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IAI ROBO CYLINDER RCM-P Operating Manual

Data input pendant
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Robo Cylinder
Data Input Pendant
RCM-P
Operating Manual
Second edition
IAI America Inc.

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Summary of Contents for IAI ROBO CYLINDER RCM-P

  • Page 1 Robo Cylinder Data Input Pendant RCM-P Operating Manual Second edition IAI America Inc.
  • Page 3 CAUTION Disconnection of the RC Data Input Pendant from the PCON/ACON/SCON/ERC2 Controller * After disconnecting the RC Data Input 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 Versions of the RC Data Input Pendant RCM-P which have started support for each model are as follows. Table 1 List of Support Models Model Name Support Started Version RCP * V1.00 RCS * V1.00 E-Con * V1.30 RCP2 * V1.63 ERC *...

  • Page 6: Table Of Contents

    Table of Contents Foreword..............................1 Before You Begin ............................1 Safety Precautions ............................. 2 Warranty ..............................3 Warranty Period........................... 3 Scope of Warranty ..........................3 Honoring the Warranty ........................3 Limited Liability ............................ 3 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications ....4 Limited Liability ............................
  • Page 7 Message Area ............................52 Warning Label Error (Code No. 000h – 07Fh) .................. 52 RC Data Input Pendant Message Level Error.................. 53 Controller Error ..........................53 * Appendix............................... 62 Parameter (factory-installed) initializing method....................62 RC Data Input pendant error table ........................64...

  • Page 9: Foreword

    1. Foreword Thank you very much for purchasing the RC Data Input Pendant (RCA-P) for the Robo Cylinder Controller. Without knowing beforehand how to correctly use or operate the RC Data Input Pendant, not only will the user be unable to take full advantage of all the functions built into this product but the user might also inadvertently cause damage to the Controller or shorten its life.

  • Page 10: Safety Precautions

    3. Safety Precautions Use a genuine product specified by us for wiring between the actuator and controller. Stand clear of the operating range of the machine when it is in motion or is ready to operate. Surround the system with safety partitions if there is a possibility that people can enter the area where the machine is being used.

  • Page 11: Warranty

    4. Warranty Warranty Period One of the following periods, whichever is shorter: 18 months after shipment from our company 12 months after delivery to the specified location Scope of 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.

  • Page 12: Conditions Of Conformance With Applicable Standards/Regulations, Etc., And Applications

    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.

  • Page 13: Application Environment

    - Always hold onto the entire RC Data Input Pendant Body so that the RC Data Input Pendant Cable does not get pulled by unwanted cables. Caution: This RC Data Input Pendant is designed exclusively for IAI RC Controller, and should not be used to connect with other devices.

  • Page 14: External View

    6-2 External View External Dimensions...

  • Page 15: Description Of Each Part

    6-3 Description of Each Part (1) LCD (Arrow) keys (Minus) key (Return) key (Numeric) keys...
  • Page 16 (1) LCD This is a liquid crystal display with a maximum of horizontal: 16 characters per column, and vertical: 2 columns per row. This displays edit and teaching contents of various set values. (Arrow) keys: - This is used for selection of the mode, the contents of data and changing position No. - By pressing this key for more than 2.5 seconds, the screen will change into the “BEGIN/END”...

  • Page 17: Connection With The Controller

    7. Connection With the Controller 7-1 Connection with the RC Data Input Pendant (1) Connect the RC Data Input Pendant Cable to the “PORT IN” connector which is located on the front of the controller. Always turn OFF the controller Port Switch first before connecting with regard to a controller equipped with a PORT switch.

  • Page 18: Operation

    8. Operation (1) Positioner (PCON-PL/PO, ACON-PL/PO, SCON: Mode other than the Pulse Train Mode) The total picture of operations performed with the RC Data Input Pendant has the tree structure as shown below. To return to the previous screen, press the ESC key. Power-ON Confirming connection TP operation mode...
  • Page 19 (2) Pulse Train (PCON-PL/PO, ACON-PL/PO, SCON: Pulse Train Mode) The total picture of operations performed with the RC Data Input Pendant has the tree structure as shown below. To return to the previous screen, press the ESC key. Power-ON Confirming connection TP operation mode Return Return...

