Iai pulse driver_specsheet
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The document discusses the P-Driver pulse-train input driver that enables flexible control of IAI's ROBO CYLINDER actuators and single-axis robots. The P-Driver can control a wide range of actuators with various options and functions including torque limiting, brake control, feedback, and feed-forward control. It connects to actuators, provides power connections, and includes status indicators and connectors for communication, I/O signals, and encoders.
Iai pulse driver_specsheet
- 1. AGENT SECOND EDITION Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 2. Pulse-Train Input Driver for Positioning P-Driver is a pulse-train input driver that enables flexible operation of IAI's ROBO CYLINDER and single-axis robots. (Note 1) (Note 1) Certain types of ROBO CYLINDER cannot be operated by P-Driver. See the table below for the compatible actuator types. Controller Positioning command Number of positioning points Input power supply Compatible actuators RCP RCS-SA4/ SA5/SA6 RCS-RA35/ RA45 RCS-RB7525 RCS-SS/ SM RCS-SSR/ SMR RCS-RA55/ F55 RCS-RB7530 RB7535 DS (T1 specification) SS IS/ISP ISD ISD-CR ISPD-CR IF FS (All T1 specification) 12RS (T1 type) RCS-R10I RCS-R20I RCS-R30I RCS-G20I 64 points 100VAC 200VAC Pulse train (Sequence control) No limitation 100VAC 200VAC PIO (Position number) 16 points 16 points 100VAC 200VAC 24VDC 24VDC Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 3. Flexible Control of IAI's ROBO CYLINDER and Single-Axis Robots Using Pulse Train • The P-Driver can control a wide range of ROBO CYLINDERS and single-axis robots in desired manners. (Motor wattage: 20W to 750W, Strokes: 50mm to 3,000mm) • The P-Driver comes fully assembled and pre-formatted to the specific actuator ordered. Pulse generator Cost, assembly time and design time can be reduced as compared to integrating a system in-house by assembling the ballscrew, motor, linear guides and various other parts. • Pulse-train control puts no limitation on the number of positioning points. Dedicated Homing Signal The dedicated homing input enables automatic homing without programming a complex sequence. Torque Limiting Function Torque can be limited using external signal (via parameter setting). Signal is output when the specified toque is reached. Push operation and press-fitting become possible with the use of this function. Brake Control Function • The actuator’s brake (optional) is controlled via a dedicated circuit inside the controller. There is no need to program a special sequence. • With the use of a dedicated power supply (24 VDC), the brake can be forcibly released while the driver’s main power is off. Feedback Function • Position detection data can be output in pulse trains (differential output). This enables reading of the current position in real time from the host controller. Feed-Forward Control Function • Response can be improved under certain conditions when the load inertia ratio is high. Increasing the parameter setting decreases the deviation, thus resulting in improved resonse. (Deviation is the difference between the position command and the position feedback.) Position-Command Primary Filter Function • Soft start and stop are possible even with command pulse inputs for which acceleration/deceleration is not specified. Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 4. Model System Configuration Options Series PDR: P-Driver Encoder type I: Incremental Motor capacity 20: 20W / 30: 30W / 60: 60W / 100: 100W / 150: 150W 200: 200W / 400: 400W / 600: 600W / 750: 750W Options (Blank): None / B: Brake / C: Creep sensor / L: Limit switch Power-supply voltage 1: 100V / 2: 200V I/O method (Blank): NPN specification / P: PNP specification Compatible Actuators: Ballscrew Drive Type Belt Drive Type Clean Room Type ROBO CYLINDER Slider Type ROBO CYLINDER Rod Type ROBO CYLINDER Flat Type ROBO Rotary ROBO Gripper Power supply for electromagnetic brake, 24VDC PC software (optional) Model PDR-101-MW PC link cable, 1.5m (supplied with PC software) Model CB-ST-SIO015 Regenerative resistance unit (optional) Model REU-1 Standard motor cable, 3m (supplied with actuator) Standard encoder cable, 3m (supplied with actuator) Main power supply, 100VAC 200VAC Plug and shell (supplied with controller) External I/O cable (optional) Model CB-PD-PIOS020 Pulse output device Power supply for external I/O signals, 24VDC (Note) Only a cable with plug and shell is provided for a connection to an external device. Solder the cable or use an optional external I/O cable. PC software Model Content: Floppy disks, PC link cable 1.5m (Unit model CB-ST-SIO015) Used to set P-Driver parameters, monitor jogging operation during debugging, check various signals, and so on. PC link cable Taiyo Electric Wire & Cable (7-core twisted paired cable with shield; UL/cUL compliant) D-sub 9-pin socket: XM2D-0901 (Omron) Hood: XM2S-0913 (Omron) D-sub 9-pin socket: