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IAI Robo Cylinder CON-T Instruction Manual

Teaching pendant
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Teaching Pendant
CON-T, CON-TG,
CON-TGS
Instruction Manual Tenth Edition
IAI Corporation

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Summary of Contents for IAI Robo Cylinder CON-T

  • Page 1 Teaching Pendant CON-T, CON-TG, CON-TGS Instruction Manual Tenth Edition IAI Corporation...
  • Page 3 Please Read Before Use Thank you for purchasing our product. This Instruction Manual describes all necessary information items to operate this product safely such as the operation procedure, structure and maintenance procedure. Before the operation, read this manual carefully and fully understand it to operate this product safely. The enclosed CD/DVD in this product package includes the Instruction Manual for this product. For the operation of this product, print out the necessary sections in the Instruction Manual or display them using the personal computer. After reading through this manual, keep this Instruction Manual at hand so that the operator of this product can read it whenever necessary. [Important] • This Instruction Manual is original. • The product cannot be operated in any way unless expressly specified in this Instruction Manual. IAI shall assume no responsibility for the outcome of any operation not specified herein. • Information contained in this Instruction Manual is subject to change without notice for the purpose of product improvement. • If you have any question or comment regarding the content of this manual, please contact the IAI sales office near you. • Using or copying all or part of this Instruction Manual without permission is prohibited. • The company names, names of products and trademarks of each company shown in the sentences are registered trademarks.
  • Page 5 CAUTION Disconnection of the Teaching Pendant from the PCON / ACON / SCON Controller / ERC2 * A fter disconnecting the Teaching Pendant from the PCON / ACON / SCON controller / ERC2 with the AUTO/MANU switch, always turn the AUTO/MANU switch to AUTO. * F or the PCON / ACON controller / ERC2 without AUTO/MANU switch, always set the TP Operation Mode to “MONIT 2” before disconnecting the Teaching Pendant from the controller. (Refer to “6.10 TP Operation Mode.”) (Note) W hen the controller is set by connecting the Teaching Pendant to the PCON / ACON / controller without an AUTO/MANU switch, the conditions shown below occur. When the controller is set by connecting the Teaching Pendant to the gateway unit/SIO converter, the conditions shown below occur. ● I f the Teaching Pendant is disconnected while the setting of “TEACH 1” or “TEACH 2” remains, I/O will become invalid and control from PLC will become impossible. ● I f the Teaching Pendant is disconnected while the setting of “MONIT 1” remains, the maximum speed will become the safety speed set for the parameter regardless of a command from PLC.
  • Page 6 CAUTION Precautions in Teaching Pendant Connection When the controller’s power input “+” terminal is grounded, the applicable teaching pendant model cannot be connected. When it is connected, the normal power is not supplied and it might cause the breakdown of the teaching pendant. Applicable Models: CON-T, RCM-T, RCM-TD Teaching Pendant Controller...
  • Page 7 Support Models The following are the versions to which we have started support: Table 1 List 1 of Support Models CON-T CON-TG/TGS Model No. Support Started Version Supported/Unsupported Supported/Unsupported RCP *1 ○ × V1.00 RCS *1 ○ × V1.00 E-Con *1 ○ × V1.00 RCP2 *1 ○ × V1.00 V1.00 ERC2 V1.00 PCON ○ ○ V1.00 ACON ○ ○ V1.00 ACON-CA ○...

  • Page 9: Table Of Contents

    Table of Contents Safety Guide .........................1 1. Safety Precautions ..................9 2. Warranty ......................10 2.1 Warranty Period .........................10 2.2 Scope of the Warranty .......................10 2.3 Honoring the Warranty .......................10 2.4 Limited Liability ........................11 2. Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications ........................11 2.6 Other Items Excluded from Warranty ..................11 3. Application Environment ..................12 4. Functions and Specications of Teaching Pendant ..........13 4.1 Specifications ........................13 4.2 External View ........................14 4.3 Description of Each Part .....................1 . Connection With the Controller ................20 .1 Connection with the Teaching Pendant ................20 5.2...
  • Page 10 6..6 Move ………………………………………………………………………………………… 67 6..7 Servo ON/OFF …………………………………………………………………………… 74 6..8 Pulse Train (PCON-PL/PO, ACON-PL/PO, SCON: Pulse Train Mode, ERC3: Pulse Train Mode) Based Jogging ……………………………………………… 7 6.6 Monitor ..........................76 6.7 Error List ..........................84 6.8 User Parameters ........................8 6.8.1 User Parameters … ………………………………………………………………………… 8 6.8.2 Pause, Servo ON Input Enable and Disable Setting … ………………………………… 91 6.9 User Adjustment .........................92 6.9.1 Homing Operation, Axis Number Setting, Calibration and Time Setting …………… 92 6.9.2 Software Reset … …………………………………………………………………………… 94 6.9.3 Error List Clear ………………………………………………………………………………...

