SECOND EDITION

AGENT
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

Pulse train
Positioning command PIO (Position number)
(Sequence control)

Number of positioning points No limitation 64 points 16 points 16 points

100VAC 100VAC 100VAC
Input power supply 24VDC 24VDC
200VAC 200VAC 200VAC
RCP
RCS-
SA4/SA5/SA6
RCS-
RA35/RA45
RCS-
RB7525
RCS-
SS/SM
RCS-
SSR/SMR
RCS-
RA55/F55
Compatible RCS-
actuators 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
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.
Model

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

System Configuration Compatible Actuators:

Ballscrew Drive Type PC software
Belt Drive Type (optional)
Clean Room Type Model PDR-101-MW
ROBO CYLINDER Slider Type
ROBO CYLINDER Rod Type
ROBO CYLINDER Flat Type
ROBO Rotary
ROBO Gripper
PC link cable, 1.5m
Power supply for electromagnetic brake, 24VDC
(supplied with PC software)
Model CB-ST-SIO015
Regenerative resistance
unit (optional)
Model REU-1
Standard motor cable, 3m
(supplied with actuator)
Plug and shell
(supplied with controller)
Standard encoder cable, 3m Pulse output device
(supplied with actuator) External I/O cable (optional)
Model CB-PD-PIOS020 Power supply for external I/O signals, 24VDC
Main power supply, 100VAC
200VAC
(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.

Options 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 Wiring diagram

Taiyo Electric Wire & Cable (7-core twisted paired cable
Controller side PC side
with shield; UL/cUL compliant)
Wire Color Signal Signal Color Wire

Orange with black dots Orange with black dots

Orange with red dots Orange with red dots
AWG24 Vinyl wire Vinyl wire AWG24
x 7 cores x 7 cores
Yellow with black dots Yellow with black dots
D-sub 9-pin socket: D-sub 9-pin socket: (Shorted) (Shorted)
XM2D-0901 (Omron) XM2D-0901 (Omron) Vinyl wire Vinyl wire
Hood: Hood: (Shorted) (Shorted)
XM2S-0913 (Omron) XM2S-0913 (Omron)

External I/O cable Model Wiring diagram Note 1: Twisted paired cable
Content: Plug, shell and 2-m shielded cable (no connector at end)
Use this cable for connection with a pulse output device. Wire Color Signal
Note 1
Black Black
White/black White/black
Red Red
White/red White/red
Green Green
White/green White/green
Yellow Yellow
White/yellow White/yellow
Sunlight SX (N), 13P x 0.2sq. (Taiyo Electric Wire & Cable) Brown Brown
No connector White/brown White/brown
at end Blue Blue
White/blue White/blue
Gray Gray
0.2sq., White/gray White/gray End without
soldered Orange Orange connector
Plug: 10126-3000VE (Sumitomo 3M) White/orange White/orange
Shell: 10326-52A0-008 (Sumitomo 3M) Purple Purple
White/purple White/purple
Light green Light green
White/light green White/light green
Pink Pink
White/pink White/pink
Light blue Light blue
White/light blue White/light blue
White White
Black/white Black/white
Shield is connected to a cable clamp Shield
Shield
Name of Each Part Status indicator LED Regenerative Resistance Unit
RUN (green) ALM (red)
Model
RDY (green) ENC (yellow)
Features This unit converts the regenerative current that
generates when the motor decelerates into heat.
A regenerative resistor is installed in the controller,
Input connector for but its capacity may not be sufficient if a large load is
electromagnetic-brake power supply supported on a vertical axis. In this case, a separate
Communication connector regenerative resistance unit is required.
Input connector for actuator
sensor (optional) Specifications
Item Specification
Unit dimensions
Unit weight
I/O signal connector Ratings of built-in regenerative resistance
Motor connector Accessory Controller link cable
(Model CB-ST-REU010), 1m
System setting switch
Installation Standards
Connector for regenerative Motor wattage Horizontal application
resistance unit (optional) Brake release switch
20~150W
200~600W Not required.
Encoder/brake connector 750W
*The above table shows reference values when the driver is used in the rated
Input connector for main conditions (load capacity, speed and acceleration).
power supply 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.
(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.

