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IAI RCM-TD Operating Manual

Robo cylinder teaching pendant
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Teaching Pendant
Operating Manual
First edition
IAI America Inc.

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  • Page 1 Teaching Pendant Operating Manual First edition IAI America Inc.
  • Page 3 CAUTION Disconnection of the Teaching Pendant from the PCON/ACON/SCON/ERC2 Controller * After disconnecting the Teaching Pendant from the PCON/ACON/SCON controller with the AUTO/MANU switch, always turn the AUTO/MANU switch to AUTO. * For the PCON/ACON/ERC2 controller without AUTO/MANU switch, always set the TP Operation Mode to “Monitor 2”...
  • Page 5 Support Models The following are the versions to which we have started support: Table 1 List of Support Models Model Name Support Started Version RCP * V1.00 RCS * V1.31 E-Con * V1.44 RCP2 * V1.61 ERC * V1.61 ERC2 V2.00 PCON V2.00...
  • Page 6 MEMO...

  • Page 7: Table Of Contents

    Table of Contents Foreword..............................1 Before You Begin ............................1 Safety Precautions ........................... 2 Warranty and Scope of Warranty ....................... 3 Application Environment ..........................4 Functions and Specifications of Teaching Pendant ................... 5 Specifications ..........................5 External View ..........................6 Description of Each Part........................
  • Page 8 User Parameters ......................... 77 User Adjustment.......................... 81 8-9-1 Pause, servo ON input enable and disable setting, homing operation, axis number setting..81 8-9-2 Software Reset..........................83 8-9-3 Error List Clear ..........................85 8-10 TP Operation Mode ........................87 8-11 End .............................. 89 Message Area ............................

  • Page 9: Foreword

    1. Foreword Thank you very much for purchasing our Teaching Pendant for the Robo Cylinder. Improper usage or mishandling may result in a product not only being unable to deliver full functions but also produce unexpected troubles or shorten the product’s life. Please read this Manual carefully, and operate the product properly by paying attention to its handling.

  • Page 10: Safety Precautions

    3. Safety Precautions (1) Use a genuine product specified by us for wiring between the actuator and the Controller. (2) Keep out of the operating range of a machine such as an actuator while it is operating or in a ready state (condition in which the controller’s power is ON).

  • Page 11: Warranty And Scope Of Warranty

    4. Warranty and Scope of Warranty The Teaching Pendant you purchased has been delivered upon completion of our strict shipping tests. We shall warrantee this product as follows: Warranty term The warranty term shall be either of the following terms, whichever is reached first. ▪...

  • Page 12: Application Environment

    - Always hold onto the entire Teaching Pendant Body so that the Teaching Pendant Cable does not get pulled by unwanted cables. Caution: This Teaching Pendant is designed exclusively for IAI RC Controllers (PCON, ACON, SCON, ERC2, RCP, RCS, E-Con, RCP2, and ERC,) and should not be used to connect with other devices.

  • Page 13: Functions And Specifications Of Teaching Pendant

    6. Functions and Specifications of Teaching Pendant This Teaching Pendant was created exclusively for the PCON, ACON, SCON ERC2, RCP, RCS, E-Con, RCP2, and ERC, Controllers. Through the communication between the controllers, the RC Controller is designed to function as the Display Operation Unit to edit or display the data (parameter data, position data, etc.,) that is stored inside the controller, as well as to execute teaching without using the PC Interface Software.

  • Page 14: External View

    6-2 External View External Dimensions When drawing out the manual card.

