1) Number of connectable axes varies depending on the type of the field network. Please see Number of connectable axes table for details. (*) : Refer to P. 1 for the details. 19 RCP6S

4 RCP6S Builtin Controller Field Network Control Operation Mode These control s are available to choose from when using the RCP6S. Data required for operation (target position, speed, acceleration, push current value, etc.) are written by a or other host controller into the specified addresses. Operation Description Overview Positioner 1/ Simple direct numerical value (Simple direct ) Positioner 1 can store up to 6 points of position data, and can move to the stored position. Both s allow monitoring the current position numerically with 0.01mm increments. The simple direct numerical value can modify any of the stored target positions by numerical value. Both s allow monitoring the current position numerically with 0.01mm increments. Target position Target position number Control signal Current position Completed position number Status signal +V Direct numerical control (Direct indication/ Full ) This allows designating the target position, speed, acceleration/deceleration, and motor current percentage for pushing numerically. Also, it is capable of monitoring the current position, current speed, and the motor current command value with 0.01mm increments. Target position Positioning band Speed, acceleration/deceleration Pushing percentage Control signal Current position Motor current (command value) Current speed (command value) Alarm code Status signal +V Positioner Positioner can store up to 6 points of position data, and can move to the stored position. This does not allow monitoring of the current position. This is a that has less in/out data transfer volume than the Positioner 1. Target position number Control signal Completed position number Status signal +V Positioner 3 Positioner 3 can store up to 6 points of position data, and can move to the stored position. This does not allow monitoring of the current position. This is a that has less in/out data transfer volume than the Positioner, and operates with a minimum number of signals. Target position number Control signal Completed position number Status signal +V Positioner Positioner can store up to 16 points of position data, and can move to the stored position. This is a that has less in/out data transfer volume than the Positioner, and allows monitoring the current position numerically with 0.01mm increments. Target position number Control signal Current position Completed position number Status signal +V RCP6S

5 RCP6S Builtin Controller List of Functions by Operation Mode Simple direct value Positioner 1 Direct numerical control (Direct indication/full ) Positioner Positioner 3 Positioner Number of positioning points 6 points 6 points Unlimited 6 points 6 points 16 points Home return operation Positioning operation Speed, acceleration/deceleration settings Different acceleration and deceleration settings Pitch Feed (Incremental) Pushmotion operation Speed changes while moving Pausing Zone signal output Position zone signal output Current position reading (Resolution) (0.01mm) (0.01mm) (0.01mm) * indicates that direct setting is possible, indicates position data or parameter input is required, indicates the operation is not supported. (0.1mm) Names and Functions of Each Part (1) () (3) () () (6) (7) (8) External Dimensions φ 1. 3 (9) <Bottom> 13 () (11) 6. (1) Field network connector The connector used to connect to the field network. () System I/O connector The connector for emergency stop input, external AUTO/MANU switchover input, and brake release input in case of directly connecting RCP6S to a gateway. (3) Operation setting switch For switching the operation between automatic (AUTO) and manual (MANU). () SIO connector The connector used to connect a teaching pendant or PC software. () USB connector The connector used to connect the PC software. (6) Drive power cutoff connector The connector used to connect an external drive power cutoff relay to the VDC power supply from the motor power connector. (7) Motor power supply connector For VDC motor power supply for a gateway. (8) Control power supply connector The connector for the gateway VDC control power supply and the frame ground (FG). (9) Status display LED Displays the status of the gateway. Code LED Display color and operating status. 1. (6.) (3mm DIN rail width) from the DIN rail center LED1 SYS LED AUTO LED3 LED EMG T. ERR LED C. ERR System status Ready (Green) Alarm (Red) Operation (AUTO/MANU) status Automatic operation (Green) Emergency stop (EMG) status Emergency stop (EMG)(Red) Bus communication error in the controller T.ERR (Orange) Field bus network communication error C.ERR (Orange) () Axis control connector The connector used to supply power and control signals (VDC control power, VDC motor power, communication line, brake release signal, emergency stop status, etc.) from the gateway to the hub or RCP6S. (11) Axis power supply connector The connector used to supply VDC motor power via gateway to either a RCP6S or a hub. 11 RCP6S