  • Page 20: Initial Screen During Power - Up

    8-1 Initial Screen During Power - UP When power is connected to the controller and the controller PORT switch is ON, power is supplied to the RC Data Input Pendant and operation starts. Once the PORT switch on the controller equipped with the PORT switch is ON, power is supplied to the RC Data Input Pendant and operation will begin.

  • Page 21: 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 22: Operation Mode Selection

    8-3 Operation Mode Selection RCP, RCS, E-Con, RCP2 and ERC will be displayed as T2. PCON, SCON, ACON and ERC2 will be displayed as M2. Edit/Teach Mode Select Slct Mode/M2 A. 00 * Edit/Teach Monitor Error List Slct Mode/M2 A. 00 User * Monitor Parameter...
  • Page 23 Category of Modes 1. * Edit/Teach Edit and numeric input function for position data table Note: Not displayed in the case of PCON-PL/PO, ACON-PL/PO and the pulse sequence modes of SCON. 2. * Monitor RC Controller status display 3. * Error list Alarm content detailed display 4.

  • Page 24: Edit/Teach

    8-4 Edit/Teach 8-4-1 Edit/Teach Screen When “*Edit/Teach” is selected on the Mode Select screen, the Edit/Teach screen is displayed. The Edit/Teach screen has the 6 items as follows: * Not displayed in the case of PCON-PL/PO, ACON-PL/PO and the pulse sequence modes of SCON.
  • Page 25 You can change the screens by using the arrow keys ( ) and press the return key. * MDI: Numerically inputs the position data directly from the ten keys (input example: Page 28 in this manual). * Clear: Resets the position data (input example: Page 34 in this manual). * All Clear: Resets all of the position data (input example: Page 35 in this manual).
  • Page 26 (2) RCP, RCS, E-Con, RCP2, ERC As the table below shows, in the position table, there are 7 setting contents (Position, Vel, Acc/Dcl, Push, Range, Acc only MAX, and ABS/INC) per each position data number. Position Acc/Dcl Push Range Acc only MAX ABS/INC * mm/s * mm...

  • Page 27: Position Data Table Contents For Pcon, Acon, Scon, And Erc2

    8.4.2 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, Range, LoTh, 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 28 “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 29 (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 30 (8) Zone +/-: - It defines the zone where the zone output signal of the standard type turns ON. 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...
  • Page 31 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 32 (11) Cmnd Mode: - This field is invalid. The factory setting is 0. (12) 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).

  • Page 33: Position Data Table Contents For Rcp, Rcs, E-Con, And Erc

    8-4-3 Position Data Table Contents for RCP, RCS, E-Con, and ERC The columns for the position data table are Position, Vel, Acc/Dcl, Push, Range, Acc only MAX, and ABS/INS. (1) No. Shows position data No. (2) Position: The desired move location from home in millimeters. - Absolute Positioning: Moves the actuator to the desired location in reference to the home location.
  • Page 34 (6) Range - As for the range, depending on the setting in the push as either 0 or other than 0, this function will vary. [mm] (A) Push = 0 (Positioning Mode) - The positioning mode uses range value as a location to turn ON the position complete output prior to reaching the actual data.