  • Page 15: Description Of Each Part

    6-3 Description of Each Part Large LCD Display (2) Manual Card (4) Arrow key (3) EMERGENCY STOP (Minus) key (Return) key (10) DEADMAN SWITCH (1) Large LCD Display This is a liquid crystal display with a range of 62.69 × 62.69mmm with a maximum of horizontal: 21 characters per column, and vertical: 16 columns per row.
  • Page 16 (2) Manual Card This is a simplified operational instruction printed on 3 pages. You may observe the instruction by pulling out the Manual Card from the right side of the Teaching Pendant during operation. When not in use, the Manual Card may be stored inside the Teaching Pendant Body. (3) EMERGENCY STOP (Emergency Stop Push Button Switch) This switch connects serially with the controller emergency stop signal line.
  • Page 17 - By pressing this key for more than 2.5 seconds, the screen changes to the “BEGIN/END” screen and you can reconnect the axis and execute Teaching Pendant configuration. - If entering data via key pad, you may cancel midway using this key. - You may clear error warning.
  • Page 18 (10) DEADMAN SWITCH (Servo Enable Switch) * Option Setting The switch mounted on both sides of the Teaching Pendant is connected serially with the Emergency Stop Switch, and causes e-stop when not pressed (normally, this switch is a "open: a-contact"). Caution: If multiple controllers are connected using link cables, the Deadman SW is enabled only for the axis of the controller which is connected to the Teaching Pendant.

  • Page 19: Connection With The Controller

    7. Connection With the Controller 7-1 Connection with the Teaching Pendant (1) Connect the Teaching Pendant Cable to the “PORT IN” connector which is located on the front of the controller. Always turn the PORT switch OFF first before connecting a controller having this switch. For the locations of the main communication “Port IN”...

  • Page 20: Operation: Mode Flow Chart

    8. Operation: Mode Flow Chart (1) Positioner (PCON-PL/PO, ACON-PL/PO, SCON: Mode other than the Pulse Train Mode) The total picture of operations performed with the Teaching Pendant has the tree structure as shown below. To return to the previous screen, press the ESC key. Power-ON Set-up Communication Select with...
  • Page 21 (2) Pulse Train (PCON-PL/PO, ACON-PL/PO, SCON: Pulse Train Mode) The total picture of operations performed with the Teaching Pendant has the tree structure as shown below. To return to the previous screen, press the ESC key. Power-ON Set-up Communication TP Operation Mode * Displayed only for PCON, ACON, SCON, and ERC2.

  • Page 22: Initial Screen And Tp Operation Mode Screen During Power - Up

    8-1 Initial Screen and TP Operation Mode Screen During Power – UP When Teaching Pendant is connected to the controller, power is supplied to the Teaching Pendant and operation starts. In the case of a controller with a PORT switch, power will be supplied to the Teaching Pendant and operation will start once power is supplied to the Teaching Pendant.
  • Page 23 In the case of the PCON, ACON, SCON, or ERC2 controller, the screen will automatically move to the TP Operation Mode selection screen once checking of the connection is completed. In the case of the RCP, RCS, E-Con, RCP2, or ERC controller, the screen will automatically move to the Select Axis screen if multiple units are connected.

  • Page 24: Controller Selection (When Using Multiple Units)

    8-2 Controller Selection (when using multiple units) In the case of multiple units connected serially via the communication line, the axis selection screen will be displayed. For a single unit, since there is no need to select the axis, the first screen below will not appear (refer to Section 8.3 entitled Operational Mode Selection of this manual).

  • Page 25: Operation Mode Selection

    8-3 Operation Mode Selection 8-3-1 Positioner (PCON-PL/PO, ACON-PL/PO, or SCON: Mode Other than Pulse Train Mode) In the case of the positioner controller of PCON-PL/PO, ACON-PL/PO, or SCON (mode other than the Pulse Train Mode), the Select Mode screen will be displayed in Fig. 8.4. Selected controller axis number Screen Display Name...

  • Page 26: Pulse Train (Pcon-Pl/Po, Acon-Pl/Po, Or Scon: Pulse Train Mode)

    8-3-2 Pulse Train (PCON-PL/PO, ACON-PL/PO, or SCON: Pulse Train Mode) In the case of the PCON-PL/PO, ACON-PL/PO, or SCON controller (pulse train mode), the Select Mode screen shown in Fig. 8.5 will be displayed. Selected controller axis number Screen Display Name Protocol type display Board type display Listing of modes...

