Teaching Pendant
Operating Manual First edition
IAI America Inc.
CAUTION
Disconnection of the Teaching Pendant from the PCON / ACON /
SCON Controller
* After disconnecting the Teaching Pendant from the PCON / ACON / SCON controller with the AUTO/MANU
switch, always turn the AUTO/MANU switch to AUTO.
* For the PCON / ACON controller without AUTO/MANU switch, always set the TP Operation Mode to
“Monitor 2” before disconnecting the Teaching Pendant from the controller.
(Refer to “8.10 TP Operation Mode.”)
(Note) When 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.
●
If 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.
●
If the Teaching Pendant is disconnected while the setting of “Monitor 1” remains, the
maximum speed will become the safety speed set for the parameter regardless of a command
from PLC.
Support Models
The following are the versions to which we have started support:
Table 1 List of Support Models
Model Name Support Started Version
RCP *1 V1.00
RCS *1 V1.00
E-Con *1 V1.00
RCP2 *1 V1.00
PCON V1.00
ACON V1.00
SCON V1.00
*1: This Teaching Pendant also supports the RCP, RCS,
E-Con and RCP2 controllers.
* Check the model to connect and the version of the Teaching Pendant. If any unsupported model is
connected, unexpected movement may occur.
* PCON, ACON, or SCON cannot be used by linking to any model of those shown in *1.
Table of Contents
1. Foreword.................................................................................................................................................... 1
2. Before You Begin ....................................................................................................................................... 1
3. Safety Precautions ................................................................................................................................... 2
4. Warranty and Scope of Warranty ............................................................................................................... 3
5. Application Environment ............................................................................................................................ 4
6. Functions and Specifications of Teaching Pendant ................................................................................... 5
6-1 Specifications ................................................................................................................................ 5
6-2 External View ................................................................................................................................ 6
6-3 Description of Each Part................................................................................................................ 7
7. Connection With the Controller ................................................................................................................ 12
7-1 Connection with the Teaching Pendant....................................................................................... 12
7-2 How to Disengage the Teaching Pendant ................................................................................... 12
8. Operation: Mode Flow Chart .................................................................................................................... 13
8-1 Initial Screen and TP Operation Mode Screen During Power – UP............................................. 15
8-2 Controller Selection (when using multiple units).......................................................................... 17
8-3 Operation Mode Selection ........................................................................................................... 18
8-4 Edit/Teaching .............................................................................................................................. 19
8-4-1 PCON, ACON or SCON ..............................................................................................................19
8-4-2 RCP, RCS, E-Con or RCP2 ........................................................................................................ 21
8-5 Position Data Table Contents...................................................................................................... 23
8-5-1 Position Data Table Contents for PCON, ACON and SCON....................................................... 23
8-5-2 Position Data Table Contents for RCP, RCS, E-Con and RCP2 ................................................. 29
8-5-3 Data New Input............................................................................................................................ 31
8-5-4 Data Modification......................................................................................................................... 49
8-5-5 Clear • All Clear ........................................................................................................................... 49
8-5-6 Move ........................................................................................................................................... 52
8-5-7 Servo ON/OFF ............................................................................................................................ 59
8-5-8 Pulse Train (PCON-PL/PO, ACON-PL/PO, SCON: Pulse Train Mode) Based Jogging.............. 60
8-6 Monitor ........................................................................................................................................ 62
8-7 Error List...................................................................................................................................... 67
8-8 User Parameters ................................................................................................................
......... 68
8.8.1 User Parameters ......................................................................................................................... 68
8.8.2 Pause, Servo ON Input Enable and Disable Setting ................................................................... 74
8-9 User Adjustment.......................................................................................................................... 75
8-9-1 Homing Operation and Axis Number Setting ............................................................................. 75
8-9-2 Software Reset............................................................................................................................ 76
8-9-3 Error List Clear ............................................................................................................................ 77
8-10 TP Operation Mode ..................................................................................................................... 78
8-11 End.............................................................................................................................................. 80
9. Message Area .......................................................................................................................................... 81
9-1 Warning Label Error (Code No. 000h – 07Fh)............................................................................. 81
9-2 Teaching Pendant Message Level Error ..................................................................................... 82
9-3 Controller Error............................................................................................................................ 82
* Appendix....................................................................................................................................................... 83
Parameter (Shipment) Initialization Method .................................................................................................... 83
Teaching Pendant Error Messages................................................................................................................. 84
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1. Foreword
Thank you very much for purchasing our Teaching Pendant for the Robo Cylinder. Improper usage or
mishandling may result in a product not only being unable to deliver full functions but also produce unexpected
troubles or shorten the product’s life. Please read this Manual carefully and operate the product properly by
paying attention to its handling. When operating the Teaching Pendant, always keep this Manual on hand and
read the relevant items as required.
For the actuator and controller to be used, be sure to refer to the Instruction Manuals attached to the
products.