6 RCP6S Builtin Controller Unit Basic Specifications Specification Number of controlled axes Power supply voltage Control power capacity Motor power capacity Cooling method Emergency stop input Enable input T.P. enable input Enable operation Backup memory Calendar function board LED display Tool connection Electromagnetic braking forced release mechanism Electric shock protection mechanism Insulation withstanding voltage Weight External dimensions Description 16 axes max. ( axes with a single gateway ) VDC±% 0.6A (0.3A with a single gateway + field bus module 0.3A) External V power supply Consumption current 6.6A (0A effective)* Natural air cooling B contact input None Yes Servo OFF FRAM (6kbit), No. of overwrites: Unlimited Yes (retains data for days after power off) SYS LED 1 (RUN/ALM), EMG LED 1, MODE LED 1 (AUTO/MANU), T.ERR LED 1, C.ERR LED 1 Field bus module status LED T/P connector: RS8 1ch (Modbus protocol compliant) USB connector: USB 1ch System I/O connector: External brake release signal input (VDC) *Only used when an RCP6S is directly connected to the gateway. Disabled when a hub is connected. Class 1, basic insulation 00VDC MΩ 0g 3W 11H 13D *The amount limited by the connectors rated current and PCB trace widths through to the actual 0A value. 0 = 6.6A Options Unit (RCMP6HUB) Features: The connection between gateway hub and hub RCP6S can be established using serial communication. By using a gateway with hub s, up to 16 axes can be controlled. * The number of connectable axes will vary depending on the type of field networks and its. Please see P. 19 for the details. The hub cannot be used alone. It must be used with a gateway. Model Configuration RCM Series P6HUB Type Mounting specification (Blank) Screw mounting specification DN DIN rail mounting specification External Dimensions [DIN rail specification] [Screw mounting specification]. Specification (6.) (3mm DIN rail width) 66. from the DIN rail center φ φ Specification Description Number of controlled axes axes max. Power supply voltage VDC±% Control power capacity 0.3A (single hub ) Motor power capacity 1.8A max. from connected axes Emergency stop input None Enable input None LED display SYS LED 1 (RUN/ALM) AXIS LED (RUN/ALM) Electromagnetic braking External brake release forced release mechanism switch Electric shock protection mechanism Class 1, basic insulation Insulation withstanding voltage 00VDC MΩ Contamination Contamination Weight 80g External dimensions 3W 11H D RCP6S 1

7 RCP6S Builtin Controller Options Connection Unit (RCBP6) Features: This is a terminal block used to connect the RCP6S and the using serial communication. The RCP6S and the connection can be easily connected with a cable. * The gateway and the hub cannot be connected to this connection. Model Configuration RCB Series P6 Type Mounting specification (Blank) DN Screw mounting specification DIN rail mounting specification Connection Image Emergency stop switch connection DCV Power Supply V 0V FG Specification Specification Number of controlled axes Power supply voltage Control power capacity Motor power capacity Emergency stop input Enable input LED display Electromagnetic braking forced release mechanism Electric shock protection mechanism Insulation withstanding voltage 1 axis VDC±% Description 0A for single connection 0.3A for connected s + RCP6S builtin driver For brake type, 0.7A for 0. sec is required for releasing brake Depending on RCP6S builtin driver B contact input None None External brake release signal input (VDC) Class 1, basic insulation 00VDC MΩ Contamination Contamination Weight External Dimensions 6g 3W 11H D External Dimensions [DIN rail specification] [Screw mounting specification] φ φ from the DIN rail center 11 (6.) 3. (3mm DIN rail width) Options Touch Panel Teaching Pendant Features A teaching device equipped with functions such as position teaching, trial operation, and monitoring. Model 13 RCP6S TB0C (See P.13) PC Compatible Software (for Windows) Features This is startup support software which comes equipped with functions such as position input, trial operation, monitoring, etc. A complete range of functions needed for making adjustments contributes to a reduced startup time. Model Model RCM1MW (See P.13) (with an external device communication cable + RS3 conversion ) RCM1USB (See P.13) (with an external device communication cable +USB conversion adapter + USB cable)