  • Page 27: Edit/Teaching

    8-4 Edit/Teaching 8-4-1 PCON, ACON, SCON, or ERC2 When “* Edit/Teach (Position)” mode is selected, the contents of the position table saved in the controller will be displayed. * In the case of PCON-PL/PO, ACON-PL/PO, or SCON (Pulse Train mode), they will not be displayed.

  • Page 29: Rcp, Rcs, E-Con, Rcp2, Or Erc

    8-4-2 RCP, RCS, E-Con, RCP2, or ERC When “* Edit/Teach (Position)” mode is selected, the contents of the position table saved in the controller will be displayed. Editing axis number Title Display Area Main Display Area Sub Display Area Status Display Area Error Display Area Fig.
  • Page 30 The position data main display area is divided and displayed as below. You can change the screens by continuing to press the arrow keys ( Position Push Range Note) When the cursors on the position data table main display area are flashing, you can change the right-and-left areas by pressing the key and key simultaneously.

  • Page 31: Position Data Table Contents

    8-5 Position Data Table Contents 8-5-1 Position Data Table Contents for PCON, ACON, SCON, and ERC2 The setting items of the position data table are No., Position, Vel, Acc/Dcl, Push, LoTh, Range, Zone+, Zone-, AccDcl Mode, Cmnd Mode, and Stop Mode. They are displayed in 10 screens. The items of Zone+, Zone-, AccDcl Mode, and Stop Mode are enabled (ON) or disabled (OFF) according to the controller type.
  • Page 32 “List of Actuator Specifications” in the Appendix. Increasing such values largely relates to the transfer mass and the actuator characteristics vary depending on the model, consult IAI regarding the input-limiting values. (5) Push: - Select the positioning operation or push operation.
  • Page 33 (6) LoTh: - This field is invalid. The default value is 0. (7) Range: - The “positioning operation” and “push operation” have different meanings. Positioning operation: It defines the distance to the target position from a position at which the position complete signal turns ON.
  • Page 34 (8) Zone +/-: - It defines the zone where the zone output signal of the standard type turns Individual setting is available for each target position to give flexibility. Position Zone+ Zone- [Setting example] Comment [mm] [mm] [mm] Backward 5.00 100.00 0.00 Forward...
  • Page 35 S-shaped motion A curve, which is gradual at the beginning of acceleration but rises sharply halfway, is drawn. applications which want acceleration/deceleration high due to tact time requirement but desire a gradual curve at the beginning of movement or immediately before stop. Speed Time * Set the degree of the S-shaped motion with the parameter No.
  • Page 36 (11) Stop Mode: - It defines the power saving method on standby after completion of positioning to the target position set in the “Position” field of the position number. 0: Invalid power saving method * The default setting is 0 (invalid). 1: Auto servo OFF method.

  • Page 37: Position Data Table Contents For Rcp, Rcs, E-Con, Rcp2,And Erc

    8-5-2 Position Data Table Contents for RCP, RCS, E-Con, RCP2,and ERC The setting items of the position data table are No., Position, Vel, Acc/Dcl, Push, Range, and Acc only MAX. They are displayed in 4 screens. (1) No. Indicates the position data number. To specify relative coordinates, move the cursor here and press the minus key.
  • Page 38 (6) Range: - Enter the positioning completion detection width in mm (distance to the target position) in the positioning mode. - The distance to the target position indicates that the value input here is the upstream distance prior to reaching the target position, and the position complete signal is output when the actuator enters that upstream range.