  • Page 11: 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 before 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 Model Selection ● This product has not been planned and designed for the application where high level of safety is required, so the guarantee of the protection of human life is impossible. Accordingly, do not use it in any of the following applications. 1) Medical equipment used to maintain, control or otherwise affect human life or physical health. 2) Mechanisms and machinery designed for the purpose of moving or transporting people (For vehicle, railway facility or air navigation facility) 3) Important safety parts of machinery (Safety device, etc.) ● Do not use the product outside the specifications. Failure to do so may considerably shorten the life of the product. ● Do not use it in any of the following environments. 1) Location where there is any inflammable gas, inflammable object or explosive 2) Place with potential exposure to radiation 3) Location with the ambient temperature or relative humidity exceeding the specification range 4) Location where radiant heat is added from direct sunlight or other large heat source ) Location where condensation occurs due to abrupt temperature changes 6) Location where there is any corrosive gas (sulfuric acid or hydrochloric acid) 7) Location exposed to significant amount of dust, salt or iron powder 8) Location subject to direct vibration or impact...
  • Page 12 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. ● When in transportation, consider well about the positions to hold, weight and weight balance and pay special attention to the carried object so it would not get hit or dropped. ● Transport it using an appropriate transportation measure. The actuators available for transportation with a crane have eyebolts attached or there are tapped holes to attach bolts. Follow the instructions in the instruction manual for each model. ● Do not step or sit on the package. ● Do not put any heavy thing that can deform the package, on it. ● When using a crane capable of 1t or more of weight, have an operator who has qualifications for crane operation and sling work. ● When using a crane or equivalent equipments, make sure not to hang a load that weighs more than the equipment’s capability limit. ● Use a hook that is suitable for the load. Consider the safety factor of the hook in such factors as shear strength. ● Do not get on the load that is hung on a crane. ● Do not leave a load hung up with a crane. ● Do not stand under the load that is hung up with a crane. Storage and ● The storage and preservation environment conforms to the installation Preservation environment. However, especially give consideration to the prevention of condensation. ● Store the products with a consideration not to fall them over or drop due to an act of God such as earthquake. Installation and (1) Installation of Robot Main Body and Controller, etc. Start ● Make sure to securely hold and fix the product (including the work part). A fall, drop or abnormal motion of the product may cause a damage or injury. Also, be equipped for a fall-over or drop due to an act of God such as earthquake.
  • Page 13 Operation Description Description Installation and (2) Cable Wiring 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. Do not insert it. Do not put any heavy thing on it. Failure to do so may cause a fire, electric shock or malfunction due to leakage or continuity error. ● Perform the wiring for the product, after turning OFF the power to the unit, so that there is no wiring error. ● When the direct current power (+24V) is connected, take the great care of the directions of positive and negative poles. If the connection direction is not correct, it might cause a fire, product breakdown or malfunction. ● Connect the cable connector securely so that there is no disconnection or looseness. Failure to do so may cause a fire, electric shock or malfunction of the product. ● Never cut and/or reconnect the cables supplied with the product for the purpose of extending or shortening the cable length. Failure to do so may cause the product to malfunction or cause fire. (3) Grounding ● The grounding operation should be performed to prevent an electric shock or electrostatic charge, enhance the noise-resistance ability and control the unnecessary electromagnetic radiation. ● For the ground terminal on the AC power cable of the controller and the grounding plate in the control panel, make sure to use a twisted pair cable with wire thickness 0.mm (AWG20 or equivalent) or more for grounding work. For security grounding, it is necessary to select an appropriate wire thickness suitable for the load. Perform wiring that satisfies the specifications (electrical equipment technical standards). ● Perform Class D Grounding (former Class 3 Grounding with ground resistance 100W or below).
  • Page 14 Operation Description Description Installation and (4) Safety Measures 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. When the robot under operation is touched, it may result in death or serious injury. ● Make sure to install the emergency stop circuit so that the unit can be stopped immediately in an emergency during the unit operation. ● Take the safety measure not to start up the unit only with the power turning ON. Failure to do so may start up the machine suddenly and cause an injury or damage to the product. ● Take the safety measure not to start up the machine only with the emergency stop cancellation or recovery after the power failure. Failure to do so may result in an electric shock or injury due to unexpected power input. ● When the installation or adjustment operation is to be performed, give clear warnings such as “Under Operation; Do not turn ON the power!” etc. Sudden power input may cause an electric shock or injury. ● Take the measure so that the work part is not dropped in power failure or emergency stop. ● Wear protection gloves, goggle or safety shoes, as necessary, to secure safety. ● Do not insert a finger or object in the openings in the product. Failure to do so may cause an injury, electric shock, damage to the product or fire. ● When releasing the brake on a vertically oriented actuator, exercise precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity. Teaching ● 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. ● Perform the teaching operation from outside the safety protection fence, if possible. In the case that the operation is to be performed unavoidably inside the safety protection fence, prepare the “Stipulations for the Operation” and make sure that all the workers acknowledge and understand them well.
  • Page 15 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. ● When the check operation is to be performed inside the safety protection fence, perform the check operation using the previously specified work procedure like the teaching operation. ● Make sure to perform the programmed operation check at the safety speed. Failure to do so may result in an accident due to unexpected motion caused by a program error, etc. ● Do not touch the terminal block or any of the various setting switches in the power ON mode. Failure to do so may result in an electric shock or malfunction. Automatic ● Check before starting the automatic operation or rebooting after operation Operation stop that there is nobody in the safety protection fence. ● Before starting automatic operation, make sure that all peripheral equipment is in an automatic-operation-ready state and there is no alarm indication. ● Make sure to operate automatic operation start from outside of the safety protection fence. ● In the case that there is any abnormal heating, smoke, offensive smell, or abnormal noise in the product, immediately stop the machine and turn OFF the power switch. Failure to do so may result in a fire or damage to the product. ● When a power failure occurs, turn OFF the power switch. Failure to do so may cause an injury or damage to the product, due to a sudden motion of the product in the recovery operation from the power failure.
  • Page 16 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. In the case that the operation is to be performed unavoidably inside the safety protection fence, prepare the “Stipulations for the Operation” and make sure that all the workers acknowledge and understand them well. ● When the work is to be performed inside the safety protection fence, basically turn OFF the power switch. ● When the operation is to be performed inside the safety protection fence, the worker should have an emergency stop switch at hand with him so that the unit can be stopped any time in an emergency. ● When the operation is to be performed inside the safety protection fence, in addition to the workers, arrange a watchman so that the machine can be stopped any time in an emergency. Also, keep watch on the operation so that any third person can not operate the switches carelessly. ● Place a sign “Under Operation” at the position easy to see. ● For the grease for the guide or ball screw, use appropriate grease according to the Instruction Manual for each model. ● Do not perform the dielectric strength test. Failure to do so may result in a damage to the product. ● When releasing the brake on a vertically oriented actuator, exercise precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity. ● The slider or rod may get misaligned OFF the stop position if the servo is turned OFF. Be careful not to get injured or damaged due to an unnecessary operation. ● Pay attention not to lose the cover or untightened screws, and make sure to put the product back to the original condition after maintenance and inspection works. Use in incomplete condition may cause damage to the product or an injury. * Safety protection Fence : In the case that there is no safety protection fence, the movable range should be indicated. Modification and ● Do not modify, disassemble, assemble or use of maintenance parts not Dismantle specified based at your own discretion.
  • Page 17 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 Danger Danger product is not handled correctly, will result in death or serious injury. This indicates a potentially hazardous situation which, if the Warning Warning product is not handled correctly, could result in death or serious injury. This indicates a potentially hazardous situation which, if the Caution Caution product is not handled correctly, may result in minor injury or property damage. This indicates lower possibility for the injury, but should be kept to Notice Notice use this product properly.