XM2D-0901 (Omron) Hood: XM2S-0913 (Omron) Wiring diagram Controller side PC side Wiring diagram External I/O cable Model Content: Plug, shell and 2-m shielded cable (no connector at end) Use this cable for connection with a pulse output device. Sunlight SX (N), 13P x 0.2sq. (Taiyo Electric Wire & Cable) Wire AWG24 x 7 cores Wire AWG24 x 7 cores Color Orange with black dots Orange with red dots Vinyl wire Yellow with black dots (Shorted) Vinyl wire (Shorted) Color Orange with black dots Orange with red dots Vinyl wire Yellow with black dots (Shorted) Vinyl wire (Shorted) Signal Signal Signal Plug: 10126-3000VE (Sumitomo 3M) Shell: 10326-52A0-008 (Sumitomo 3M) No connector at end Note 1: Twisted paired cable Note 1 Black White/black Red White/red Green White/green Yellow White/yellow Brown White/brown Blue White/blue Gray White/gray Orange White/orange Purple White/purple Light green White/light green Pink White/pink Light blue White/light blue White Black/white Shield Color Black White/black Red White/red Green White/green Yellow White/yellow Brown White/brown Blue White/blue Gray White/gray Orange White/orange Purple White/purple Light green White/light green Pink White/pink Light blue White/light blue White Black/white Shield End without connector Wire 0.2sq., soldered Shield is connected to a cable clamp Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 5. Name of Each Part Status indicator LED RUN (green) RDY (green) ALM (red) ENC (yellow) Input connector for electromagnetic-brake power supply Input connector for actuator sensor (optional) Motor connector Connector for regenerative resistance unit (optional) Input connector for main power supply Communication connector I/O signal connector System setting switch Brake release switch Encoder/brake connector Regenerative Resistance Unit This unit converts the regenerative current that generates when the motor decelerates into heat. A regenerative resistor is installed in the controller, but its capacity may not be sufficient if a large load is supported on a vertical axis. In this case, a separate regenerative resistance unit is required. Model Features Specifications Item Unit dimensions Unit weight Ratings of built-in regenerative resistance Accessory Specification Controller link cable (Model CB-ST-REU010), 1m Installation Standards Motor wattage 20~150W 200~600W 750W Horizontal application Not required. *The above table shows reference values when the driver is used in the rated conditions (load capacity, speed and acceleration). Dimensions Input connector for main power supply ... Connects the power supply. Connector for regenerative resistance unit ... Connects a regenerative resistance unit (optional). Motor connector ... Connects the actuator’s motor cable. Input connector for actuator sensor ... Connects cables from the actuator’s sensors such as LS, CREEP and OT (optional). Input connector for electromagnetic-brake power supply ... Connects the power supply for electromagnetic brake. Specification Table (An electromagnetic brake requires an external power supply.) Status indicator (LED) ... Used to monitor the controller’s operating condition. Communication connector ... Connects the PC software cable. I/O signal connector ... Connects the control I/O signals. System setting switch ... This switch is used to change the encoder voltage and for remote start operation. (The rotary switch is used for adjustment by the manufacturer.) Brake release switch ... This switch is used to forcibly release the brake. Encoder/brake connector ... Connects the actuator’s encoder/brake cable. 200V specification: single-phase, 200 to 230VAC 10%, 50/60Hz Sine wave PWM, vector current control Incremental encoder Regenerative resistance Position control via pulse-train input Max. 500kpps (differential) / Max. 200kpps (open-collector) A, B = 1 to 4096 1/50 < A/B < 50/1 (parameter setting) 1 to 4096 pulses (parameter setting) 24VDC 20%, 0.8A (supplied externally) 24VDC 20%, 1A (peak value) (supplied externally) RS232C (for dedicated PC software) Motor overvoltage, overcurrent, abnormal driver temperature, encoder error, motor overload, etc. 0 to 40°C, 85%RH or less (non-condensing) -20 to 70°C (non-condensing) Free from corrosive or flammable gases, oil mist or dust. 4.9m/s2 1500VAC for 1 minute (1000VAC for 1 minute with actuator connected) Open, forced air cooling (IP20) 1.2kg Actuator motor capacity Power capacity Input power supply Control method Position detection method Braking method Control mode Maximum input pulse frequency Command pulse magnification (electronic gear: A/B) Positioning completion width Function/ performance Power supply for I/O signal I/F Power supply for electromagnetic brake Communication function Protection functions Environmental conditions Operating temperature/humidity Storage temperature Operating ambience Durability/vibration Insulation resistance Protection structure Weight 100V specification: single-phase, 100 to 115VAC +— 10%, 50/60Hz +— +— +— Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 6. Interface Circuit Sequence input part Item Number of input signal points Input voltage Input current Operating voltage Insulation method Description 5 points 24VDC 20% 7mA/point ON voltage ... Min. 16V (4.5mA) OFF voltage ... Max. 6V (1.4mA) Photo-coupler P-Driver P-Driver Command Pulse-Train Input Part Sequence output part Item Number of output signal points Rated load voltage Maximum load current Residual voltage Insulation method Overcurrent protection Description 6 points 24/60VDC (peak; without flywheel diode) 100mA/point 1.8V/100mA Photo-coupler Fuse resistance: 10Ω, 0.1W NPN specification PNP specification NPN specification PNP specification External power supply 24VDC External power supply 24VDC External power supply 24VDC External power supply 24VDC Pin No. 1, 2 Pin No. 1, 2 Pin No. Pin No. 1, 2 1, 2 Pin No. 15/(17) Pin No. 19/(21)/(23) Pin No. 20/(22)/(24) Pin No. 15/(17) 16/(18) 16/(18) Each input Each input Internal circuit Internal circuit Internal circuit Internal circuit Fuse resistance 10Ω, 0.1W Fuse resistance 10Ω, 0.1W 2.2kΩ 14 14 14 14 3.3KΩ 3.3KΩ 560Ω 560Ω Each output Each output Load Load Differential line-driver input Feedback pulse output Open-collector input Applicable line driver: 26C31 or equivalent Pull-up resistance: 2.2kΩ Applicable line receiver: 26C32 or equivalent P24 N24 P-Driver P-Driver P-Driver P-Driver P-Driver Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 7. Pin No. I/O category Code Signal name Function Power-supply common for external I/O signals, 24VDC, connected to the + side (Pins 1 and 2 are connected internally.) Turns ON when control is enabled following a power input. Synchronized with ON/OFF of the corresponding LED located on the front side of the enclosure. Turns ON when the servo is turned ON (operation is enabled). Synchronized with ON/OFF of the corresponding LED located on the front side of the enclosure. Turns ON when the robot enters the in-position range set by parameter. Turns ON when homing is complete. Turns ON when the actuator output reaches the parameter-set torque limit while TL is ON. Turns OFF when a protection circuit (function) is actuated and the base current is interrupted (this signal is normally ON). Motor is turned on when input is on. Required for movement. Alarm is reset when this signal turns ON. Homing starts when this signal turns ON. Limiting of actuator torque starts when this signal turns ON. (Torque limiting is cancelled when the signal turns OFF.) When this signal turns ON, the robot decelerates to a stop at the forced stopping toque and the servo is turned OFF. Power-supply common for external I/O signals, 24VDC, connected to the - side Command pulse-train input: Open-collector method (Max. 200kpps) Differential receiver method (Max. 500kpps) Command pulse mode is specified (from 6 modes) using parameter. Position detection data is converted to pulses and output (phases A, B and Z). Pulse output mode is specified (from 6 modes) using parameter. For feedback pulse output Line driver ground line (Pins 25 and 26 are connected internally.) Standard Connection Diagram A connection diagram of P-Driver proper is provided. External I/O Signals Power supply for I/O Sequence signal output Sequence signal input Power supply for I/O Command pulse input Feedback pulse differential output Reference potential Actuator Power supply: Single-phase, 100VAC Single-phase, 200VAC Brake power supply: 24VDC (When the actuator is equipped with a brake) 0V (NPN specification) 24VDC (PNP specification) 24VDC (NPN specification) 0V (PNP specification) Power supply for I/O signal I/F: 24VDC Connect the PIO shielded cable to the connector shell. An optional external I/O cable is already connected. Feedback pulse output (differential) Power-supply common (+) System ready Operation ready Positioning completion Homing completion Torque limiting Alarm Servo ON Alarm reset Homing command Torque limit selection Forced stop Power-supply common (-) Pulse-train input Reference potential Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 8. E Command Pulse Input Modes Command pulse-train mode Input terminal Forward Reverse Forward pulse train Reverse pulse train A forward pulse train indicates motor revolutions in the forward direction, while a reverse pulse train indicates motor revolutions in the reverse direction. Pulse train Sign A command pulse indicates motor revolutions and its sign indicates the rotating direction of the motor. Phase A/B pulse train Motor revolutions and rotating direction are specified by phases A/B (4 multiplications) with a 90-degree phase difference. Forward pulse train Reverse pulse train Pulse train Sign Phase A/B pulse train Positive logic Negative logic * Output modes of feedback pulse follow the same classification. External Dimensions Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com