IAI SCON-CA Instruction Manual
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IAI SCON-CA Instruction Manual

Applicable for mechatrolink-iii
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Controller Applicable for MECHATROLINK-
Instruction Manual
Frist Edition
SCON-CA

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Summary of Contents for IAI SCON-CA

  • Page 1 Controller Applicable for MECHATROLINK- Instruction Manual Frist Edition SCON-CA...
  • Page 3 This product is not to be used for any other purpose from what is noted in this Instruction Manual. IAI shall not be liable whatsoever for any loss or damage arising from the result of using the product for any other purpose from what is noted in the manual.

  • Page 5: Table Of Contents

    Table of Contents Safety Guide......................1 1. Overview ......................9 1.1 Interface Specifications ..................... 10 2. SCON-CA ......................11 2.1 Operation Modes and Functions ..................11 2.2 Operation Modes and Functions ..................11 2.3 MECHATROLINK- Interface ..................12 2.3.1 Name of Each Part....................12 2.3.2...
  • Page 6 5.1.2 Specifications of Standard Servo Profile Commands .......... 33 5.1.2.1 Servo Status Monitor (SMON Code: 30 )..........33 5.1.2.2 Sensor-on Request (SENS_ON Code: 23 )........... 39 5.1.2.3 Sensor-off Request (SENS_OFF Code: 24 ) ......... 40 5.1.2.4 Servo ON Request (SV_ON Code: 31 )..........

  • Page 7: Safety Guide

    Safety Guide “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it 1before the operation of this product. Safety Precautions for Our Products The common safety precautions for the use of any of our robots in each operation. Operation Description Description...
  • Page 8 Operation Description Description Transportation When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
  • Page 9 Operation Description Description Installation (2) Cable Wiring and Start Use our company’s genuine cables for connecting between the actuator and controller, and for the teaching tool. Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil it around.
  • Page 10 Operation Description Description Installation (4) Safety Measures and Start When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. When the product is under operation or in the ready mode, take the safety measures (such as the installation of safety and protection fence) so that nobody can enter the area within the robot’s movable range.
  • Page 11 Operation Description Description Trial Operation When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. After the teaching or programming operation, perform the check operation one step by one step and then shift to the automatic operation.
  • Page 12 Operation Description Description Maintenance When the work is carried out with 2 or more persons, make it clear who is and Inspection to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Perform the work out of the safety protection fence, if possible.
  • Page 13 Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the Instruction Manual for each model. Level Degree of Danger and Damage Symbol This indicates an imminently hazardous situation which, if the product Danger Danger is not handled correctly, will result in death or serious injury.

  • Page 15: Overview

    MECHATROLINK is an open field network for communication of both control and data signals of the machine/line control level. A wire-saving system can be built by connecting SCON-CA controllers (hereinafter collectively and individually referred to as “Controller”) to a MECHATROLINK.

  • Page 16: Interface Specifications

    1.1 Interface Specifications Item Specification Physical Layer Ethernet Transmission Speed 100Mbps Maximum transmission speed 100m (Between Stations) Minimum distance between stations 0.2m Cascading form / Star form / Point-to-point Connection Format form Number of connectable stations 62 stations (Max. Number of Slaves) Transmission cycle 0.5 to 32ms 32 (Sub commands unavailable to use), 48...

  • Page 17: Scon-Ca

    SCON-CA applicable for MECHATROLINK- is applied for the standard servo profile. (Note) It is not applied for the standard I/O profile. 2.2 Operation Modes and Functions The model names of SCON-CA controller supporting MECHATROLINK- are indicated as follows, respectively. SCON-CA- -ML3-...

  • Page 18: Mechatrolink- Interface

    2.3 MECHATROLINK- Interface 2.3.1 Name of Each Part The name of each part relating to MECHATROLINK- is shown. Status LED Upstream Side Connector LK1 (Link 1) LED Downstream Side Connector LK2 (Link 2) LED 2.3.2 Status LED Indicators The operation condition of the communication board, as well as the network condition, can be checked using the two LEDs provided on the front side of the board.

