User Manuals
PCU Version 1.2.6
苏州柔触机器人科技有限公司 Suzhou Rochu Robotics Co., Ltd 苏州柔触机器人科技有限公司 Suzhou Rochu Robotics Co., LTD. CONTENTS
Preface...... 3
What’s In the Box...... 3 Important Safety Instructions...... 4 Where Can Find More Information...... 4
I Selection Instructions...... 5
Rochu Control Unit Selection Rules...... 5 Rochu Control Unit Function Parameters...... 5
II Using Guidelines...... 6
Confirm Application Environment...... 6 Installation Circuit...... 6 Installation Gas Circuit...... 6 Basic Function Debugging...... 7 Application Debugging...... 7
III Safety Instructions...... 8
PCU -Rochu Passive Control Unit...... 8 PCU Operation Panel...... 9
IV Signal Communication Instructions...... 13
Signal Communication Cable Instructions...... 13 Control Section...... 14 Feedback Section...... 14 Electronic Pressure Regulation Section...... 14 Modbus Section...... 15
V Debugging Instructions...... 18
Name of each part of digital display...... 18 Unlock and Lock...... 18 Zero Calibration...... 19 Modify Threshold...... 19 Peak/bottom Value Indication...... 20
VERSION1.2.6 2 / 20 PCU 苏州柔触机器人科技有限公司 Suzhou Rochu Robotics Co., LTD.
Preface
Thank you for choosing Rochu gripper control unit which developed by Suzhou Rochu Robotics.
PCU Rochu Passive Control Unit
Rochu control unit is the special control unit for Rochu gripper. It integrates everything of controlling the Rochu gripper, and uses an open source control mode which can communicate with any manipulator. User can easily and efficiently control the Rochu gripper by writing the program of the manipulator.
What’s In the Box
When you book a complete set of Rochu gripper, you will receive two boxes. One with a Rochu gripper, one with the following: Rochu control unit remote control power adapter communication cable fittings handbook
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Important Safety Instructions
Rochu control unit is the important and unique accessory to complete the specified action and ensure the lifetime of Rochu gripper. Therefore, every time when install Rochu gripper and control unit, user must strictly execute the safety instructions in Chapter II and III.
Where Can Find More Information
Our company website (www.rochu.com) has an electronic version of this handbook, and the following information is provided: all models of Rochu gripper all models of rochu control unit catalogue case video the latest news of Rochu contact and address
VERSION1.2.6 4 / 20 PCU 苏州柔触机器人科技有限公司 Suzhou Rochu Robotics Co., LTD. I Selection Instructions
Rochu Control Unit Selection Rules
Rochu Control Unit Function Parameters
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II Using Guidelines
After you get the Rochu products, please follow the following general steps to install and use, each series of drives slightly different, please pay attention to the step description.
Confirm Application Environment
PCU Application environment: avoid a lot of dust, oil pollution and corrosion. Gas source: pressure 0.45 ~ 1.0 MPa, flow > 200 L/min dry clean air. Control terminal: I/O mode, output port 2, input port 2. Modbus mode, TCP port or RTU-485 serial port. Input port is used to receive drive feedback signal, which can be replaced by time delay
Installation Circuit
PCU 1. Please use the DC 24V power adapter in the fittings, connect to the control unit‘s power outlet, and power the control unit. 2. Check whether the central values of the two digital meters on the operation panel are zero. If not, please check zero. Refer to Chapter V.
Installation Gas Circuit
PCU 1. Connect the air source pipe to the air input of PCU. If the pipe diameter is different, please use the variable diameter joint in the fittings. Air source pipe diameter recommended in 10~12 mm. 2. Connect Rochu gripper into the air output of PCU. Please use the variable diameter joint in the fittings.
VERSION1.2.6 6 / 20 PCU 苏州柔触机器人科技有限公司 Suzhou Rochu Robotics Co., LTD. If the speed of the gripper is required, shorten the length of air pipe between the gripper and the control unit as far as possible, and install the diameter-changing joint near the gripper’s air input.
Basic Function Debugging
PCU 1. Adjust the ‘Positive Pressure Posture Regulation‘ knob on the operation panel of the control unit to reduce the air pressure input to the operating range. The air pressure value is displayed on the ‘Set Working Positive Pressure‘ digital display meter. The working pressure regulator of PCU-xVx/PCU-xAx is controlled by external analog signals. Refer to Chapter IV. 2. Use the remote control in fittings to verify the function of the control unit. The upper key controls gripper pressure posture, the middle key controls gripper relaxation posture, and the lower key controls gripper vacuum posture. The Rochu beak products are in opposite pressure and vacuum states, that is, the upper key controls the beak opening, the medium key controls the beak relaxing, and the lower key controls the beak grabbing. Since PCU has the vacuum holding function, the vacuum posture can not immediately return to the atmospheric pressure relaxation posture.