  • Page 39: Data New Input

    8-5-3 Data New Input The following 4 ways to input new position data exist: (1) Manual Input Manually enter the position data directly from the Teaching Pendant key pad. (For the input example, see page 34.) (2) Direct Teach Turn the servo controller OFF, manually move the slider to match the desired location, and read and command that location into the position table.
  • Page 40 1) Homing Perform temporary stop reset and servo ON input in advance. Alternatively, disable servo ON input and temporary stop reset with User Adjustment. (There is no servo ON input for RCP.) Caution: Operating instructions are described on the screens of PCON, ACON, SCON, and ERC2. Operation Screen Reference...
  • Page 41 Operation Screen Reference 4. Use the key for the cursor and Use the key to move the Edit/Teach Axis 1 Position move to “* Home.” cursor in the sub display area. * Direct Teach (Servo OFF) * Jog *Increment *Home * Move *Continuous [Srv ON 0.00]...
  • Page 42 2) Numeric Input Caution: Operating instructions are described on the screens of PCON, ACON, SCON, and ERC2. Example 1: 2 point continuous loop move 30mm <-> 250mm, Speed 300mm/sec Operation Screen Reference 1. Select * Edit/Teach and press the The cursor will move by the arrow Select Mode Axis 1 Edit/Teach (Position) Return key.
  • Page 43 Operation Screen Reference During position data Edit/Teach Axis 1 Position registration, the initial values set with the user parameters for velocity, acceleration, deceleration, etc., will be input automatically. Clr/All: No -- > Return In the left screen, the initial value Teach/Play: (Ten key Match) is set as 100mm/sec.
  • Page 44 Operation Screen Reference 7. Input here, and press In order to stop during numeric Edit/Teach Axis 1 Position the Return key again. input, press the to cancel the input. Clr/All: No -- > Return Teach/Play: (Ten key Match) Position -- > Return [Srv ON 0.00] cursor...
  • Page 45 2 point continuous loop move Push operation 10mm position <-> 80mm position Example 2: (Push range 5mm) Operation Screen Reference 1. Select * Edit/Teach and press the The cursor will move by the arrow Select Mode Axis 1 Edit/Teach (Position) Return key..
  • Page 46 Operation Screen Reference During position data Edit/Teach Axis 1 Position registration, the initial values set with the user parameters for velocity, acceleration, deceleration, etc., will be input automatically. Clr/All: No -- > Return In the left screen, the initial value Teach/Play: (Ten key Match) is set as 100mm/sec.
  • Page 47 Operation Screen Reference cursor will automatically Edit/Teach Axis 1 Position move to “Vel.” Clr/All: No -- > Return Teach/Play: (Ten key Match) Position -- > Return [Srv ON 0.00] 8. Press the key when the cursor The screen will switch. Edit/Teach Axis 1 is located at “Vel.”...
  • Page 48 Operation Screen Reference 10. Input the current value during * For push control, refer to the Edit/Teach Axis 1 Push LoTh Range push. Controller Operating Manual. In this example, input 30%. Input , and then press the Return key. Push = 0: PTP else: Push Push, Range >...
  • Page 49 Example 3: Relative Coordinates pitch movement 30 mm → 40 mm → 50 mm…. Operation Screen Reference 1. Select * Edit/Teach and press the The cursor will move by the arrow Select Mode Axis 1 Edit/Teach (Position) Return key. key or key.
  • Page 50 Operation Screen Reference 4. The cursor will move During position data Edit/Teach Axis 1 Position automatically to the Vel. If there registration, the initial values set are no changes, press the Return with the user parameters for key. velocity, acceleration, deceleration, etc., will be input automatically.
  • Page 51 Operation Screen Reference 7. Press the key to move the The “=” sign will be displayed Edit/Teach Axis 1 Position cursor to the Position. between No. and position to indicate that it is the relative coordinate mode. By pressing the key, “=”...
  • Page 52 3) Direct Teach (Method: Manually moving the actuator, matching to the desired position, and teaching that position into the position table) When direct teach operation is performed first after power-on, it is required to perform home return operation in advance. (Refer to page 32.) (Increment specification) Caution: Operating instructions are described on the screens of PCON, ACON, SCON, and ERC2.
  • Page 53 Operation Screen Reference 4. Use key to move the cursor, Use the key to move the Edit/Teach Axis 1 Position and then select *Direct Teach and cursor inside the sub display press the Return key (upon area. pressing the Return key, status will be in servo off.
  • Page 54 Operation Screen Reference 6. Use the key to move the Pressing the Return key will read Edit/Teach Axis 1 Position cursor to * YES. the position. Press the Return key again. Acquire position No. 0? * NO * Yes [Srv OFF 0.00] 7.
  • Page 55 Operation Screen Reference Use the key to move the Pressing the Return key will read Edit/Teach Axis 1 Position cursor to * YES. the position. Press the Return key again. Acquire position No. 1? * NO * Yes [Srv OFF 30.00] Press the key twice.
  • Page 56 4) Jog Teach (Method: Tagging the actuator, matching to the desired position, and teaching that position into the position table) If you continue pressing the arrow key, the actuator will move at a specified speed (1, 10, 30, 50, 100 [mm/sec]).
  • Page 57 Operation Screen Reference 3. Press the Return key again. The numeric value will input the Edit/Teach Axis 1 Position Return key only. Clr/All: No -- > Return Teach/Play: (Ten key Match) Position -- > Return [Srv ON 0.00] 4. Use key to move the cursor, Edit/Teach Axis 1...
  • Page 58 Operation Screen Reference 6. Use the key to move the Pressing the Return key will read Edit/Teach Axis 1 Position cursor to * YES. the position. Press the Return key again. Acquire position No. 0? * NO * Yes [Srv ON 500.00] 7.
  • Page 59 Operation Screen Reference Use the key to move the Pressing the Return key will read Edit/Teach Axis 1 Position cursor to * YES. the position. Press the Return key again. Acquire position No. 1? * NO * Yes [Srv OFF 100.00] Press the key.
  • Page 60 5) Increment (Method: Incremental movement using arrow key, matching to the desired position, and teaching that position into the position table) If you press the arrow key once, the actuator will move by a specified pitch (0.03, 0.10, 0.50 [mm]). If you continue pressing the arrow key, the actuator will move by jogging at 1 mm/sec.
  • Page 61 Operation Screen Reference 3. Press the Return key again. The numeric value will input the Edit/Teach Axis 1 Position Return key only. Clr/All: No -- > Return Teach/Play: (Ten key Match) Position -- > Return [Srv ON 0.00] 4. Use key to move the cursor, Edit/Teach Axis 1...
  • Page 62 Operation Screen Reference 6. Use the key to move the Pressing the Return key will read Edit/Teach Axis 1 Position cursor to * YES. the position. Press the Return key again. Acquire position No. 0? * NO * Yes [Srv ON 10.00] 7.
  • Page 63 Operation Screen Reference Use the key to move the Pressing the Return key will read Edit/Teach Axis 1 Position cursor to * YES. the position. Press the Return key again. Acquire position No. 1? * NO * Yes [Srv OFF 90.00] Press the key.