  • Page 19: Example Of Wiring

    2.4 Example of Wiring (MECHATROLINK- Master unit) Cable exclusively for MECHATROLINK Cable exclusively for MECHATROLINK Slave unit SCON-CA-ML3 SCON-CA-ML3...

  • Page 20: Setting

    2.5 Setting 2.5.1 Node Address Setting Set the node address using a parameter. Set parameter No. 85, “NADR; Fieldbus node address” using the RC PC software. (Refer to “MECHATROLINK- Parameters.”) Settable range: 3 to 239 (The factory setting is 3.) (Note) Pay attention to duplicate node address settings.

  • Page 21: Flow And Commands Of Basic Mechatrolink Communication

    Flow and Commands of Basic MECHATROLINK Communication 3.1 State Transition Shown below is the state transition diagram. Start Power Supply P1: Awaiting for connection establishment Master Sending CONNECT Master Sending Command from master to RC controller DISCONNECT Command from (P2: Transition to non-synchronous master to RC controller communication condition) P2: Non-synchronous...

  • Page 22: Command Frame Construction And Number Of Transmission Bytes

    3.2 Command Frame Construction and Number of Transmission Bytes The command frame consists of the combination of the main command and the sub command. Match the number of the transmission bytes to the setting on the host (master) side. 32-byte Mode is available only in the main command. 48-byte Mode is available not only in the main command, but also in the sub command.

  • Page 23: Command Format

    Command Format The command frame consists of the combination of main command (32 bytes) and the sub command (16 bytes). The sub command is to be used when adding another command to the main command. When using the sub command, set to 48 bytes for the number of the transmission bytes on the master side.

  • Page 24: Command / Response Frame

    4.1 Command / Response Frame 4.1.1 Command Code / Command Code Response (CMD/RCMD) Select a command available to conduct from the table below by following the communication flow. Command Format 0th Byte Command Response 1 byte = 8 bits 1 byte = 8 bits Select and set a code from table RCMD Same value as CMD is to be replied...

  • Page 25: Watchdog Data (Wdt/Rwdt)

    4.1.2 Watchdog Data (WDT/RWDT) Set the timer to monitor the communication is conducted periodically. Monitoring starts after the communication phase P3 is established. Command Format 1st Byte Command Response 1 byte = 8 bits 1 byte = 8 bits Copy the values Add 1 for every 1 is added for every Values in Bit 3 to...
  • Page 26 (2) Command Status Command Format 2nd and 3rd Bytes Command format 3rd byte Command format 2nd byte 1 byte = 8 bits 1 byte = 8 bits CMD_ID CMD_STAT COMM_ALM CMD_ALM (Not Reserved _CLR used) Bits Abbreviations Names Contents It shows the controller is in alarm condition. D_ALM Device Alarm The servo is off when this bit is 1.

  • Page 27: Command Data / Respons Data (Cmd_Data/Rsp_Data)

    Bits Abbreviations Names Contents It shows an abnormality in communication. It can be cleared with ALM_CLR Bit or ALM_CLR Command in CMD_CTRL. Code (bit 8 Condition Contents Remarks to 11) In normal In normal condition condition FCS error It occurs when a Command communication error in data not...

  • Page 28: (Sub_Cmd/Sub_Rcmd)

    4.1.5 Sub Command Code / Sub Command Code Response (SUB_CMD/SUB_RCMD) Select a sub command available to conduct from the table below by following the communication flow. At that time, check on the combination table of the main commands and sub commands that the selected sub command is available for combination with the main command.

  • Page 29: Sub Command Control / Sub Command Status (Sub_Ctrl/Sub_Stat)

    4.1.6 Sub Command Control / Sub Command Status (SUB_CTRL/SUB_STAT) Select the monitor data to have the readout from the monitor information and select a code. (1) Sub Command Control Command Format 33rd to 35th Bytes Command format 34th byte Command format 33rd byte 1 byte = 8 bits 1 byte = 8 bits SUB_CTRL...