  • Page 35: Data Input

    8-4-4 Data Input There are two methods of inputting the position data. MDI numerically input ----- Method for numerically inputting the position data directly from the keypad of the Data Input Pendant. Direct Teach ----- Method for allowing the position data table to read the position (current position) by turning off the servo control and manually moving the slider to adjust to the target position.
  • Page 36 （１）MDI Numeric Input Method of numerically inputting the position data directly from the ten keys of the RC Data Input Pendant. In this section, we will explain an example of the input procedure according to MDI (numeric input) for PCON, ACON, SCON and ERC2. Input the following content in Position Nos.
  • Page 37 The screen will turn into the Input Screen for Speed. No. 000 A. 00 The default value will be utilized as is. Since other mm/s data will use the default value, input for position number 0 will end here. Next, position number 1 input will be executed. Input using position number 1 No.
  • Page 38 Input using position number 2 No. 002 A. 00 Press the key to advance the position number to Pos A Position number 2 The screen will turn into the Input Screen for Position. No. 002 A. 00 Use the Numeric keys to input 80 and then, press the Pos A Return key.
  • Page 39 Input using position number 3 No. 003 A. 00 Press the key to advance the position number to Position A Position number 3 Input using MDI The screen will turn into the Input Screen for Position. No. 003 A. 00 Use the Numeric keys to input 10 and then, press the Position A Return key.
  • Page 40 (2) Direct Teach Manually move the slider or rod to adjust it to the target position, and allow the position data table to read the current position. In this example, input data in Position No. 4 by Direct Teach. Using the keys in the Mode Select Screen, Slct Mode/M2 A.

  • Page 41: Clear • All Clear

    8-4-5 Clear • All Clear In this section, we will give specific examples of how to clear data in the position table. (1) Clear: Resets the assigned position data. (2) All Clear: Resets all of 16 position data.
  • Page 42 (1) Clear: The Clear operation procedure is explained below. The data of any position number is cleared. In this example, the data of position number 1 is cleared. The position data table becomes as shown below. Acc/Dcl Cmnd Stop Position Push LoTh Range...
  • Page 43 (2) All Clear: The data of all the position numbers is cleared. The position data table becomes as shown below. Acc/Dcl Cmnd Stop Position Push LoTh Range Zone + Zone - ABS/INC Mode Mode Mode 0.00 0.00 0.00 0.20 G 0.20 G 0.10 mm mm/s...

  • Page 44: Data Modification

    8-4-6 Data Modification You may write over all of the position data. (1) Manual Input: Manually enter the position data directly from the RC Data Input Pendant key pad. (2) Direct Teach: Turn the servo OFF, manually move the slider to the desired location, and read that location into the position table.

  • Page 45: Monitor

    8-5 Monitor The I/O status and current position of all controllers connected on the communications line will be displayed. In the Mode Select Screen, using the keys, Slct Mode/M2 A. 00 select Monitor and then, press the Return key. * Monitor Select the displayed item using the Return key or the keys.
  • Page 46 Monitor A. 00 Displays the LS3 (intermediate point end position out 02 LS2 detection) status. Monitor A. 00 Displays the SV (operating preparation completion) out 03 SV status. Displays the HEND (homing completion) status. Monitor A. 00 Displays ON if homing is completed, and displays out 04 HEND OFF if not.

  • Page 47: Error List

    8-6 Error List As long as the RC Data Input Pendant is connected, this display will show the content of the controller error. Slct Mode/M2 A. 00 In the Mode Select Screen, using the keys, * Err List select Error List and then, press the Return key. (1) RC Data Input Pendant error list Displays the error having occurred after the RC Data Input Pendant connection (PORT ON).
  • Page 48 (2) Controller error list Press any one of the ten keys 0－8 from the screen of the RC Data Input Pendant error list, then the error that has occurred is displayed after power for the controller is turned ON. For a number of 10 or more, press the key and the ten keys of 0-5.

  • Page 49: User Parameter

    8-7 User Parameter The User parameter assigns zone and soft limit ranges, actuator attributes and home direction. Zone and soft limit are set within ±9999.99 (input unit: mm). Home and servo parameters are determined by the actuator. Each setting for initial setting value parameters is the registered default value for position data during teaching.
  • Page 50 User Parm 12 A. 00 Sets the current limit value when positioning stops. Hold Cur User Parm 13 A. 00 Sets the current limit value when homing is carried Home Cur out. User Parm 16 A. 00 Selects and sets the SIO communication speed. Baud 38400bps User Parm 17...
  • Page 51 User Parm 35 A. 00 Sets the safety speed. Safty Vel 250mm/s User Parm 36 A. 00 Sets the auto servo OFF delay time 1. Auto Srv Off User Parm 37 A. 00 Sets the auto servo OFF delay time 2. Auto Srv Off 2 User Parm 38 A.
  • Page 52 - 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 53: Software Reset After User Parameters Are Changed

    8-8 Software reset after user parameters are changed For software reset (re-start) function support model (PCON, ACON, ERC2, RCP2, ERC), the screen moves to the software reset screen when the key is pressed after the user parameter is changed or the user adjustment is set. Soft Reset A.

