柔触Integrated Passive Control Unit (iPCU) User Manuals V1.3.2用户手册

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User Manuals

iPCU Version 1.3.2

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

Perface ........................................................................................................................... 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 Common Model Functions and 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

iPCU-Rochu Integrated Passive Control Unit ......................................................... 8 IV Signal Communication Instructions ......................................................................... 15

Signal communication cable instructions ............................................................ 15 Control Section ..................................................................................................... 16 Feedback Section ................................................................................................. 16 Electronic Pressure Regulation Section ............................................................... 17 Leak Alarm Section ............................................................................................... 17 V Debugging Istructions ............................................................................................... 20

Unlock and Lock ................................................................................................... 20 Zero Calibration .................................................................................................... 20 Modify Threshold ................................................................................................. 21 Automatic Mode Setting Parameters for Leak Alarm .......................................... 22

VERSION 1.3.2 2 / 22 iPCU

苏州柔触机器人科技有限公司 Suzhou Rochu Robotics Co., LTD.

Perface

Thank you for choosing rochu soft gripper control unit which developed by Suzhou Rochu Robotics.

iPCU-SMN

Rochu Integrated Passive Control Unit - manual pressure regulating standard model

Rochu control unit is the special controller for rochu soft gripper. It integrates everything of controlling the rochu soft gripper, and uses an open source control mode which can communicate with any manipulator. User can easily and efficiently control the rochu soft gripper by writing the program of the manipulator.

What’s In the Box

When you book a complete set of rochu soft gripper, you will receive two boxes. One with a rochu soft gripper, one with the following: ? rochu control unit ? remote control ? power adapter

? signal communication cable

VERSION 1.3.2 3 / 22 iPCU

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 Common Model Functions and Parameters

VERSION 1.3.2 5 / 22 iPCU

苏州柔触机器人科技有限公司 Suzhou Rochu Robotics Co., LTD.

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.

II Using Guidelines

Confirm Application Environment

iPCU

? 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.

Installation Circuit

iPCU

1. Please use the DC 24 V 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 interface are zero. If not, please check zero. Refer to Chapter V.

Installation Gas Circuit

iPCU

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 soft gripper into the air output of PCU. Please use the variable diameter joint in the fittings.

(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

VERSION 1.3.2 6 / 22 iPCU

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