  • Page 30: Sub Command Data / Sub Response Data (Sub_Cmd_Data/Sub_Rsp_Data)

    (2) Sub Command Status Command Format 33rd to 35th Bytes Command format 34th byte Command format 33rd byte 1 byte = 8 bits 1 byte = 8 bits SUB_STAT SEL_MON4 SUBCMD_ALM Reserved Reserved Command format 35th byte 1 byte = 8 bits SUB_STAT SEL_MON6 SEL_MON5...

  • Page 31: Command

    Command 5.1 Main Command 5.1.1 Specifications of Common Commands 5.1.1.1 Invalid (NOP Code: 00 It is an invalid command. Current condition is replied as a response. The response from the power turned on till the completion of the initializing process is NOP, and no command but DISCONNECT can be received.

  • Page 32: Id Reading (Id_Rd Code: 03 H )

    5.1.1.2 ID Reading (ID_RD Code: 03 Readout is held on each ID of the controller. Set the ID code to be read out in ID_CODE. An alarm will be generated and will not accept any command in the following cases: 1) Indicated value in ID_CODE is out of the range in ID Code Table.
  • Page 33 Correspondence List [12] = C0 [13] = 00 [14] = 00 [15] = 00 [16] = 80 [17] = 4F [18] = 0F [19] to [31] = 00 Main Device Name ASCII Code “SCON-CA-ML3” (Controller Product Name) (Delimiter = 00 Reserved...

  • Page 34: Device Setup Request (Config Code: 04 H )

    5.1.1.3 Device Setup Request (CONFIG Code: 04 It is the recalculation of common parameters and setup request command. CONFIG_MOD is applicable only for 0. It generates an alarm for others and command will not be accepted. (It generates CMD_ALM = 9) CONFIG Bytes of Command...

  • Page 35: Alarm / Warning Readout (Alm_Rd Code: 05 H )

    8 to 31 Reserved ALM_DATA Details of ALM_DATA (For ALM_RD_MOD=3) Bytes Contents Remarks Refer to SCON-CA Instruction Manual provided separately for the Alarm Code details of alarm code 10, 11 Reserved Alarm Occurrence The address is the resistor address inside the controller.

  • Page 36: Alarm / Warning Clear

    5.1.1.5 Alarm / Warning Clear (ALM_CLR Code: 06 It executes the alarm / warning clearing command. An alarm currently being generated is available to clear. (Applicable only for ALM_CLR_MOD = 0) When the operation mode of the controller is set to AUTO, a command is executed to clear alarm / warning being generated on the controller including the communication.

  • Page 37: Connection Establishment Request

    5.1.1.7 Connection Establishment Request (CONNECT Code: 0E It is a command to request the establishment of the communication (connection). This command will be ignored if it is executed in a condition of being in the communication phase P2 or P3. (There is no alarm or warning to be generated.) An alarm will be generated and will not accept any command in the following cases: 1) A value other than 30 is set to VER (It generates CMD_ALM = 9)

  • Page 38: Connection Release Request (Disconnect Code: 0F )

    5.1.1.8 Connection Release Request (DISCONNECT Code: 0F It is a command to request the transition to the communication phase P1 by releasing the communication (connection). This command is available in any condition. When the operation mode of the controller is in AUTO, the brake is activated with the servo being turned off once this command is executed.