  • Page 19: Safety Precautions

    Safety Precautions (1) Use a genuine product specified by us for wiring between the actuator and the Controller. (2) K eep 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). When using it in places where persons may approach, fence it off. (3) B efore carrying out assembly and adjustment work or maintenance and inspection work of the machine, be sure to disconnect the power cord. While working, display the plate specified as such at an easy-to-read location. In addition, give special consideration to prevent third parties from turning on the power carelessly by hauling in the power cord to the operator. Alternatively, lock the power plug or receptacle and direct the operator to keep the key or prepare a safety plug. (4) W hen more than one operator works, advance work by determining the signal method and checking each other’s safety. Especially, for work associated with axial movement regardless of power ON/OFF or motor-driven/manual operation, be sure to confirm safety by calling out to other(s) in advance. () W hen the user (customer) extends wiring, malfunction may occur due to faulty wiring. In this case, inspect wiring thoroughly and check it for properness before turning on the power.

  • Page 20: Warranty

    Warranty Warranty Period One of the following periods, whichever is shorter: ▪ 18 months after our shipment ▪ 12 months after delivery to the place designated by you Scope of the Warranty Our products are covered by warranty when all of the following conditions are met. Faulty products covered by warranty will be replaced or repaired free of charge: (1) The breakdown or problem in question pertains to our product as delivered by us or our authorized dealer. (2) The breakdown or problem in question occurred during the warranty period. (3) The breakdown or problem in question occurred while the product was in use for an appropriate purpose under the conditions and environment of use specified in the instruction manual and catalog. (4) The breakdown or problem in question was caused by a specification defect or problem, or by the poor quality of our product. Note that breakdowns due to any of the following reasons are excluded from the scope of warranty: [1] Anything other than our product [2] Modification or repair performed by a party other than us (unless we have approved such modification or repair) [3] Anything that could not be easily predicted with the level of science and technology available at the time of shipment from our company [4] A natural disaster, man-made disaster, incident or accident for which we are not liable [] Natural fading of paint or other symptoms of aging [6] Wear, depletion or other expected result of use [7] Operation noise, vibration or other subjective sensation not affecting function or maintenance Note that the warranty only covers our product as delivered and that any secondary loss arising...

  • Page 21: Limited Liability

    Limited Liability (1) We shall assume no liability for any special damage, consequential loss or passive loss such as a loss of expected profit arising from or in connection with our product. (2) We shall not be liable for any program or control method created by the customer to operate our product or for the result of such program or control method. Conditions of Conformance with Applicable Standards/ Regulations, Etc., and Applications (1) If our product is combined with another product or any system, device, etc., used by the customer, the customer must first check the applicable standards, regulations and/or rules. The customer is also responsible for confirming that such combination with our product conforms to the applicable standards, etc. In such a case we will not be liable for the conformance of our product with the applicable standards, etc. (2) Our product is for general industrial use. It is not intended or designed for the applications specified below, which require a high level of safety. Accordingly, as a rule our product cannot be used in these applications. Contact us if you must use our product for any of these applications: [1] Medical equipment pertaining to maintenance or management of human life or health [2] A mechanism or mechanical equipment intended to move or transport people (such as a vehicle, railway facility or aviation facility) [3] Important safety parts of mechanical equipment (such as safety devices) [4] Equipment used to handle cultural assets, art or other irreplaceable items (3) Contact us at the earliest opportunity if our product is to be used in any condition or environment that differs from what is specified in the catalog or instruction manual.

  • Page 22: Application Environment

    Application Environment • I n order to avoid breakdown, please do not apply any type of machinery impact to the Teaching Pendant. • A lways 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, DCON, ERC2, ERC3, RCP, RCS, E-Con and RCP2) and should not be used to connect with other devices. Turn the controller front side PORT switch OFF before connecting to controller equipped with a PORT switch.

  • Page 23: Functions And Specications Of Teaching Pendant

    Functions and Specifications of Teaching Pendant CON-T Teaching Pendant was created exclusively for the PCON, ACON, SCON, DCON, RCP, RCS, E-Con and RCP2 Controllers, ERC2 and ERC3. CON-TG/TGS was created exclusively for the PCON, ACON, SCON, and DCON Controllers, ERC2 and ERC3. 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. For using the CON-TG/TGS teaching pendant, it is connected to the adaptor (RCB-LB-TG/TGS) for the teaching pendant, included to conform to the higher safety category. Refer to “.3 Connection of CON-TG/TGS to the Controller”. Specifications Item Specification Temperature: 0°~40°C Humidity: 85% RH or less Ambient Temperature & Humidity * RH relative humidity Operating Environment Free of corrosive gas, especially, no excessive dust Weight 400g (Excluding cables) Cable Length m (Standard)

  • Page 24: External View

    External View External Dimensions...