Specification Table
Actuator motor capacity
Power capacity

Input power supply 100V specification: single-phase, 100 to 115VAC + —10%, 50/60Hz
200V specification: single-phase, 200 to 230VAC + —10%, 50/60Hz
Control method Sine wave PWM, vector current control
Position detection method Incremental encoder
Braking method Regenerative resistance
Control mode Position control via pulse-train input
performance
Function/

Maximum input pulse frequency Max. 500kpps (differential) / Max. 200kpps (open-collector)
Command pulse magnification A, B = 1 to 4096
(electronic gear: A/B) 1/50 < A/B < 50/1 (parameter setting)
Positioning completion width 1 to 4096 pulses (parameter setting)
Power supply for I/O signal I/F 24VDC + —20%, 0.8A (supplied externally)
Power supply for electromagnetic brake 24VDC + —20%, 1A (peak value) (supplied externally)
Communication function RS232C (for dedicated PC software)
Protection functions Motor overvoltage, overcurrent, abnormal driver temperature, encoder error, motor overload, etc.
Environmental

Operating temperature/humidity 0 to 40°C, 85%RH or less (non-condensing)

conditions

Storage temperature -20 to 70°C (non-condensing)

Operating ambience Free from corrosive or flammable gases, oil mist or dust.
Durability/vibration 4.9m/s2
Insulation resistance 1500VAC for 1 minute (1000VAC for 1 minute with actuator connected)
Protection structure Open, forced air cooling (IP20)
Weight 1.2kg
Interface Circuit

Sequence input part Sequence output part

Item Description Item Description
Number of input signal points 5 points Number of output signal points 6 points
Input voltage 24VDC 20% Rated load voltage 24/60VDC (peak; without flywheel diode)
Input current 7mA/point Maximum load current 100mA/point
Operating voltage ON voltage ... Min. 16V (4.5mA) Residual voltage 1.8V/100mA
OFF voltage ... Max. 6V (1.4mA) Insulation method Photo-coupler
Insulation method Photo-coupler Overcurrent protection Fuse resistance: 10Ω, 0.1W

NPN specification P-Driver NPN specification P-Driver

Fuse resistance
Pin No.
10Ω, 0.1W
1, 2 Each output
Load
External power supply
24VDC

Internal circuit
Internal circuit
Pin No.
560Ω

14 1, 2 External power supply

24VDC
3.3KΩ
Each input 14

PNP specification P-Driver

PNP specification P-Driver
Pin No.
External power supply Pin No. 1, 2 External power supply
24VDC 1, 2 24VDC

14

Internal circuit
Internal circuit

14
560Ω

Fuse resistance
10Ω, 0.1W
3.3KΩ Each output
Each input Load

Command Pulse-Train Input Part

Differential line-driver input Open-collector input

Applicable line driver: 26C31 or equivalent Pull-up resistance: 2.2kΩ

P24
P-Driver

Pin No.
15/(17) P-Driver
2.2kΩ
Pin No.
15/(17)

16/(18)

16/(18)

Feedback pulse output N24

Applicable line receiver: 26C32 or equivalent

P-Driver

Pin No.
19/(21)/(23)

Pin No.
20/(22)/(24)
Standard Connection Diagram
A connection diagram of P-Driver proper is provided. 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)

Feedback
pulse output
(differential)

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.

External I/O Signals

Pin No. I/O category Code Signal name Function
Power supply Power-supply Power-supply common for external I/O signals, 24VDC, connected to the + side
for I/O common (+) (Pins 1 and 2 are connected internally.)
System ready 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.
Operation ready 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.
Sequence signal Positioning completion Turns ON when the robot enters the in-position range set by parameter.
output Homing completion Turns ON when homing is complete.
Torque limiting Turns ON when the actuator output reaches the parameter-set torque limit while TL is ON.
Alarm Turns OFF when a protection circuit (function) is actuated and the base current is interrupted (this signal is normally ON).
Servo ON Motor is turned on when input is on. Required for movement.
Alarm reset Alarm is reset when this signal turns ON.
Sequence
Homing command Homing starts when this signal turns ON.
signal input
Torque limit selection Limiting of actuator torque starts when this signal turns ON. (Torque limiting is cancelled when the signal turns OFF.)
Forced stop When this signal turns ON, the robot decelerates to a stop at the forced stopping toque and the servo is turned OFF.
Power supply for I/O Power-supply common (-) Power-supply common for external I/O signals, 24VDC, connected to the - side
Command pulse-train input:
Command Open-collector method (Max. 200kpps)
Pulse-train input
pulse input Differential receiver method (Max. 500kpps)
Command pulse mode is specified (from 6 modes) using parameter.

Feedback pulse Position detection data is converted to pulses and output (phases A, B and Z).
differential output Pulse output mode is specified (from 6 modes) using parameter.

Reference For feedback pulse output

Reference potential
potential Line driver ground line (Pins 25 and 26 are connected internally.)
 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.
Negative logic

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

Positive logic

Pulse train

Sign

Phase A/B pulse train

* Output modes of feedback pulse follow the same classification.

External Dimensions

Head Office: 2690 W 237th Street, Torrance, CA 90505 Ober der Roth 4, D-65824 Schwalbach am Taunus, Germany
TEL: 1-800-736-1712
Chicago Office: 1261 Hamilton Parkway, ltasca, IL 60143
TEL: 1-800-944-0333
New Jersey Office: 7 South Main Street, Suite-F, Marlboro, NJ 07746
TEL: 732-683-9101

Home page: www.intelligentactuator.com

The information contained in this catalog is subject to change without notice for the purpose of product improvement.