  • Page 39: Specifications Of Standard Servo Profile Commands

    5.1.2 Specifications of Standard Servo Profile Commands 5.1.2.1 Servo Status Monitor (SMON Code: 30 It is a command to read out the home-return command and monitor information. SMON Bytes of Command Command Response Remarks Format [Refer to section RWDT 4.1.2.] [Refer to section CMD_CTRL CMD_STAT...
  • Page 40 Details of SVCMD_CTRL Field Bits Abbreviations Names Contents 0: None 1: Pause It is available only during POSING, FEED Command or home-return operation. The previous condition is continued in other cases. Because the target position is not changed, a pause during an Movement CMD_PAUSE operation does not complete the discharge (DEN =...
  • Page 41 Details of SVCMD_STAT Field Bits Abbreviations Names Contents 0: None 1: Pause Completed It shows the completion of pause commanded by Movement CMD_PAUSE [Refer to Pg34, “Details of CMD_PAUSE_C Command Pause SVCMD_CTRL Field”] Complete It turns to 1 when CMD_PAUSE = 1 and zero speed (ZSPD = 1) during POSING, FEED Command or the home-return operation.
  • Page 42 Details of SVCMD_IO Command Field (Master Slave) Bits Abbreviations Names Contents 0 to 7 Reserved 0 to 3: Servo gain set select Select the servo gain set 0 to 3 in the controller parameter. Do not attempt to set to 4 or higher. It is available only for INTERPOLATE, POSING 8 to 11 G_SEL...
  • Page 43 Details of SVCMD_IO Response Field (Slave Master) Bits Abbreviations Names Contents 0, 1 Reserved Input of Drive in Always 0 is read out. P_OT Positive Direction Forbidden Input of Drive in N_OT Negative Direction Forbidden 4 to 6 Reserved 0: Emergency stop released ESTP Emergency Stop 1: In emergency stop condition...
  • Page 44 Bits Abbreviations Names Contents 0: Current position out of ZONE2 range 1: Current position in ZONE2 range * Because ZONE2 updates the status in the control ZONE2 Zone 2 frequency of the controller, it may not synchronize with the APOS of the monitor [Refer to Pg38, “Monitor Information”].

  • Page 45: Sensor-On Request (Sens_On Code: 23 H )

    5.1.2.2 Sensor-on Request (SENS_ON Code: 23 It is the command to request the sensor (encoder) to turn ON. Since it is unable to turn on and off the encoder power with a command, this just replies a normal response. (The data except for Response Command (23 ) is the same as section 5.1.2.1 SMON Command) SENS_ON Bytes of...

  • Page 46: Sensor-Off Request (Sens_Off Code: 24 H )

    5.1.2.3 Sensor-off Request (SENS_OFF Code: 24 It is the command to request the sensor (encoder) to turn OFF. Since it is unable to turn on and off the encoder power with a command, this just replies a normal response. (The data except for Response Command (24 ) is the same as section 5.1.2.1 SMON Command) SENS_OFF Bytes of...

  • Page 47: Servo On Request (Sv_On Code: 31 H )

    5.1.2.4 Servo ON Request (SV_ON Code: 31 It is the command to request the servo to turn ON. For the servo status, check SV_ON in SVCMD_STAT (The data except for Response Command (31 ) is the same as section 5.1.2.1 SMON Command) An alarm will be generated and will not accept any command in the following cases: 1) Alarm is generated on the controller (It generates CMD_ALM = A) 2) In emergency stop condition (It generates CMD_ALM = A)

  • Page 48: Servo On Request (Sv_Off Code: 32 H )

    5.1.2.5 Servo OFF Request (SV_OFF Code: 32 It is the command to request the servo to turn OFF. For the servo status, check SV_ON in SVCMD_STAT (The data except for Response Command (32 ) is the same as section 5.1.2.1 SMON Command) An alarm will be generated and will not accept any command in the following cases: •...

  • Page 49: Interpolation Feeding (Interpolate Code: 34 H )

    5.1.2.6 Interpolation Feeding (INTERPOLATE Code: 34 It is a command to request the interpolation feeding. For the output complete of the movement command data, check DEN = 1 in SVCMD_IO. For the positioning complete, check PSET = 1 in SVCMD_IO. When the target position (TPOS) is out of the soft limit range, the target position makes the soft limit.