  • Page 25: Description Of Each Part

    Description of Each Part (1) LCD (3) TP operation mode display LED (2) EMERGENCY STOP (6) MONITOR mode select key (7) PARAMETER mode select key (4) EDIT mode select key (8) ADJUST mode select key (5) ERROR LIST mode select key (10) ESC key (9) TP operation mode select keys (13) WRT key...
  • Page 26 Caution: If multiple controllers are connected using link cables, the EMERGENCY STOP switch is enabled only for the axis of the controller which is connected to the Teaching Pendant. For the ACON-CG, PCON-CG and RCP2-CG (cutout relay external type) Series, the EMERGENCY STOP switch is enabled only when the emergency stop circuit is externally installed. Always read the operating manual of the controller carefully. For the emergency stop wiring of each controller, refer to the operating manual of each controller. (3) TP operation mode display LED • TEACH1: The LED is lit in the Teach 1 mode. 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 position data. • TEACH2: The LED is lit in the Teach 2 mode. PIO Prh: Enables writing of position data, parameters, etc., in the controller and commands of the actuator movement system. SftyVel Non: Enables movement at the speed registered in position data. • MONIT1: The LED is lit in the Monitor 1 mode. PIO Prh: Enables monitoring only. Writing of position data, parameters, etc., in the controller and commands of the actuator movement system are disabled. SftyVel Efct: Keeps the maximum speed at the safety speed set for the parameter regardless of position data. • MONIT2: The LED is lit in the Monitor 2 mode. PIO Prh: Enables monitoring only. Writing of position data, parameters, etc., in the controller and commands of the actuator movement system are disabled. SftyVel Non: Enables movement at the speed registered in position data. (4) EDIT mode select key Moves to the “Edit/Teach” mode. This key is valid when the LED of the EDIT mode select key is lit.
  • Page 27 (7) PARAMETER mode select key Moves to the “User Parameter” mode. This key is valid when the LED of the PARAMETER mode select key is lit. (8) ADJUST mode select key Moves to the “User Adjustment” mode. This key is valid when the LED of the ADJUST mode select key is lit. (9) TP operation mode select keys Select TEACH1 (Teach 1 mode), TEACH2 (Teach 2 mode), MONIT1 (Monitor 1 mode) or MONIT2 (Monitor 2 mode). The mode will move to the TP operation mode selected. After movement, the LED of the operation mode selected lit. (10) ESC key • R eturn to the parent screen display Although Teaching Pendant operation is composed of several layer nests, using this key will return the user to one upper layer (parent screen). When you don’t understand the operation, retry operation after returning to the upper layer with the ESC key. • I nput data cancel during data input operation If you press this key during data input operation, the input data will be canceled. • S top switch during movement or continuous movement Once this switch is pushed down during movement or continuous movement, operation will decelerate and stop immediately.
  • Page 28 (14) BS key Backspace key. If you press this key during data input, the last input character will be cleared. (15) ITEM BACK/FWD key Changes items by incrementing or decrementing item No. on the Edit screen, Monitor screen or User Parameter screen. (16) Arrow keys • E dit screen The cursor will move to each edit item in the screen. The screen will not be changed. • M onitor screen, Error List screen Changes the screen by incrementing or decrementing with the p or q key. Changes the screen by incrementing or decrementing the axis No. among connection axes with the t or u key. (17) SHIFT key This key is not used since it is for a future function enhancement. (18) Ten keys These keys are used for numeric input. To input characters from A to F for the hexadecimal number, perform the following operation. (Applicable for Version V1.10 or later) A : Hold key down and press key at the same time. B : Hold key down and press key at the same time. C : Hold key down and press key at the same time.
  • Page 29 (23) JOG-/JOG+ key • JOG - : Negative direction jog movement • J OG + : Positive direction jog movement (This key is valid in the Teach/Play mode with the servo ON status.) (24) (Return) key This key is used for the confirmation of data input or operation. (25) Dead-man Switch (CON-TG/TGS) There are three stages for the dead-man switch. The ON/OFF in each stage are described as follows. The condition where finger is released from the switch, or the 1st Stage Switch OFF force of pressing the switch is very weak. 2nd Stage Switch ON Condition where the switch is pressed with appropriate force. 3rd Stage Switch OFF Condition where the switch is pressed strongly. The servo-motor can be turned ON under the switch ON condition. When the switch is turned OFF, the driving power source is disconnected and the servo-motor is turned OFF. Even when the switch is turned OFF, the operations in the modes where turning ON the servo- motor is not required are available (such as edit mode).

  • Page 30: Connection With The Controller

    Connection With the Controller Connection with the Teaching Pendant Connect the Teaching Pendant Cable to the Main Communication Port 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 connector and PORT switch, refer to the operating manual for the controller you use.