  • Page 64: Data Modification

    8-5-4 Data Modification You may write over all of the position data. Similar to new input, the following 4 cases exist: (1) Manual Input: Manually enter the position data directly from Teaching Pendant key pad. (2) Direct Teach: Turns the servo OFF, manually move the slider to the desired location, and read that location (current position) into the position table.
  • Page 65 1) Clear (Method: To clear the position data of assigned location) Caution: Operating instructions are described on the screens of PCON, ACON, SCON, and ERC2. Example: Clear the row of position data number 2. Operation Screen Reference 1. Select * Edit/Teach and press the The cursor will move by the arrow Select Mode Axis 1 Edit/Teach (Position)
  • Page 66 Operation Screen Reference 4. Use key to move the cursor, Use the key to move the Edit/Teach Axis 1 Position and then select * Clear and press cursor inside the sub display the Return key. area. Use the key to move the cursor of the main screen and change the clear position number.
  • Page 67 1) All Clear (Operation: To clear all position data) Operation Screen Reference 1. Select * Edit/Teach and press the The cursor will move by the arrow Select Mode Axis 1 Edit/Teach (Position) Return key.. key or key. Monitor Error list User Parameter User Adjustment TP Operation Mode...
  • Page 68 Operation Screen Reference 4. Use key to move the cursor, Edit/Teach Axis 1 Position and then select * Clear and press the Return key. Select Clr/All: No -- > Return * Clear * All Clear [Srv ON 0.00] 5. Confirm the screen display. If you When the screen switches to this Edit/Teach Axis 1...

