IAI ACON-C Series First Step Manual page 5

5. Setting of PIP Pattern/Safety Speed
(1) Select [Teaching mode 1: Enable safety speed/Inhibit PIOs] in the MANU
operation mode of the PC or teaching pendant.
(2) Set the PIO pattern.
Parameter No. 25, PIO pattern selection: 0 to 5
(3) Set the safety speed as needed.
Parameter No. 35
(NOTE) The default value of the safety speed is 100mm/sec or less.
6. Servo ON
(1) In the case of the PCON controller, confirm that the slider or rod is not contacting
the mechanical end.
If the slider or rod is contacting the mechanical end, move it away in the opposite
direction.
(NOTE) If the actuator is equipped with a brake, set the brake release switch to
the "BK RLS" side before moving the slider/rod. At this time, exercise
caution not to allow work to drop suddenly due to its own weight. Your
hand may be caught by the dropped work or the robot hand or work itself
may be damaged.
(2) Turn on the servo from the PC or teaching pendant.
If the actuator achieves servo lock and monitor LED "SV/ALM" illuminates in green,
the controller is functioning properly.
7. Check of Safety Circuit
Check that the emergency stop circuit (or motor drive-power cutoff circuit) operates
normally to turn off the servo.
8. Target Position Setting
Set a target position in the "Position" field for each position in the position table.
When carrying out direct teaching, perform home return operation first.
Determine the target positions while fine adjusting the transferred work and robot hand.
(NOTE) To ensure safety, it is recommended that safety speed be enabled during
initial movements.
9. Trial Run Adjustment
(1) Disable the safety speed with the PC software or teaching pendant and perform
operation check for each position.
(2) Set the mode selector switch to the "AUTO" side.
(3) Output a movement command from the PLC to the controller to perform system
operation check.
(4) If vibration or abnormal sound occurs during a trial run, check that actuator
installation has no problems and actuator use conditions have not exceeded the
rating.
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Manual No.: ME0195-10A