  • Page 31: Connection Between Con-Tg/Tgs And The Controller

    Connection between CON-TG/TGS and the Controller [Connection between CON-TG and RCB-LB-TG] Controller Adaptor for the Teaching Pendant RCB-LB-TG Controller Adaptor Connection Cable Model Safety Circuit Teaching Pendant CON-TG Dummy Plug DP-4 Caution: When the teaching pendant CON-TG is not to be connected, make sure to insert the dummy plug DP-4 into the adaptor for the teaching pendant.
  • Page 32 [Connection between CON-TGS and RCB-LB-TGS] Controller Adaptor for the Teaching Pendant RCB-LB-TGS Controller Adaptor Connection Cable Model Safety Circuit Teaching Pendant CON-TGS Dummy Plug DP-4S Caution: When the teaching pendant CON-TGS is not to be connected, make sure to insert the dummy plug DP-4S into the adaptor for the teaching pendant.
  • Page 33 [Connection between CON-TG and RCB-LB-TGS] Controller Adaptor for the Teaching Pendant RCB-LB-TGS Controller Adaptor Connection Cable Model Safety Circuit Teaching Pendant CON-TG Dummy Plug DP-4S Connector Conversion Cable Set CB-CVTG-LBS002 Caution: When the teaching pendant CON-TG is not to be connected, make sure to insert the dummy plug DP-4S into the adaptor for the teaching pendant.
  • Page 34 When the CON-TG/TGS teaching pendant is used as the teaching pendant with the dead-man switch,connect it to the controller as shown in the following diagram. [Connection between CON-TG and RCB-LB-TG] Controller Adaptor for the Teaching Pendant RCB-LB-TG Connector on the EMG side Controller Adaptor Connection Cable Model...
  • Page 35 [Connection between CON-TGS and RCB-LB-TGS] Controller Adaptor for the Teaching Pendant RCB-LB-TGS Connector on the EMG side Controller Adaptor Connection Cable Model Connector on the ENB side Teaching Pendant Insert the connector with the wire CON-TGS arrangement that has been kept from the delivery time.
  • Page 36 [Connection between CON-TG and RCB-LB-TGS] Controller Adaptor for the Teaching Pendant RCB-LB-TGS Connector on the EMG side Controller Adaptor Connection Cable Model Connector on the ENB side Teaching Pendant Insert the connector with the wire CON-TG arrangement that has been kept from the delivery time.

  • Page 37: Operation: Mode Flow Chart

    Operation: Mode Flow Chart (1) Positioner (PCON-PL/PO, ACON-PL/PO and 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 TP Operation Mode...

  • Page 38: Pulse Train (Pcon-Pl/Po, Acon-Pl/Po And Scon: Pulse Train Mode)

    (2) Pulse Train (PCON-PL/PO, ACON-PL/PO and 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 and SCON.

  • Page 39: Initial Screen And Tp Operation Mode Screen During Power - Up

    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 40 In the case of the PCON, ACON, SCON or DCON controller, ERC2 or ERC3 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 or RCP2 controller, the screen will automatically move to the Select Axis screen if multiple units are connected.

  • Page 41: Controller Selection (When Using Multiple Units)

    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 6.3 entitled Operational Mode Selection of this manual).

  • Page 42: Operation Mode Selection

    Operation Mode Selection Protocol type display Board type display Screen Display Selected Name controller axis number Listing of modes Mode Selection Screen For the modes, select one of the 5 options as it appears on the above screen. To select it, press one of the keys.

  • Page 43: Edit/Teaching

    Edit/Teaching 6.4.1 PCON, ACON, SCON, DCON, ERC2 or ERC3 When the “*EDIT” mode is selected, the Edit/Teach select screen will be displayed. Edit/Teach Select Screen When the key is pressed to select MDI, the contents of the position data table stored in the controller will be displayed.

  • Page 45: Rcp, Rcs, E-Con Or Rcp2

    6.4.2 RCP, RCS, E-Con or RCP2 When the “*EDIT” mode is selected, the Edit/Teach select screen will be displayed. Edit/Teach Select Screen When the key is pressed to select MDI, the contents of the position data table stored in the controller will be displayed. A: Absolute coordinate specification (ABS) I : Relative coordinate specification (INC) Position No.
  • Page 46 The position data table screen is divided and displayed as below. When the key is pressed, the cursor in the screen will move. Pressing the key again after the cursor has reached the top or bottom line will change the screen. In the same way, when the return key is pressed, the cursor in the screen will move.

  • Page 47: Position Data Table Contents

    Position Data Table Contents 6.5.1 Position Data Table Contents for PCON, ACON, SCON, DCON, ERC2 or ERC3 T he 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 6 screens. The items of Zone+, Zone-, AccDcl Mode and Stop Mode are enabled (ON) or disabled (OFF) according to the controller type. (V1.00 and earlier) For the version V1.10 or later, some items are changed and also added. These items are valid only for SCON-CA, PCON-CA, ACON-CA, DCON-CA, ERC3 (CON Mode (CN)) or ERC3 PIO Converter. 1) Gain Set: “Cmnd Mode” is changed to “Gain Set”. 2) Vibration Control Number: “Vibration Control No.” is newly added. List of ON/OFF of Position Table According to Model AccDcl Mode Stop Mode Vibration Gain First- Auto Position Table Zone +/- Control Full Trapezoid S-shape order Servo...
  • Page 48 “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: •...
  • Page 49 (6) LoTh: • In the case of the PCON-CF/CFA controller, the load output signal (PIO) will be output if the command torque exceeds the value (%) set to “LoTh.” Set the test range with “Zone+/-”. Use it to judge whether push has been performed normally. * For details, refer to the Operating Manual of PCON-CF/CFA Controller.
  • Page 50 (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 51 S-shaped motion A curve, which is gradual at the beginning of acceleration but rises sharply halfway, is drawn. Use it in the applications for which you want to set the acceleration/deceleration high due to tact time requirement but desire a gradual curve at the beginning of movement or immediately before stop.
  • Page 52 (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 53 (12) Gain Set (SCON-CA: Displayed in Version V1.10 or later, ACON-CA: Displayed in Version V1.20 or later) (Note) Setting is available only on SCON-CA or ACON-CA. 6 parameters necessary for Servo Gain Adjustment are gathered to make up 1 set. 4 types of settings are able to be registered and the servo gains can be switched over for each positioning operation. [Parameters constructed in 1 set] • Servo Gain Number (Position Gain) • Position Feed Forward Gain • Speed Loop Proportion Gain • Speed Loop Integration Gain • Torque Filter Time Constant • Current Control Band Number Setting Operation after Positioning Complete Parameter No. Gain Set 0 7, 71, 31 to 33, 4 Gain Set 1 120 to 12 Gain Set 2 126 to 131 Gain Set 3 132 to 137 (13) Vibration Control No. (SCON-CA: Displayed in Version V1.10 or later, ACON-CA: Displayed in Version V1.20 or later) (Note) Setting is available only on SCON-CA or ACON-CA. It controls the vibration (resonance) generated by the load due to the mounted actuator. It possesses a capacity to deal with 3 types of vibration. There are 3 parameters corresponds to 1 type of vibration and they are compiled in 1 set. Set the parameter set corresponds to the position number necessary for the vibration control in the position table. Setting Vibration Control Frequency (Specific Frequency) Parameter No.