Application Debugging
PCU 1. Familiar with the functions of each part of the control unit's operation panel, please refer to the contents of chapter III. 2. Confirm the type of signal communication and connect the application terminal device with the signal communication cables in the fittings. Refer to Chapter IV for detailed wiring. 3. To confirm the application conditions, debug feedback, modify the threshold, set parameters and other operations, please refer to the contents of Chapter V.
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III Safety Instructions
Before using the rochu products, please be aware of the type of the rochu control unit you purchased, and check the safety instructions that should be paid attention to according to the model.
PCU -Rochu Passive Control Unit
VERSION1.2.6 8 / 20 PCU 苏州柔触机器人科技有限公司 Suzhou Rochu Robotics Co., LTD. PCU Operation Panel
Compressed Air (Air Input) 10 mm pipe diameter quick insertion interface, connected with air source. If the pipe diameter of the air source is not 10mm, it can be transferred with the fittings. Please use dry clean air sources above 0.45 - 1.0 MPa and 200 L/min. If more than 1.0 MPa will damage the internal components of the control unit, it will greatly reduce the service life of the control unit. Please be sure to comply with this condition. Gripper (Air Output) 10mm diameter quick insertion interface. If the pipe diameter of the Rochu gripper is not 10 mm, it can be transferred with the fittings. After transfer, it can be directly connected with the Rochu gripper. Check the tightness to ensure no air leakage. Modbus TCP TCP network interface. Modbus protocol communication address, please refer to Chapter IV. There is also a Modbus RTU mode based on RS-485 interface in the signal communication cable. Signal Communication DB25 serial port. I/O Control, please refer to Chapter IV. Power 24VDC, 5.5X2.1mm interface. Power the control unit, using the adapter in the fittings(220VAC 50Hz - 24VDC 1.5A). Set Working Positive Pressure After the air path is properly installed, the digital display meter real-time displays the working pressure value of the Rochu gripper. Please confirm that the digital display meter is shown below.
Normal High-pressure
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Among them, ① is the safe pressure threshold of the ‘Air Output‘, the default value is 120 kPa (305 kPa for high-pressure version), that is, the working pressure of the Rochu gripper must be controlled below 120 kPa(305 kPa for high-pressure version), otherwise the unit will stop working. ② is the real-time working pressure of the Rochu gripper, which is referred to our technician's recommended pressure value according to the model, quantity and operating conditions of the Rochu gripper you use. ③ is the safety sign. Normally, the signal ‘OUT 1’ is always on. If the signal ‘OUT 1’ does not show, please adjust ‘Positive Pressure Posture Regulator’ to adjust the pressure, and reduce the working pressure below the set safety pressure threshold. ④ is the pressure unit of the value. If the value exceeds the safety pressure threshold, the meter will be shown in the following figure, the value shows red, the safety signal disappears, and the control unit stops working.
Normal High-pressure
Please refer to the contents of Chapter V for the parameters adjustment of the display meter. Real Time Working Pressure After the air path is properly installed, the digital display meter real-time displays the pressure value of the ’Air Output‘. Please confirm that the digital display is shown below.
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Among them, ① is the pressure feedback threshold, default 50. ② is the vacuum feedback threshold, default -50. ③ is the real-time pressure value of the ‘Air Output‘, that is, the working pressure of the Rochu gripper. When the working pressure exceeds the feedback threshold, the control unit will output feedback signal. ④ is pressure feedback signal display. No display in standby state, and signal ‘OUT 1’ displays when the Rochu gripper reach the pressure posture. ⑤ is vacuum feedback signal display. No display in standby state, and signal ‘OUT 2’ displays when the Rochu gripper reach the vacuum posture. Please refer to the contents of Chapter V for the parameters adjustment of the display meter. Positive Pressure Posture Regulator PCU-xMx: After the correct installation of the air path, the working pressure can be adjusted, which displays on the ‘Set Working Positive Pressure‘ meter and also on the ‘Real Time Working Pressure‘ meter in the pressure posture. If the value exceeds the set safety pressure threshold, the control unit will stop working and can resume work after lowering the pressure. PCU-xVx: The woking pressure adjustment of the electronic pressure regulating control unit is controlled by the external analog voltage signal. Please refer to the content in Chapter IV. PCU-xAx: The woking pressure adjustment of the electronic pressure regulating control unit is controlled by the external analog current signal. Please refer to the content in Chapter IV. Negative Pressure Posture Regulator PCU-Sxx: After the air path is installed correctly, the vacuum can be adjusted, which displays on ‘Real Time Woking Pressure‘ meter in the vacuum posture. Because the vacuum air circuit has one-way pressure maintaining function, the vacuum value can only be adjusted and displayed in real
VERSION1.2.6 11 / 20 PCU 苏州柔触机器人科技有限公司 Suzhou Rochu Robotics Co., LTD. time from small to large. If it is adjusted from large to small, the adjusted vacuum value can be displayed by repeatedly switching the pressure and vacuum. The default setting is the maximum counterclockwise rotation. PCU-Hxx: High-speed model control unit removes this function. Positive Pressure Speed Regulator PCU-Sxx: it can adjust the speed of reaching pressure posture. The default setting is the maximum counterclockwise rotation. PCU-Hxx: High-speed model control unit removes this function. Negative Pressure Speed Regulator PCU-Sxx: it can adjust the speed of reaching vacuum posture. The default setting is the maximum counterclockwise rotation. PCU-Hxx: High-speed model control unit removes this function. You can use the remote control to check the above functions. If the control is not sensitive, please focus on the control unit for remote control. At the same time, check the remote control key indicator light, if the signal light is weak, please replace the battery.