  • Page 50: Positioning (Posing Code: 35 H )

    5.1.2.7 Positioning (POSING Code: 35 It is a command to request positioning to the indicated point. It is a command to request the interpolation feeding. For the output complete of the movement command data, check DEN = 1 in SVCMD_IO. For the positioning complete, check PSET = 1 in SVCMD_IO.
  • Page 51 Bytes of Command Command Response Remarks Format • ACCR (acceleration) and DECR (deceleration) to be set (Operation made with max. torque when ACCR, DECR = ACCR MONITOR1 FFFFFFFF (with no symbol) Alarm (CMD_ARM = 1) to be generated and operation made with maximum value when the value exceeds the maximum value.

  • Page 52: Constant Speed Feeding (Feed Code: 36H)

    5.1.2.8 Constant Speed Feeding (FEED Code: 36 It is a command to request the constant speed feeding with the indicated speed. For the output complete of the movement command data, check DEN = 1 in SVCMD_IO. When having the constant speed feeding cancelled, make CMD_CANCEL to 1 in SVCMD_CTRL. When having the constant speed feeding paused, make CMD_PAUSE to 1 in SVCMD_CTRL.
  • Page 53 Bytes of Command Command Response Remarks Format • ACCR (acceleration) and DECR (deceleration) to be set (Operation made with max. torque when ACCR, DECR = ACCR MONITOR1 FFFFFFFF (with no symbol) Alarm (CMD_ARM = 1) to be generated and operation made with maximum value when the value exceeds the maximum value.

  • Page 54: Servo Parameter Reading

    5.1.2.9 Servo Parameter Reading (SVPRM_RD Code: 40 It is a command to request the readout of the servo parameter. An alarm will be generated and will not accept any command in the following cases: 1) Readout Parameter No. (NO) indicates a value out of the range (It generates CMD_ALM = 9) 2) Readout Parameter No.
  • Page 55 5.1.2.10 Servo Parameter Writing (SVPRM_WR Code: 41 It is a command to request the writing of the servo parameter. However, writing into the non-volatile memory is not available. An alarm will be generated and will not accept any command in the following cases: 1) Writing Parameter No.

  • Page 56: Sub Command

    5.2 Sub Command 5.2.1 Combination of Main Command and Sub Command Refer to the table below to check the combinations of the sub commands. Combination of Main Command and Sub Command : Combination available, : Combination Unavailable Sub Command Main Command NOP(00 ALM_RD(05 SMON(30...

  • Page 57: Specifications Of Sub Commands

    5.2.2 Specifications of Sub Commands 5.2.2.1 Invalid (NOP Code: 00 It is an invalid command. Current condition is replied as a response. The response from the power turned on till the completion of the initializing process is NOP, and no command but DISCONNECT can be received.

  • Page 58: Alarm / Warning Readout

    5.2.2.2 Alarm / Warning Readout (ALM_RD Code: 05 It is the readout command for the alarms and warnings on the controller. ALM_RD_MOD is applicable only to 0 that reads out the alarm code currently being generated. The read out alarm code is stored in Bytes 40 and 41 in the response. When the read out alarm data is 0, it shows that there is no alarm generated.

  • Page 59: Servo Status Monitor (Smon Code: 30 H )

    5.2.2.3 Servo Status Monitor (SMON Code: 30 It is a command to read out the monitor information. SMON Bytes of Command Command Response Remarks Format SUB_CTRL SUB_STAT [Refer to section [Refer to section 5.2.2.1, “Details of 5.2.2.1, “Details of SUB_CTRL Field”] SUB_STAT Field”] MONITOR4 Refer to section...

  • Page 60: Common Parameters And Device Parameters

    5.1.2.10 SVPRM_WR Command. (Note 2) Note 1 The items relying on the actuator are to be set by the initial values registered in an IAI controller being ready out at the startup. Note 2 Device parameter setting is not available.