  • Page 69: Move

    8-5-6 Move You may move towards a position registered in the position data table (1 step move) and continuously move through the continuous position data. In this section, the move will differ from jog and increment move used with the arrow key. This will be moved towards a position that was registered in the position data table within the controller.
  • Page 70 1) Move (Operation: Registered position data number assigned move) Caution: Operating instructions are described on the screens of PCON, ACON, SCON, and ERC2. Example: Current position → move towards position number 2, 3 Operation Screen Reference 1. Select * Edit/Teach and press the The cursor will move by the arrow Select Mode Axis 1 Edit/Teach (Position)
  • Page 71 Operation Screen Reference 4. Use key to move the cursor, Use the key to move the Edit/Teach Axis 1 Position and then select * Move and press cursor inside the sub display the Return key. area. Use the key to move the cursor of the main screen and change moving...
  • Page 72 Operation Screen Reference 7. Press the key twice, and The screen will return to the Edit/Teach Axis 1 Position return to the edit/teach screen. Edit/Teaching main screen. Move (1 position) Speed 50% 100% Return --> position Move [Srv ON 300.00] 8.
  • Page 73 1) Continuous Move (Operation: Registered position data number assigned continuous move) Caution: Operating instructions are described on the screens of PCON, ACON, SCON, and ERC2. Example: Current position → Continuous move towards position numbers 1 to 3 Operation Screen Reference 1.
  • Page 74 Operation Screen Reference 4. Use key to move the cursor, Use the key to move the Edit/Teach Axis 1 Position and then select * Continuous and cursor inside the sub display press the Return key. area. Use the key to move the cursor of the main screen and change moving...
  • Page 75 Operation Screen Reference 7. Press the key twice. The screen will return to the Edit/Teach Axis 1 Position Edit/Teaching main screen. Clr/All: No -- > Return Teach/Play: (Ten key Match) Position -- > Return [Srv ON 0.00] Caution: When moving towards position in push mode. After the actuator pushes the work and position complete output turns ON, the actuator is in a state of continuously pressing the work.

  • Page 76: Servo On/Off

    8-5-7 Servo ON/OFF Servo ON/OFF can be performed. Caution: Operating instructions are described on the screens of PCON, ACON, SCON, and ERC2. Operation Screen Reference 1. Select * Edit/Teach and press the The cursor will move by the arrow Select Mode Axis 1 Edit/Teach (Position) Return key..
  • Page 77 Operation Screen Reference 4. Use the key to move the Use the key to move the Edit/Teach Axis 1 Position cursor to “Srv.” cursor inside the sub display area. * Direct Teach (Servo OFF) * Jog * Increment * Home * Move * Continuous [Srv 0.00]...

  • Page 78: Pulse Train (Pcon-Pl/Po, Acon-Pl/Po, Scon: Pulse Train Mode) Based Jogging

    8-5-8 Pulse Train (PCON-PL/PO, ACON-PL/PO, SCON: Pulse Train Mode) Based Jogging In the case of the PCON-PL/PO, ACON-PL/PO, or SCON controller (pulse train mode), if you select “* Jog,” servo ON/OFF, homing, jogging, or increment movement can be performed. Select “* Jog” on the Select Mode screen and press the Return key. (Use the key or key to move the cursor.)
  • Page 79 The Jog screen will be displayed. To select, Servo, Home, Jog, and Increment, use the key or key to move the cursor. (1) Current position S e r v o (2) Servo ON/OFF (3) Home (4) Jog (5) Increment (1) Current position: Indicates the current position. If you press the [X] key, the display will change to the pulse display.