  • Page 54: User Adjustment

    8-9 User Adjustment 8-9-1 Pause, servo ON input enable and disable setting, axis number setting Sets enable or disable pause. Sets the axis number of controllers (PCON, ACON, ERC2, RCP-RSI, RCP-RMI, ERC, etc.) In the Mode Select Screen, using the keys, Slct Mode/M2 A.
  • Page 55 Setting the controller axis number Sets the axis numbers of controllers (RCP, ERC, ERC2) and compact types (PCON-CY, SE, PL/PO, ACON-CY, SE, PL/PO). The adjustment No. and allocation No. are changed User Adjust A. 00 by pressing the Return key or keys.

  • Page 56: Software Reset

    8-9-2 Software Reset Resets the software (re-start up the controller). * Version V2.00 or later make available the software reset function. It is ready for models of PCON, ACON, SCON, RCP2, ERC and ERC2. In the mode select screen, using the keys, Slct Mode/M2 A.

  • Page 57: Error List Clear

    8-9-3 Error List Clear Clears all of the contents of error lists in the controller. * Version V2.00 and later make available the error list clear function. This is available for models of PCON, ACON, SCON, and RCP2. In the mode select screen, using the keys, Slct Mode/M2 A.

  • Page 58: Tp Operation Mode

    8-10 TP Operation Mode Sets operation mode in the manual mode (MANU). Models of PCON, ACON, SCON, ERC2 are available for this mode. In the mode select screen, using the keys, Slct Mode/M2 A. 00 select User Adjustment, and then press the Return * TP Op Mode key.

  • Page 59: End

    * Reconnection Op. Start / End Confirming Link * End DU = Non IAI RE DU V. 2.00 Turn the RC Controller PORT Switch to OFF. Then, remove the connector. Select Axis * Axis No. 00 (in a case of multiple axes connection) OP Op Mode A.

  • Page 60: 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 Error inside the controller 100~1FF DIP* Message Input error, guide message, etc. 200~2FF DIP* Movement Release Movement continuation impossible...

  • Page 61: Rc Data Input Pendant Message Level Error

    9-2 RC Data Input Pendant Message Level Error RC Data Input 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 62: Appendix

    Appendix * Appendix Parameter (factory-installed) initializing method Parameter is changed to the factory-installed parameter. (Initialization) Models of PCON, ACON, SCON, ERC2 are available for this method. Caution: Note that the parameter set by the user is changed to the factory-installed parameter if the parameter (factory-installed) is initialized.
  • Page 63 Appendix When servo is turned ON, you are asked whether Soft Reset A. 00 servo off is carried out or not on all screens by * Srv OFF? pressing the key. (When interrupting the software reset, press the key. The screen returns to the mode select screen.) A message “data being obtained”...

  • Page 64: Rc Data Input Pendant Error Table

    Appendix RC Data Input pendant error table Listed on the table are RC Data Input 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 in a parameter. (Example) 9601 was entered as the serial communication speed by mistake.
  • Page 65 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 66 First edition January 2012 Second edition Support Models: ROBONET added P. 3 : Contents changed is Warranty P. 46: Homing operation deleted...
  • Page 68 SHANGHAI JIAHUA BUSINESS CENTER A8-303, 808, Hongqiao Rd. Shanghai 200030, China TEL 021-6448-4753 FAX 021-6448-3992 website: www.iai-robot.com The information contained in this document is subject to change without notice for purposes of product improvement. Copyright © 2012. Jan. IAI Corporation. All rights reserved. 12.01.000...

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