8 1 RCP6S Builtin Controller Maintenance Parts When placing an order for the replacement cable, please use the l number shown below. For connecting RCP6S to gateway, hub, or connection. Model number CBRCP6SPWBIO /CBRCP6SPWBIO RB Actuator side (φ7.0) (Note 1) Standard cable L Robot cable Minimum bending radius m or less r= 6mm or more (Dynamic bending condition) Longer than m r= 6mm or more (Dynamic bending condition) * The robot cable is designed for flexresistance: Please use the robot cable if the cable has to be installed through the cable track. (Note 1) If the length of the cable is over m, it would be φ8.0., hub or conn. side *There are restrictions on the total cable length. Please check with the [Notes] on P.. DF6C13S.C (HIROSE ELECTRIC CO., LTD.) Gray (AWG/19) Blue (AWG/19) Orange (AWG/19) Green (AWG/19) Brown (AWG/19) Orange (AWG6) Light blue (AWG6) Red (AWG6) Gray (AWG6) Green (AWG6) Brown (AWG6) Black (AWG6) Signal name CP AM_SD+ CT_SD+ CT_SD AM_SD CT_SD BK EMGS FG * Please indicate the cable length (L) in, maximum 0m, e.g.) 080 = 8m Pin No Center Interposition Pin No. Signal name 1 CP DF6C13S.C (HIROSE ELECTRIC CO., LTD.) 7 3 AM_SD+ CT_SD+ AM_SD BK EMGS Gray (AWG/19) Blue (AWG/19) Orange (AWG/19) Green (AWG/19) Brown (AWG/19) Orange (AWG6) Light blue (AWG6) Red (AWG6) Gray (AWG6) Green (AWG6) Brown (AWG6) 1 FG Black (AWG6) For connecting a gateway and a hub Model number CBRCP6SRLY /CBRCP6SRLY RB Standard cable φ9.0 L Robot cable CN3 J11DF06VKX (S.T.MFG.CO.,LTD.) Brown (AWG18) Gray (AWG18) Red (AWG18) Blue (AWG18) Orange (AWG18) Green (AWG18) * Please indicate the cable length (L) in, maximum m, e.g.) 030 = 3m Available standard lengths: 1m/3m/m/m Signal name Pin No. B1 B B3 A1 A A3 CN3 J11DF06KX (S.T.MFG.CO.,LTD.) Pin No. Signal name B1 B B3 A1 A A3 Brown (AWG18) Gray (AWG18) Red (AWG18) Blue (AWG18) Orange (AWG18) Green (AWG18) side Minimum bending radius r= 7mm or more (Dynamic bending condition) * The robot cable is designed for flexresistance: Please use the robot cable if the cable has to be installed through the cable track. * Please contact IAI if the cable length other than above is needed. CN side CN DF6C13S.C (HIROSE ELECTRIC CO., LTD.) DF6C13S.C (HIROSE ELECTRIC CO., LTD.) Signal name Pin No. Pin No. Signal name Blue (AWG) CP 1 1 CP Blue (AWG) Orange (AWG) Orange (AWG) Green (AWG) Green (AWG) Brown (AWG6) AM_SD+ 6 6 AM_SD+ Brown (AWG6) Green (AWG6) AM_SD AM_SD Green (AWG6) Red (AWG6) CT_SD+ 7 7 CT_SD+ Red (AWG6) Gray (AWG6) CT_SD 3 3 CT_SD Gray (AWG6) Light blue (AWG6) Light blue (AWG6) Orange (AWG6) EMGS EMGS Orange (AWG6) 13 Center Interposition 13 Black (AWG6) FG 1 1 FG Black (AWG6) Extension cable for connecting RCP6S to gateway, hub, or connection. Model number CBRCP6SPWBIO JY1/CBRCP6SPWBIO JY1RB Standard cable Robot cable * Please indicate the cable length (L) in, maximum 0m minus basic cable length, e.g.) 030 = 3m Available standard lengths: 1m/3m/m Actuator side Minimum bending radius r= 6mm or more (Dynamic bending condition) * The robot cable is designed for flexresistance: Please use the robot cable if the cable has to be installed through the cable track. * Please contact IAI if the cable length other than above is needed. L φ8.0, hub or conn. side Extension cable for connecting a gateway and a hub. Model number CBRCP6SRLY JY1/CBRCP6SRLY JY1RB Standard cable Robot cable * Please indicate the cable length (L) in, maximum m minus basic cable length, e.g.) 030 = 3m Available standard lengths: 1m/3m/m side φ9.0 Minimum bending radius r= 7mm or more (Dynamic bending condition) * The robot cable is designed for flexresistance: Please use the robot cable if the cable has to be installed through the cable track. * Please contact IAI if the cable length other than above is needed. L CN CN3 JST J10 side J11DF06VKX (S.T.MFG.CO.,LTD.) Brown (AWG18) Gray (AWG18) Red (AWG18) Blue (AWG18) Orange (AWG18) Green (AWG18) DF6C13S.C (HIROSE ELECTRIC CO., LTD.) Blue (AWG) Orange (AWG) Green (AWG) Brown (AWG6) Green (AWG6) Red (AWG6) Gray (AWG6) Light blue (AWG6) Orange (AWG6) Black (AWG6) Signal name Signal name CP AM_SD+ CT_SD+ CT_SD AM_SD CT_SD EMGS FG Pin No. B1 B B3 A1 A A3 Pin No Center Interposition CN DF6B13EP.C (HIROSE ELECTRIC CO., LTD.) Pin No. Signal name 1 CP AM_SD+ CT_SD+ DF6B13EP.C (HIROSE ELECTRIC CO., LTD.) DF6C13S.C (HIROSE ELECTRIC CO., LTD.) Signal name Pin No. Pin No. Signal name Gray (AWG18) CP 1 1 CP Gray (AWG18) Blue (AWG18) 8 8 Blue (AWG18) Orange (AWG18) 9 9 Orange (AWG18) Green (AWG18) Green (AWG18) Brown (AWG18) Brown (AWG18) Orange (AWG6) AM_SD+ 6 6 AM_SD+ Orange (AWG6) Light blue (AWG6) AM_SD AM_SD Light blue (AWG6) Red (AWG6) CT_SD+ 7 7 CT_SD+ Red (AWG6) Gray (AWG6) CT_SD 3 3 CT_SD Gray (AWG6) Green (AWG6) BK BK Green (AWG6) Brown (AWG6) EMGS EMGS Brown (AWG6) 13 Center Interposition 13 Black (AWG6) FG 1 1 FG Black (AWG6) AM_SD EMGS 1 FG CN3 J11DFM06KX (S.T.MFG.CO.,LTD.) Pin No. Signal name B1 B B3 A1 A A3 7 3 Brown (AWG18) Gray (AWG18) Red (AWG18) Blue (AWG18) Orange (AWG18) Green (AWG18) Blue (AWG) Orange (AWG) Green (AWG) Brown (AWG6) Green (AWG6) Red (AWG6) Gray (AWG6) Light blue (AWG6) Orange (AWG6) Black (AWG6) RCP6S 1