  • Page 54: 6..2 Position Data Table Contents For Rcp, Rcs, E-Con And Rcp2

    6..2 Position Data Table Contents for RCP, RCS, E-Con and RCP2 The setting items of the position data table are No., Position, Vel, Acc/Dcl, Push, Range and Acc only MAX. They are displayed in 3 screens. (1) No. Indicates the position data number. (2) Position: Input the target position to move the actuator to, in [mm]. • Absolute Coordinates: Input the target location by determining the distance between the original point and target position. No negative value can be input.
  • Page 55 (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 56: Data New Input

    6.5.3 Data New Input The following 4 ways to input new position data exist: (1) Numeric Input (MDI): Numeric input the position data directly from the Teaching Pendant ten keys. (For the input example, see page 48.) (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 57 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, DCON, ERC2, ERC3 Operation Screen...
  • Page 58 2) Numeric Input Caution: Operating instructions are described on the screens of PCON, ACON, SCON, DCON, ERC2, ERC3 Example 1: 2 point continuous loop move 30mm <-> 250mm, Speed 300mm/sec Operation Screen Reference 1. Press the key. 2. Press the key to select “MDI.”...
  • Page 59 Operation Screen Reference Input here, and The screen will change to the screen of Position No. 1 for then press the Return key. Acc and Dcc. Press the key. (The cursor will automatically move to the next [No. 1].) Change the screen to the screen for Pos and Vel with the key.
  • Page 60 Operation Screen Reference 11. Input here, and The screen will change to the screen of Position No. 2 then press the Return key. for Acc and Dcc. Press the key. (The cursor will automatically move to the next [No. 2] position.)
  • Page 61 2 point continuous loop move Push operation 10mm position <-> 80mm position Example 2: (Push range 5mm) Operation Screen Reference 1. Press the key. 2. Press the key to select “MDI.” Set 0 into the position No. with For any unregistered data, key.
  • Page 62 Operation Screen Reference Press the Return key. At the left, the user parameter is used as it is. Press the key. The screen will change to the (The cursor will automatically screen of Position No. 1 for move to the next [No. 1] Acc and Dcc.
  • Page 63 Operation Screen Reference Input the current value during * For push control, refer to the push. Controller Operating Manual. In this example, input 30%. Input and then press the Return key. Press the Return key again to move the cursor to “Range.” Input the maximum push range The screen will change to the during push into the Range.
  • Page 64 Example 3: Relative Coordinates pitch movement 30 mm → 40 mm → 50 mm…. Operation Screen Reference 1. Press the key. 2. Press the key to select “MDI.” Set 0 into the position No. with For any unregistered data, key. the display will show “*”...
  • Page 65 Operation Screen Reference Press the Return key. At the left, the user parameter is used as it is. Press the key. The screen will change to the (The cursor will automatically screen of Position No. 1 for move to the next [No. 1] Acc and Dcc.
  • Page 66 Operation Screen Reference Change to the screen for Zone + The screen will change. and Zone- with the key. Change to the screen for Acc Dcl Mode and Incremental with key. Move the cursor to “Incremental” with the key. Set to “Incremental” (relative The screen will change to the coordinate specification).
  • Page 67 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 47.) (Increment specification) Caution: Operating instructions are described on the screens of PCON, ACON, SCON, DCON, ERC2, ERC3...
  • Page 68 Operation Screen Reference Manually move the slider and The controller status will be match to the desired position. displayed on the bottom row of the screen. Press the Return key. Servo Control: OFF Position: 100.00 You can change the position No.you want to input with the key.
  • Page 69 Operation Screen Reference Set the position No. youu want to input with the key. Manually move the slider and match to the desired position. Press the Return key. 13. Press the key to select “Yes.” Press the Return key. 15. Press the key.
  • Page 70 4) Jog Teach (Method: Tagging the actuator, matching to the desired position and teaching that position into the position table) However, only the maximum speed will be gained if the maximum speed is slower than the specified speed. When jog operation is performed first after power-on, it is required to perform home return operation in advance.
  • Page 71 Operation Screen Reference Set the position No. you want to Any remaining data will be input with the key. written over. For any unregistered data, Press the Return key. the display will show “*” sign. Press the key to select “Yes.”...
  • Page 72 5) Inching (Method: Incremental movement using arrow key, matching to the desired position and teaching that position into the position table) If you press the JOG- and JOG+ key once, the actuator will move by a specified pitch. If you continue pressing the arrow key, the actuator will move by jogging at 1 mm/sec. The speed will increase every one second.
  • Page 73 Operation Screen Reference Set the position No. you want to Any remaining data will be input with the written over. key. For any unregistered data, the display will show “*” sign. Press the Return key. Press the key to select “Yes.”...

  • Page 74: Data Modification

    6.5.4 Data Modification You may write over all of the position data. Similar to new input, the following 4 cases exist: (1) Numeric Input (MDI): Manually enter the position data directly from Teaching Pendant ten keys. (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 75 1) Clear (Method: To clear the position data of assigned location) Caution: Operating instructions are described on the screens of PCON, ACON, SCON, DCON, ERC2, ERC3 Example: Clear the row of position data number 2. Operation Screen Reference 1. Press the key.
  • Page 76 2) All Clear (Operation: To clear all position data) Caution: Operating instructions are described on the screens of PCON, ACON, SCON, DCON, ERC2, ERC3 Operation Screen Reference 1. Press the key. 2. Press the key to select “All Clear.” 3. Press the key to select “Yes.”...