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IV Signal Communication
Before accessing the signal cable, please check the model of input and output signals of the manipulator or other control end that you are using. For detailed cable connection, please refer to the following.
Signal Communication Cable Instructions
No. Color Instruction Function Port No. 1 yellow + orange level input A+ 1 trigger pressure 2 yellow + red level input A- 14 3 yellow level input B+ 2 trigger vacuum 4 green level input B- 15 5 gray level input C+ 3 empty 6 white level input C- 16 7 blue level input D+ 4 empty 8 purple level input D- 17 9 yellow + brown switch output A 5 pressure feedback 10 yellow + black switch output A 18 11 turquoise switch output B 6 vacuum feedback 12 cyan switch output B 19 13 red switch output C 7 empty 14 orange switch output C 20 15 black switch output D 8 empty 16 brown switch output D 21 17 white + red RS485-A 9 Modbus RTU 18 white + brown RS485-B 22 19 white + purple analog output A+ analog input 10 20 white + gray analog input A+ analog output 23 21 white + orange analog output B+ empty 11
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22 gray + black analog input B+ empty 24 23 light purple analog port M- analog negative port 12
24 white + blue power P+ power port for signal 25 25 white + green power P- conversion 13 [NOTE] The line order is based on the number and the color is used as a reference.
Control Section
The output signal of the mechanical arm or other control end is 24V PNP signal. Assuming that the digital port for controlling the pressure posture is DO1 and for the vacuum posture is DO2, then DO1 is connected to Line 1, DO2 is connected to Line 3, and Lines 2 and 4 are connected to 0V port.
The output signal of the mechanical arm or other control end is 24V NPN signal. Assuming that the digital port for controlling the pressure posture is DO1 and for the vacuum posture is DO2, then DO1 is connected to Line 2, DO2 is connected to Line 4, and Lines 1 and 3 are connected to 24V port.
Feedback Section
The input signal of the mechanical arm or other control end is PNP signal. Assuming that the digital port for receiving the pressure posture feedback is DI1 and for the vacuum posture feedback is DI2, then DI1 is connected to Line 9, DI2 is connected to Line 11, and Lines 10 and 12 are connected to 24V port.
The input signal of the mechanical arm or other control end is NPN signal. Assuming that the digital port for receiving the pressure posture feedback is DI1 and for the vacuum posture feedback is DI2, then DI1 is connected to Line 10, DI2 is connected to Line 12, and Lines 9 and 11 are connected to 0V port.
Electronic Pressure Regulation Section
The analog output signal of the mechanical arm or other control end is 0-10V voltage signal. Assuming that the analog output port for controlling the working pressure is AO1, AO1 is connected to Line 19 and 0V is connected to Line 23.
VERSION1.2.6 14 / 20 PCU 苏州柔触机器人科技有限公司 Suzhou Rochu Robotics Co., LTD. Analog 0-10V signal corresponds to pressure regulation range 0.0 - 0 .5 MPa
Then, That is, 1 V vol tag e s igŝn al c o rresponds to 0.05 MPa = 50 kPa The analog voltage adjustment range corresponding to the working pressure range of the Rochu soft gripper 0-120 kPa is 0 - 2.4 V.
The analog output signal of the mechanical arm or other control end is 4-20mA current signal. Assuming that the analog output port for controlling the working pressure is AO1, AO1 is connected to Line 19 and 0V is connected to Line 23. Analog 4-20mA signal corresponds to pressure regulation range 0.0 - 0 .5 MPa
Then, That is, 1 m A c ur re n t si g naŝl c o r re sp onds to 0.03125 MPa = 31.25 kPa The analog current adjustment range corresponding to the working pressure range of the Rochu soft gripper 0-120 kPa is 4 - 8.1 mA.
