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 VERSION1.2.6 3 / 20 PCU 苏州柔触机器人科技有限公司 Suzhou Rochu Robotics Co., LTD. 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 VERSION1.2.6 5 / 20 PCU 苏州柔触机器人科技有限公司 Suzhou Rochu Robotics Co., LTD. 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. VERSION1.2.6 7 / 20 PCU 苏州柔触机器人科技有限公司 Suzhou Rochu Robotics Co., LTD. 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