  • Page 77: Move

    6.5.6 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 78 Specific examples will be provided to explain operation procedures. Caution: With regard to PCON, ACON, SCON, DCON, ERC2, ERC3 complete positions will be output. The positioning complete output will not turn ON when push mode does not encounter a force. When move or Continuous is performed first after power-on, it is required to perform home return operation in advance.
  • Page 79 Operation Screen Reference Select “Vel” with the Speed is divided into 3 levels and can be selected using the key. key. With the key, the speed will change in the incremental direction (10% 50% 100%). With the key, the speed will change in the decremental direction (100% 50% 10%).
  • Page 80 Operation Screen Reference Press the key. The screen will return to the Teach/Play select screen. 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. Be extremely careful about handling at this time.
  • Page 81 2) Continuous Move (Operation: Registered position data number assigned continuous move) Operating instructions are described on the screens of PCON, ACON, SCON, DCON, Caution: ERC2, ERC3 Example: Current position → Continuous move towards position numbers 1 to 3 Operation Screen Reference 1.
  • Page 82 Operation Screen Reference Select “Vel” with the Speed is divided into 3 levels and can be selected using key. key. With the key, the speed will change in the incremental direction (10% 50% 100%). With the key, the speed will change in the decremental direction (100% 50% 10%).
  • Page 83 Operation Screen Reference When operation stops, press the key. The screen will return to the Teach/Play select screen.

  • Page 84: Servo On/Off

    6.5.7 Servo ON/OFF Servo ON/OFF can be performed. Caution: Operating instructions are described on the screens of PCON, ACON, SCON, DCON, ERC2, ERC3 Operation Screen Reference 1. Press the key. 2. Press the key to select “Teach/Play.” 3. Press the key to select “Cont.”...

  • Page 85: Pulse Train

    6.5.8 Pulse Train (PCON-PL/PO, ACON-PL/PO, SCON: Pulse Train Mode, ERC3: Pulse Train Mode) Based Jogging In the case of the PCON-PL/PO, ACON-PL/PO, or SCON controller (pulse train mode), ERC3 (pulse train mode), if you select “Jog” on the Jog/Inching select screen, servo ON/OFF, homing, or jog operation can be performed.
  • Page 86 (2) Inching operation The Inching screen will be displayed. If you press the key, the cursor will move in the positive direction of the displayed coordinates. If you press the key, the cursor will move in the negative direction of the displayed coordinates. Inching distance Homing...

  • Page 87: Monitor

    Monitor The I/O status and current position will be displayed for all the controllers connected on the serial communication line. Press the key. The figure at the left shows an example of the PCON-CY controller. * The display contents vary depending on the controller or controller’s I/O pattern.
  • Page 88 On the axis status screen, if you press the key, the screen will change to the input port monitor screen. If you press the key, the screen will change to the version display screen. On the input port screen, if you press the key, the screen will change to the output port monitor screen, If you press the...
  • Page 89 Display description Displays the axis position in [mm]. In the case of the PCON-PL/PO, ACON-PL/PO or SCON controller (pulse train mode), or ERC3 (pulse train mode), if you press the key, the display will change to the pulse display. Displays the speed of the moving axis in [mm/sec]. In the case of the PCON-PL/PO, ACON-PL/PO or SCON controller (pulse train mode), or ERC3 (pulse train mode), if you press the key, the display will change to the...
  • Page 90 If you press the key on the last screen of input ports, the special input port screen will be displayed. The special input port screen will display special input ports such as HMCK (home check sensor). If you press the key, the axis to monitor can be changed.
  • Page 91 On the special input port monitor screen, if you press the key, the screen will change to the output port monitor screen. If you press the key, the screen will change to the version display screen. If you press the key on the last screen of special input ports, the version display screen will be displayed.
  • Page 92 [Maintenance Information] This mode displays the total number of actuator movement and distance. (Only SCON-CA, ACON-CA, PCON-CA, DCON-CA, ERC3 (CON Mode (CN)) and ERC3 PIO Converter can display this information.) Press in the monitor screen. ● Total Number of Movements Ｍ...
  • Page 93 [Thresholds for Total Number of Movements and Total Travelled Distance] You can set thresholds for total number of movements and total travelled distance in the parameters specified below, to cause an alarm to generate when each threshold is exceeded. Parameter No. Name Threshold for total number of movements Threshold for total travelled distance...

  • Page 94: Error List

    Error List Errors occurring after the connection of the Teaching Pendant and those occurring after a controller’s power-on will be displayed. Press the key. Errors occurring in the controller will be displayed. If you press the key, the Error List screens can be changed.

  • Page 95: User Parameters

    User Parameters 6.8.1 User Parameters Parameters are displayed and edited. Press the key. Each parameter can be changed using the key. When the cursor is located at “No.,”it is also possible to change to the desired user parameter by directly inputting a numeric value of theparameter No.
  • Page 96 When the servo is ON, the screen will change to the Servo OFF confirmation screen. If you press the key and then press the Return key, the controller will restart and the screen will change to the Mode Select screen. Since servo is automatically turned OFF, it is not required to turn SON input OFF.
  • Page 97 Examples of PCON-CY Controller On following page...
  • Page 98 From previous page On following page...
  • Page 99 From previous page On following page...
  • Page 100 From previous page...