  • Page 80: Monitor

    8-6 Monitor The I/O status and current position will be displayed for all the controllers connected on the serial communication line. Select * Monitor on the Select Mode screen and press the Return key. (Use the key or key to move the cursor.) (Note) In the case of the PCON-PL/PO, ACON-PL/PO, or SCON controller (pulse train mode), “Edit/Teach (Position)”...
  • Page 81 The left figure shows an example of the PCON-CY controller. * The display contents vary depending on the controller or controller’s I/O pattern. For details, refer to the operating manual of each controller. If you press the key, the axis to monitor can be changed.
  • Page 82 Pulse Position Display : PCON-PL/PO, ACON-PL/PO, SCON (Pulse Train Mode) 1 6 . 5 % Current Value (mA) Display...

  • Page 83: Error List

    8-7 Error List Errors occurring after the connection of the Teaching Pendant and those occurring after a controller’s power-on will be displayed. Select “* Error List” on the Select Mode screen and press the Return key. (Use the key or key to move the cursor.) (Note) In the case of the PCON-PL/PO, ACON-PL/PO, or SCON controller (pulse...
  • Page 84 Controller Error List If you press any of the ten key “0” to “8,” an error which occurred after a controller’s power-on will be B a n k e r r o r ( P o i n t ) E r r 0 B 1 - - - -...

  • Page 85: User Parameters

    8-8 User Parameters Parameters are displayed and edited. Select “* User Parameter” on the Select Mode screen and press the Return key. (Use the key or key to move the cursor.) (Note) In the case of the PCON-PL/PO, ACON-PL/PO, or SCON controller (pulse train mode), “Edit/Teach (Position)”...
  • Page 86 Examples of PCON-CY Controller ◄ ► ◄ ► ◄ ► ◄ ► ◄ ► ◄ ► ◄ ►...
  • Page 87 When resetting software, Select “* Yes” and press the Return key. (When stopping software reset, select “* No” and press the Return key. The screen returns to the Select Mode screen.) When the servo is ON, the screen will move to the servo OFF confirmation screen.
  • Page 88 - When soft limit is modified at the customer site, please set a value which extends 0.3mm outside of the effective area. Example: When setting the effective area between 0mm~80mm Soft limit + side: 80.3 Soft limit - side: -0.3 Soft Limit set in controller Approx.

  • Page 89: User Adjustment

    8-9 User Adjustment 8-9-1 Pause, servo ON input enable and disable setting, homing operation, axis number setting Sets enable or disable of pause, servo on input. Execute homing. Set the axis number of the controller (PCON, ACON, ERC2, RCP-RSI, RCP-RMI, ERC, etc.). Select “* User Adjustment”...
  • Page 90 - If you input 1 into Adjust No. and press the Return key, homing will be performed. - Temporary stop effect: 90 Input 90 into Adjust No. and press the Return key. After that, turn off the controller power. - Temporary stop non-effect: 91 Input 91 into Adjust no.

  • Page 91: Software Reset

    8-9-2 Software Reset Software reset (controller restart) will be performed. * The software reset function is supported by Ver. 2.00 or later. The compatible models are PCON, ACON, SCON, RCP2, ERC, and ERC2. Select “* User Adjustment” on the Select Mode screen and press the Return key.
  • Page 92 When resetting software, select “* Yes” and press the Return key. (When stopping software reset, select “* No” and press the Return key. The screen will return to the Select Mode screen.) When the servo is ON, the screen will move to the servo OFF confirmation screen.