Caution:
Do not edit position data while the actuator is operating by PLC, etc.
Also, do not edit any position number not actually operated.
2. Before You Begin
(1) Be sure to read this Instruction Manual for proper use of this product.
(2) Part or all of this Instruction Manual may not be used or reproduced without permission.
(3) For any handling and operating methods other than those described in this Instruction Manual,
interpret them as “don’t
” or “can’t.”
(4) Please take note that we shall not be liable for any effects resulting from using this Instruction Manual.
(5) Descriptions in this Instruction Manual are subject to change due to product improvements etc.,
without prior notice in the future.
2
3. Safety Precautions
(1) Use a genuine product specified by us for wiring between the actuator and the Controller.
(2) Keep out of the operating range of a machine such as an actuator while it is operating or in a ready
state (condition in which the controller’s power is ON). When using it in places where persons may
approach, fence it off.
(3) Before 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) When 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.
(5) When 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.
3
4. Warranty and Scope of Warranty
The Teaching Pendant you purchased has been delivered upon completion of our strict shipping tests.
We shall warrantee this product as follows:
1. Warranty term
The warranty term shall be either of the following terms, whichever is reached first.
▪ 18 months after our shipment
▪ 12 months after delivery to the place designated by you
2. Warranty coverage
Where a defective condition occurs during proper use conditions and obviously under the responsibility of
the manufacturer, within the term above, we shall repair the product without charge. However, any items that
apply to the following are excluded from the warranty coverage:
▪ Defects resulting from changes over time such as natural color fading of paint
▪ Defects resulting from use wear of consumable parts (such as a cable)
▪ Defects resulting from sensory phenomena such as generated noise that have no functional effects
▪ Defects resulting from mishandling or improper use
▪ Defects resulting from an inadequacy or error in maintenance and inspection
▪ Defects resulting from the use of any part other than our genuine parts
▪ Defects resulting from a modification not approved by us or our dealers
▪ Defects resulting from Acts of God, accident, fire, etc.
Only a delivered product shall be singly warranted and no damage induced by the defect of the delivery
product can be warranted. For repair, transport the product to our factory.
3. Service coverage
The cost of a delivered product does not include expenses for program creation and engineer dispatching.
Therefore, the following are charged separately even within the warranty term:
▪ Maintenance and inspection
▪ Technical guidance and technical training in operating instructions
▪ Technical guidance and technical training on program-related matters such as program creation
4
5. Application Environment
- In order to avoid breakdown, please do not apply any type of machinery impact to the Teaching
Pendant.
- Always hold onto the entire Teaching Pendant Body so that the Teaching Pendant Cable does not get
pulled by unwanted cables.
Caution:
This Teaching Pendant is designed exclusively for IAI RC Controllers (PCON, ACON,
SCON, 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.
5
6. Functions and Specifications of Teaching Pendant
This Teaching Pendant was created exclusively for the PCON, ACON, SCON, RCP, RCS, E-Con and
RCP2 Controllers.
Through the communication between the controllers, the RC Controller is designed to function as the
Display Operation Unit to edit or display the data (parameter data, position data, etc.,) that is stored inside
the controller, as well as to execute teaching without using the PC Interface Software.
Utilizing a large liquid crystal display kit, the display will show each description simultaneously for easy
operation.
6-1 Specifications
Item Specification
Ambient Temperature & Humidity
Temperature: 0°~40°C Humidity: 85% RH or less
* RH relative humidity
Operating Environment Free of corrosive gas, especially, no excessive dust
Weight 400g (Excluding cables)
Cable Length 3m (Standard)
6
6-2 External View
External Dimensions
7
6-3 Description of Each Part
(1) LCD
This is a liquid crystal display with a maximum of horizontal: 20 characters per column and vertical: 4
columns per row. The edit or teaching contents of various set values are displayed.
(2) EMERGENCY STOP (Emergency Stop Push Button Switch)
This switch is a mushroom-shaped push-lock, turn-reset type switch.
This switch connects serially with the controller emergency stop signal line. Once pushed down, this
switch will be in an emergency stop status and the power supply to the motor will be cut off (normally,
closed: b contact).
(* For information on the emergency stop signal line and its status, refer to the RC Robo Cylinder
Operating Manual.)
To reset the emergency stop status, turn the operating portion of this switch in the arrow direction.
(1) LCD
(23) Jog key
(4) EDIT mode select key
(10) ESC key
(11) PAGE UP/PAGE DOWN key
(15) ITEM BACK/FWD key
(2) EMERGENCY STOP
(3) TP operation mode display LED
(5) ERROR LIST mode select key
(6) MONITOR mode select key
(7) PARAMETER mode select key
(8) ADJUST mode select key
(9) TP operation mode select keys
(13) WRT key
(14) BS key
(16) Arrow keys
(18) Ten keys
(21) MOVE key
(22) HOME key
(24) (Return) key
(12) ERROR RESET key
(17) SHIFT key
(19) STOP key
(20) SERVO key
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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.