  • Page 101: Pause, Servo On Input Enable And Disable Setting

    • 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 102: User Adjustment

    User Adjustment 6.9.1 Homing Operation, Axis Number Setting, Calibration and Time Setting • Execute homing. • Set the axis number of the controller (PCON, ACON, ERC2, RCP-RSI, RCP-RM1, etc.). • Perform the loadcell calibration (SCON-CA) • Move to the clock setting window to set the current time (SCON-CA, PCON-CA and ERC3 PIO Converter) •...
  • Page 103 For SCON-CA, PCON-CA, ACON-CA, DCON-CA and ERC3 PIO Converter , the current time setting can be set on the controller. [Time Setting] Press either and “E” mark is shown. It is now ready for time data edit. (1) Press either and the cursor switches in the following order: year ⇒...

  • Page 104: Software Reset

    6.9.2 Software Reset Software reset (controller restart) will be performed. The compatible models are PCON, ACON, SCON, RCP2, DCON, ERC2 and ERC3. Input into “Adjust No.” and press the Return key. The screen will change to the Software Reset screen. Press the key and press the Return key.

  • Page 105: Error List Clear

    6.9.3 Error List Clear All the contents of the error lists will be cleared. The compatible models are PCON, ACON, SCON, DCON, ERC2 and ERC3. Input into “Adjust No.” and press the Return key. The screen will change to the Error List Clr screen. Press the key and press the Return key.

  • Page 106: Tp Operation Mode

    6.10 TP Operation Mode The operation mode will be set in the manual mode (MANU). The compatible models are PCON, ACON, SCON, DCON, ERC2 and ERC3. When changing the TP operation mode, press the key of the mode you want to change from among the keys.
  • Page 107 Select the operation mode from the following 4 menu items: • Teach 1: The LED is lit in the TEACH1 mode. 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 position data.

  • Page 108: End

    6.11 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. The screen will change to the TP end screen. 2. Press the key to select “Complete.” The screen display will change to “Non”...

  • Page 109: Message Area

    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 TP Message Input error, guide message, etc. 200~2FF TP Movement Release Movement continuation impossible...

  • Page 110: Teaching Pendant Message Level Error

    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.) Controller Error An alarm detected from the controller side can be displayed. This is a serious error due to an abnormality related to servo control and electricity.

  • Page 111: Appendix

    Appendix * Appendix Parameter (Shipment) Initialization Method Parameters will be changed (initialized) to shipment parameters. The compatible models are PCON, ACON, SCON, DCON, ERC2 and ERC3. Caution: Please take note that if parameter (shipment) initialization is performed, user-set parameters will be changed to shipment parameters. Input for “Adjust No.”and press the Return key.

  • Page 112: Teaching Pendant Error Messages

    Appendix Teaching Pendant Error Messages As an example, if an input value is larger than the set range during MDI-mode position data input, the following error screen will be displayed: If you press the key, the screen will return from the error display screen to the previous screen. In this case, the screen will return to the MDI-mode position data input screen.
  • Page 113 Operation in AUTO prohibited This message indicates that actuator movement operation was performed in the AUTO mode. Operation in Monitor mode This message indicates that actuator movement operation was performed in the prohibited Monitor mode. Over Run Error (M) These messages indicate an error in the serial communication with the controller. Framing Error (M) Cause: [1] Garbage data due to the effect of noise SCIR-QUE OV (M) [2] D uplicate slave numbers when multiple controllers are controlled by serial SCIS-QUE OV (M) communication. R-BF OV (M) Action: [1] A djust the wiring in a manner eliminating the effect of noise and review Response Time Out (M) the installation of equipment, etc. Packet R-QUE OV [2] C hange the slave numbers to avoid duplication. Packet S-QUE OV If the message is still displayed after taking the above actions, please contact IAI. Memory Command Reject This message indicates that the command was refused in the serial communication with the controller. Wright Address Error This message indicates that an indeterminate WRITE address error occurred in the serial communication with the controller. 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.
  • Page 114 Appendix Code Message name Description No Connect Error This message indicates that no controller axis number is recognized. Cause: [1] The controller is not operating properly. [2] Only the supplied communication cable (SGA/SGB) is disconnected. [3] I f a SIO converteris used, 24V is supplied to the converter but the link cable is not connected. [4] T he ASDRS switch settings are duplicated by mistake when multiple connectors are linked. Action: [1] C heck if the RDY lamp on the controller is lit. If the lamp is not lit, the controller is faulty. [2] I f a spare Teaching Pendant is available, replace the current pendant with the spare unit, or with a PC and see if the message disappears. [3] S upply power after connecting the link cable between the converter and controller. [4] Make sure the ADRS switch settings are not duplicated. If the message is still displayed after taking the above actions, please contact IAI.

  • Page 115: Change History

    Appendix Change History Revision Date Revision Description 2011.11 Fourth edition Page 1 Safety Guide Added Contents changed in Safety Guide Caution notes added for when working with two or more persons Page 8 Contents changed in Warranty Page 16 Addition of How to Input A to F for Hexadecimal Number Page 31 Contents of Position Table for Version V1.10 and Later Added Page 37 Explanations for Gain Set and Vibration Control Number Added Page 73 Explanation for SCON-CA Force Feedback / Loadcell Calibration...
  • Page 116 Appendix Revision Date Revision Description 2019.05 Tenth edition Page 23 and 26 Correction made to model code for connector conversion cable set for connection to CON-TG and RCB-LB-TGS Page 22 to 26 Descriptions revised regarding TP adapter...
  • Page 118 825, PhairojKijja Tower 7th Floor, Bangna-Trad RD., Bangna, Bangna, Bangkok 10260, Thailand TEL +66-2-361-4458 FAX +66-2-361-4456 website:www.iai-robot.co.th The information contained in this document is subject to change without notice for purposes of product improvement. Copyright © 2019. May IAI Corporation. All rights reserved. 19.05.000...

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