  • Page 61: Common Parameter List

    5.3.2 Common Parameter List Common Parameter List Effective Timing : Effective Immediately, : Effective by Executing CONFIG Command, -: Readout Only Setting at Effective Genre Item Unit Setting Range Delivery Timing selected from encoder : Absolute In accordance type (for reference) : Incremental with actuator Motor type...
  • Page 62 Setting at Effective Genre Item Unit Setting Range Delivery Timing bits0 to 7 = 01 Unit of velocity: Command unit /s bits8 to 15 = 01 Unit of position: Command Applicable Unit System 02010101 unit bits16 to 23 = 01 Unit of acceleration: /sec bits24 to 31 = 02H Unit of torque: Rated...
  • Page 63 Setting at Effective Genre Item Unit Setting Range Delivery Timing [For more details, refer to section 5.1.2.1,”Details of SVCMD_STAT Field”] Set whether to valid (set to 1) or invalid (set to 2) each function listed below bits0: CMD_PAUSE_CMP bits1: CMD_CANCEL_CMP bits2 to 9: fixed to 0 bits10: POS_RDY Selection of...
  • Page 64 Setting at Effective Genre Item Unit Setting Range Delivery Timing [For more details, refer to section 5.1.2.1, Details of SVCMD_IO Status Field”] Set whether to valid (set to 1) or invalid (set to 0) each function listed below bits0, 1: fixed to 0 bits2: P_OT bits3: N_OT bits4 to 6: fixed to 0...

  • Page 65: Device Parameter List

    5.3.3 Device Parameter List Device Parameters Size Symbol Names Unit Symbol [byte] LIMM Soft limit 0.01mm Exist LIML Soft limit 0.01mm Exist MAXV Max. velocity 0.01mm/s None MAXA Max. acceleration 0.01G None MAXD Max. deceleration 0.01G None LEAD Lead length 0.01mm None EPLS...

  • Page 66: Example For Operation Sequence

    Example for Operation Sequence Restrictions in Operation Make sure to check the restrictions below and the cautions described in section 6.4 before creating the operation sequence. 1) Position number indication operation cannot be performed. (It performs the direct position indicating operation by commands.) 2) Incremental operation cannot be performed.

  • Page 67: Cautions In Actuator Operation

    6.1 Cautions in Actuator Operation 6.1.1 Home Return The home-return operation is a dedicated method. Therefore, Home-Return “ZRET” Command cannot be used. The home-return operation starts when SVCMD_IO.HOME bit is turned on (to 1) while the servo is turned on. SVCMD_IO.HEND bit turns on (to 1) once the home-return operation is completed.

  • Page 68: Soft Limit

    6.1.2 Soft Limit It activates once the home-return complete (SVCMD_IO.HEND) bit turns on (to 1). For the absolute type actuators, it is effective from the controller startup as long as the absolute reset is finished. The soft limit value in the common parameter at the controller startup is a value that the soft limit positive and negative in SCON User Parameter No.

  • Page 69: Positioning Complete Band, Positioning Vicinity Band And Home Position Detection Band

    6.1.3 Positioning Complete Band, Positioning Vicinity Band and Home Position Detection Band The positioning complete band, positioning vicinity band and home position detection band in the common parameters at the controller startup are a value that the initial value in SCON User Parameter No.

  • Page 70: Parameters For Controller (Scon)

    Parameters for Controller (SCON) It is the data to make SCON that can be applied for MECHATROLINK- available to operate. Set the parameters considering the system and applications. When a change is required to the parameters, make sure to back up the data before the change so the settings can be returned anytime.

  • Page 71: Parameter List

    7.1 Parameter List The categories in the table below indicate whether parameters should be set or not. There are five categories as follows: A : Check the settings before use. B : Use parameters of this category depending on their uses. C : Use parameters of this category with the settings at shipments leaving unchanged as a rule.
  • Page 72 I/O Parameter List (Continued) Relevant Names Symbol Unit (Note 1) Input Range Factory default sections In accordance C Velocity loop proportional gain VLPG 1 to 99999999 with actuator (Note 2) In accordance C Velocity loop integral gain VLPT 1 to 99999999 with actuator (Note 2) In accordance...
  • Page 73 I/O Parameter List (Continued) Relevant Names Symbol Input Range Factory default Unit (Note 1) sections In accordance C Servo gain number 1 PLG1 0 to 31 with actuator (Note 2) In accordance C Feed forward gain 1 PLF1 0 to 100 with actuator (Note 2) Velocity loop proportional gain...

