Starting Procedures; Action To Take When Error Occurred - IAI PCON-CA Series First Step Manual

Starting Procedures

When using this product for the first time, make sure to avoid mistakes and incorrect wiring by referring to
the procedure below. "PC" stated in this section means "PC software".
No →
Check of Packed Items
Contact us or our distributor.
Are there all the delivered items?
↓ Yes
Installation and Wiring Point Check Item
→
Perform the installation of and wiring for the • Is frame ground (FG) connected?
actuator and controller. • Has the noise countermeasure been taken?
← Yes
Power Supply and Alarm Check
Connect a teaching tool such as PC, turn the Check Item
→ No →
operation mode setting switch to "MANU" side and
Is the Controller Status
turn the power ON for unit.
Display LED turned OFF?
Select [Teaching Mode 1 Safety Speed Activated /
PIO Operation Invalid] in the teaching tool such as
↓ Yes
PC.
Have the settings and checks suitable for the used
mode selected from "Positioner Mode" and "Pulse
Train Control Mode" below.
[In the case of Positioner Mode]
PIO Pattern Settings
Set the used PIO pattern to Parameter No.25.
Safety Speed Setting
Set the Parameter No.35 if necessary.
The safety speed is set to 100mm/s at the delivery.
Servo ON Check Item
Turn the servo ON with the operation on the Is the Controller Status Display
→
No →
teaching tool such as PC.
LED turned ON in green [SV]?
Caution
Please perform this process with the actuator away from the mechanical end or
interfering subjects as much as possible. ↓ Yes
Put the actuator away if it interferes with surroundings. It may generate an alarm
if the actuator hit the mechanical end or interfering subjects when the servo is
turned ON.
The slider may get slightly dropped by self-weight if servo ON and OFF is
repeatedly performed at the same position. Be careful not to pinch the hand or
damage the work.
Safety Circuit Check
No →
Does the emergency stop circuit (drive cutoff circuit) work properly and
Check the emergency stop circuit.
turn the servo OFF?
↓ Yes
Target Position Setting
Set the target position in "Position" Box in each position table.
Perform a home-return operation first when Direct Teaching is to be performed. When moving the actuator manually, set
the Brake Release Switch to "BK RLS" side for the brake equipped type. Put the switch back after the setting is complete.
Warning Be careful not to pinch fingers or damage the work with the dropped actuator when releasing the brake
in vertical orientation.
↓
Test Run Adjustment 1
Check if there is any problem with the
Check the operation without mounting a Check Item
No → installation of the actuator and the condition
→
work and set the safety speed invalid on Any vibration or
of the actuator use exceeds the ranges of the
the teaching tool such as PC, and then abnormal noise?
rated values.
check the operation with a work mounted.
Adjust the servo if necessary.
↓ Yes
Caution To ensure safety, it is recommended that safety
speed be enabled during initial movements.
Test Run Adjustment 2
1) Set the operation mode setting switch to "AUTO".
2) Output the operation command from PLC to the controller and check the system operation.
[In the case of Pulse Train Control Mode (for PLN and PLP types only)]
PIO Pattern Settings
Set the used 6 "Pulse train control mode" or 7 "Pulse train control mode for Battery-less Absolute" to Parameter No.25.
Set the Electronic Gear Check Item
[Refer to Instruction Manual] Is the minimum unit of operation set to the value bigger than the
→
Set the electronic gear ratio based on the minimum resolution of the encoder?
amount of actuator operation per pulse in
Is the fraction of the electronic gear ratio reduced to its lowest terms?
Parameters No.65 and 66.
← Yes
Pulse Train Input Output Mode Setting [Refer to Instruction Manual]
Set the command pulse train input status for the parameter No.63 and No.64.
Put Operation Mode Setting Switch to "AUTO" side when the setting is complete.
Check Item
Servo ON
→ No → Confirm the content of alarm on the teaching
Is the Controller Status Display
Input servo ON signal
tool such as PC to have an appropriate treatment.
LED turned ON in green [SV]?
from PLC.
← Yes
Safety Circuit Check
Check that the emergency stop circuit (or motor
drive-power cutoff circuit) operates normally to turn
OFF the servo.
↓ Yes
Test Run Adjustment 1
Check Item
[Operation Mode MANU] No → Check if there is any problem in the way
Is there any risk of
of actuator mount.
Check with a teaching tool such as the
interfering with peripheral
PC software with no work being loaded,
equipment?
and check the operation range with JOG
operation with the work being loaded.
↓ Yes
No → Check the electronic gear ratio setting.
Test Run Adjustment 2 → Can the positioning
Confirm the command pulse train input
[Operation Mode AUTO]
operation be performed
mode setting.
Output the pulse train from PLC
normally?
to the controller and check the
↓ Yes
system operation.
Confirm that there is no problem in the
Is it in condition without No →
actuator installation, the actuator operation
any vibration and
condition demands a voltage more than rated
abnormal noise?
voltage, and appropriate pulse trains are input.
↓ Yes
Test Run Adjustment 3
Check the system operation conducted by PLC.
● Action to Take When Error Occurred
Shown below are the alarms that you may often see after power up. Have an appropriate treatment following
the instructions below.
Please refer to the Instruction Manual for other alarms.
Error Code
069
Operation Stop Detection
Connect the teaching tool 0B8 Excitement Detection Error
such as PC to confirm the
content of alarm and have
an appropriate treatment.
0E5 Encoder Receive Error
If an alarm is generated,
connect the PC or teaching
0E8
pendant and check the
content of the alarm to have
the right treatment.
Absolute Encoder Error
0EE
20A
Error Description Cause and Treatment
It indicates the calendar function has stopped and the current
Real Time Clock
time data has lost.
Have the clock settings again from the teaching tool.
The detection of excitation is conducted when the servo is
turned ON for the first time after the power is supplied. The
status is that the detection did not complete even after a certain
time (set in Parameter No.29) was passed.
1) Connection error or wire breakage of motor/encoder cables
2) Brake is not released (when equipped with a brake).
3) Load to the motor is high due to external force.
4) Power was turned on while touching to the mechanical end.
5) The slide resistance of the actuator itself is large.
Those described above can be considered.
This error code appears when the right signal was not received
from the encoder side to the controller command. Check if any
wire breakage on a connector and the condition of wire
connections. If no error is generated under the condition that the
power to all the peripheral equipment is shut and operate only
this controller and the actuator, noise can be considered as the
cause of the problem.
It is the condition that the encoder signal is not properly
A- and B-Phases detected.
Breakage Error Check if any wire breakage on a connector and the condition of
wire connections.
This error code appears when the absolute encoder PCB cannot
detect the position information properly. The voltage for the
absolute data battery is dropped. Check the battery alarm output
Detection 2 on PIO, and if it is off, replace the battery. Perform Absolute
Reset after the replacement.
Check the encoder cable connection.
It shows the operation command was generated in the condition
Servo OFF While in
that the servo is OFF.
Operation
Resume the operation after turning the servo ON.
Manual No.: ME0288-11A