  • Page 93: Error List Clear

    8-9-3 Error List Clear All the contents of the error lists will be cleared. * The error list clear function is supported by Ver. 2.00 or later. The compatible models are PCON, ACON, SCON, and ERC2. Select “* User Adjustment” on the Select Mode screen and press the Return key.
  • Page 94 When clearing the error list, select “* Yes” and press the Return key. (When stopping error list clear, select “* No” and press the Return key.) The screen will return to the Select Mode screen regardless of whether you select “* Yes” or “* No.”...

  • Page 95: Tp Operation Mode

    8-10 TP Operation Mode The operation mode will be set in the manual mode (MANU). The compatible models are PCON, ACON, SCON, and ERC2. Select “* TP Operation Mode” on the Select Mode screen and press the Return key. (Use the key or key to move the cursor.) (Note) In...
  • Page 96 Select the operation mode from the following 4 menu items: - Teach 1 (PIO Prh・SftyVel Efct) PIO Prh: Enables writing of position data, parameters, etc., in the controller and commands of the actuator movement system. SftyVel Efct: Keeps the maximum speed at the safety speed set for the parameter regardless of the position data.

  • Page 97: End

    8-11 End Before removing the Teaching Pendant from the RC controller, be sure to execute End. Operation: 1. Press the key for more than 2.5 seconds. 2. Moving the cursor to * Complete, press down the Return key. In the case of any controller with a PORT switch, turn the controller PORT switch to OFF and remove the Teaching Pendant connector.

  • Page 98: Message Area

    9. Message Area In the message screen, content during error and warning will be displayed. Code No. Error Label Error Reset Reference 000~07F Controller Warning Controller rejects command 080-0FF Controller Error Note Error inside the controller 100~1FF DIP* Message Input error, guide message, etc. 200~2FF DIP* Movement Release Movement continuation impossible...

  • Page 99: Teaching Pendant Message Level Error

    9-2 Teaching Pendant Message Level Error Teaching Pendant Operational Mistake: When you attempt to input an incorrect value, the message label error will occur. Code No: 112h, 113h, 114h, 118h, 11Eh, 11Fh, etc. (keypad input value is incorrect.) 9-3 Controller Error An alarm detected from the controller side can be displayed.

  • Page 100: Appendix

    Appendix * Appendix Parameter (Shipment) Initialization Method Parameters will be changed (initialized) to shipment parameters. The compatible models are PCON, ACON, SCON, and ERC2. Caution: Please take note that if parameter (shipment) initialization is performed, user-set parameters will be changed to shipment parameters. Select “* User Adjustment”...
  • Page 101 Appendix Input 5119 into Adjust and press the Return key. When performing parameter (shipment) initialization, select “* Yes” and press the Return key. When parameter (shipment) initialization completed, the screen will return to the Soft Reset screen. (When stopping parameter (shipment) initialization, select “* No”...
  • Page 102 Appendix When resetting software, select “* Yes” and press the Return key. (When stopping software reset, select “No” and press the Return key. The screen will return to the Select Mode screen.) When the servo is ON, the screen will move to the servo OFF confirmation screen.

  • Page 103: Teaching Pendant Error Table

    Appendix Teaching Pendant error table Listed in the table are Teaching Pendant specific error. For error of controller, refer to the Operating Manual of each controller. Code Message name Description Input Incorrect Error An incorrect value was entered for a parameter. (Example) 9601 was entered as the serial communication speed by mistake.
  • Page 104 These conditions do not occur in normal operation. Should they occur, record the entire error list before cutting off the power for use in the cause investigation. Also, contact IAI. No Connect Error This message indicates that no controller axis number is recognized.
  • Page 106 Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany TEL 06196-88950 FAX 06196-889524 The prices, specifications, dimensions and other information provided in this manual are subject to change without notice for purposes of product improvement. Copyright © 2006 Sept. IAI Corporation. All rights reserved.

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