  • Page 74: Detail Of Parameters Related To Mechatrolink- Settings

    7.2 Detail of Parameters Related to MECHATROLINK- Settings Caution: • For the parameters other than mentioned below, refer to SCON Instruction Manual provided separately. • If parameters are changed, provide software reset or reconnect the power to reflect the setting values. The parameters related to MECHATROLINK- are from No.

  • Page 75: Troubleshooting

    Troubleshooting 8.1 Action to Be Taken upon Occurrence of Problem Upon occurrence of a problem, take an appropriate action according to the procedure below in order to ensure quick recovery and prevent recurrence of the problem. 1) Upon occurrence of a problem, take an appropriate action according to the procedure below in order to ensure quick recovery and prevent recurrence of the problem.

  • Page 76: Alarm Level

    Caution: Reset each alarm after identifying and removing the cause. If the cause of the alarm cannot be removed or when the alarm cannot be reset after removing the cause, please contact IAI. If the same error occurs again after resetting the alarm, it means that the...

  • Page 77: Alarm List

    No.112 “Monitoring mode” to “0”. Message 3) If the operation is not improved in use of the servo monitoring function in spite of measures against noise, Please contact IAI. Detection of realtime Cause : The calendar function is stopped and the current clock oscillation stop time data is lost.
  • Page 78 If the error occurs even when the servo is ON, the cable breakage or disconnection is considered. Check the cable connection. Please contact IAI if there is no failure in the cable and connector connections.
  • Page 79 Treatment : In the case that the work does not interfere with anything, the cause 2) or 3) is supposed. In such case, please contact IAI. Home return timeout Cause : Home return does not complete after elapse of a certain period after the start of home return.
  • Page 80 If this error occurred inside the effective stroke range, 3), 4), or 5) is a likely cause. If 3) is suspected, check the home position. Conduct the absolute reset again if it is the absolute type. If 4) or 5) is suspected, please contact IAI.
  • Page 81 2) If this error occurs often, there is a concern of a controller malfunction. Please contact us. Belt breaking sensor Cause : The belt of the ultra-high thrust RCS2-RA13R is detected broken. Treatment : Belt must be replaced. Please contact IAI.
  • Page 82 If any error does not occur, it might be caused by noise. Take proper measures against noise. If 2) or 3) is the case, the encoder or controller must be replaced. If the cause cannot be specified, please contact IAI.
  • Page 83 If 3) or 4) is the case, it is necessary to replace the actuator (motor part) or controller. If the cause cannot be specified, please contact IAI. Encoder count error Cause : This error code appears when the encoder cannot detect the position information properly.
  • Page 84 Cause : The actuator may not match the controller. Check the model. Treatment : Should this error occur, please contact IAI. Nonvolatile memory It is verified at the data writing process to the non-volatile write verify error memory that the data inside the memory and the data to be written are matched.
  • Page 85 If a spare controller is available, replace the problem controller with the spare controller. A recurring error with the spare controller suggests presence of noise. If the cause cannot be identified, please contact IAI. Alarm on teaching tool [Refer to the Instruction Manual of teaching tool.]...

  • Page 86: Change History

    Change History Revision Date Description of Revision July 2013 First edition...
  • Page 88 825, PhairojKijja Tower 12th Floor, Bangna-Trad RD., Bangna, Bangna, Bangkok 10260, Thailand TEL +66-2-361-4458 FAX +66-2-361-4456 The information contained in this document is subject to change without notice for purposes of product improvement. Copyright © 2013. Jul. IAI Corporation. All rights reserved. 13.07.000...

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