Modbus Section
Modbus Address Function Code Address Default Parameter No. Function Write Hexadecimal Hexadecimal Decimal Value Description 1 trigger pressure 0x05 0x01 0x0100 256 2 trigger vacuum 0x05 0x01 0x0101 257 3 pressure feedback / 0x02 0x0200 512 4 vacuum feedback / 0x02 0x0201 513 working pressure of 0x06 0x03 0x0307 775 0 set range: 5 electronic regulating type 0-9999mV
Modbus RTU The default slave address is: 1. The address is allocated by physical dialing of the control unit's internal control board.
Refer to the serial port debugging software of PC, as shown in the figure below.
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The instructions converted to hexadecimal are as follows: Function Code trigger pressure 01 05 01 00 FF 00 cancel pressure 01 05 01 00 00 00 trigger vacuum 01 05 01 01 FF 00 cancel vacuum 01 05 01 01 00 00 read pressure feedback 01 02 02 00 00 01 read vacuum feedback 01 02 02 01 00 01 feedback value is 1 01 02 01 01 feedback value is 0 01 02 01 00 set pressure value of 01 06 03 07 00 64 electronic regulating type set 100mV, convert to hexadecimal 100=00 64
Modbus TCP IP: 192.168.1.200 Port number: 502 The address is allocated by the control unit's internal network module configuration. If you need to change the address, please contact our company to change it before delivery.
Refer to the network debugging software of PC terminal, as shown in the figure below.
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The instructions converted to hexadecimal are as follows: Function Code trigger pressure 00 10 00 00 00 06 01 05 01 00 FF 00 cancel pressure 00 10 00 00 00 06 01 05 01 00 00 00 trigger vacuum 00 10 00 00 00 06 01 05 01 01 FF 00 cancel vacuum 00 10 00 00 00 06 01 05 01 01 00 00 read pressure feedback 00 0F 00 00 00 06 01 02 02 00 00 01 read vacuum feedback 00 0F 00 00 00 06 01 02 02 01 00 01 feedback value is 1 00 0F 00 00 00 04 01 02 01 01 feedback value is 0 00 0F 00 00 00 04 01 02 01 00 set pressure value of 00 12 00 00 00 06 01 06 03 07 00 64 electronic regulating type set 100mV, convert to hexadecimal 100=00 64
Modbus networking configuration If need more than one control unit, please contact our company and assign the address in advance. The maximum number of control units in Modbus RTU mode is 16.
VERSION1.2.6 17 / 20 PCU 苏州柔触机器人科技有限公司 Suzhou Rochu Robotics Co., LTD. V Debugging Instructions
If you need to modify the parameters of the safety pressure limit, feedback function, please refer to the following operation.
Name of each part of digital display
Unlock and Lock
1 Press the button for 5 seconds or longer in measurement mode. When [oPE] is displayed on the main display, release the button. The current setting [LoC] or [UnL] will be displayed on the sub display.
2 Select the key-locking/un-locking with or button, and press
the button to set.
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Zero Calibration
In measurement mode, when the and buttons are pressed for 1 second or longer simultaneously, the main display shows [- - -], and the reset to zero. The display returns to measurement mode automatically.
Modify Threshold
In measurement mode, set the items on the sub display (set value or hysteresis) with
or button. When changing the set value, follow the operation below. (the default setting of hysteresis is 0, which needs no modification if there is no special requirement)
1 Press the button once when the item to be changed is displayed on the sub display. The set value on the sub display (right) will start flashing.
2 Press the or button to change the set value. The set value
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can be increased with button and can be reduced with button.
3 Press the button to complete the setting.
Reset the safety pressure threshold PCU: The default setting is hysteresis mode. [P_1] is 120 (305 for high-pressure version), [H_1] is 0. To reset, it need to adjust the ‘Set Working Positive Pressure‘ digital display meter and modify the safety threshold under the [P_1] parameter. Reset the feedback threshold PCU: The default setting is hysteresis mode. [P_1] is 50, [H_1] is 0, [n_2] is -50, [H_2] is 0. To reset, it need to adjust the ‘Real Time Working Pressure‘ digital display meter. Modify the pressure feedback threshold under the [P_1] parameter, and modify the vacuum feedback threshold under the [n_2] parameter. If you need to modify the other advanced functions of the digital display meter, please contact our company.
Peak/bottom Value Indication
Press the or button in measurement mode to switch the sub-display (left) to the display shown below. Peak/bottom values are displayed on the sub display (right) at the same time as the current pressure value on the main display.
Peak/bottom values are maintained even if the power supply is cut.
When the and buttons are pressed for 1 second or longer simultaneously while the peak/bottom values are displayed, the sub display (right) displays [- - -] and the maximum (minimum) pressure value are cleared.
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