Caution:
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.
Caution:
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.
(5) ERROR LIST mode select key
Moves to the “Error List” mode. This key is valid when the LED of the ERROR LIST mode select key is
lit.
When alarm occurs at the controller, the LED of the “ERROR LIST” key is flashing.
(6) MONITOR mode select key
Moves to the “Monitor” mode. This key is valid when the LED of the MONITOR mode select key is lit.
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(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
- Return 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.
- Input data cancel during data input operation
If you press this key during data input operation, the input data will be canceled.
- Stop switch during movement or continuous movement
Once this switch is pushed down during movement or continuous movement, operation will decelerate
and stop immediately.
(11) PAGE UP/PAGE DOWN key
Changes screens by incrementing or decrementing edit and display item No. (Position No., Error List No.,
User Parameter No.).
(12) ERROR RESET key
When an error occurs at any level that allows recovery without software reset, the error reset and
message clear can be performed with this key.
(13) WRT key
Transfers edited data to the controller. (Data will be saved to the memory of the controller.)
Only the data displayed on the LCD will be transferred. (Multiple position No. can’t be transferred all
together at the same time.)
If it is position data, transferred all together at position data.
10
(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
- Edit screen
The cursor will move to each edit item in the screen. The screen will not be changed.
- Monitor screen, Error List screen
Changes the screen by incrementing or decrementing with the ▲ or ▼ key.
Changes the screen by incrementing or decrementing the axis No. among connection axes with the
or
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.
(19) STOP key
Once this key is pushed down during movement or continuous movement, operation will decelerate and
stop immediately.
(This key is valid in the Teach/Play mode.)
(20) SERVO key
Changes the servo ON/OFF of the actuator.
(This key is valid in the Teach/Play mode.)
(21) MOVE key
Starts the movement or continuous movement of the actuator.
(This key is valid in the Teach/Play mode with the servo ON status.)
(22) HOME key
Executes homing. (This key is valid in the Teach/Play mode with the servo ON status.)
11
(23) JOG-/JOG+ key
- JOG-: Negative direction jog movement
- JOG+: 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.
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7. Connection With the Controller
7-1 Connection with the Teaching Pendant
(1) 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.
(2) After connecting, turn the PORT switch of the controller having this switch ON.
7-2 How to Disengage the Teaching Pendant
Hold down the key in the Teaching Pendant. Then select "1. End" to finish all processes.
Then, turn the PORT switch OFF for the controller having this switch.
Operation:
1. Hold down the
key for more than 2.5 seconds.
2. Press the ten keys to select “1. End.”
3. Turn the PORT switch OFF for the controller having this switch.
4. Remove the Teaching Pendant connector.
Caution:
In the case of PCON, ACON or SCON, an instantaneous stop will be made when the
Teaching Pendant is disconnected. However, this is not an error.
Caution:
In the case of the PCON or ACON controller not having the AUTO/MANU switch, set the TP
Operation Mode to “Monitor 2” before disconnecting the Teaching Pendant from the
controller. (Refer to “8.10 TP Operation Mode.”)
when controller setting is made by connecting the Teaching Pendant to the gateway unit or
SIO converter:
● If 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.
● If the Teaching Pendant is disconnected while the setting of “Monitor 1” remains, the
maximum speed will become the safety speed set for the parameter regardless of a
command from PLC.
13
8. 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
Select Axis
Operation
Start/End
Mode Select
Edit/Teach
(Position)
Monitor
Error List
Direct teach
Jog Scan
Cont
Return to “Set-up
Communication” when
Reconnection is selected
Return
End
* Before changing the parameter or
leaving the mode with the [ESC] key,
check whether to reset software.
(PCON, ACON, SCON, RCP2)
* Displayed only for PCON, ACON and SCON.
Inching
All Clear
Clea
r
* Displayed only when
2 or more axes are
connected
Teach/Play
User Parameter
* Available only for
PCON, ACON
and SCON
TP Operation Mode
Mode Select Mode Select
* When the
servo is OFF
Servo OFF
Check
Soft
Reset
* When the
servo is
ON
User Adjustment
TP operation mode
Homing
Axis No. Setting
Soft Reset
ErrList Clear
Sip Para
Press & hold
the STOP key
Press & hold
the STOP key
2. Reconnect
Move
）
）
）
14
(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
Select Axis
Operation
Start/End
Mode Select
Monitor
Error List
Jog
Return to “Set-up
Communication” when “2.
Reconnection” is selected
Return
1. End
* Before changing the parameter or leaving the
mode, check whether to reset software.
* Displayed only for PCON, ACON and SCON.
* Displayed only when
2 or more axes are
connected
User Parameter
TP Operation Mode
Return
* When the
Servo OFF
Check
Soft
Reset
* When the
User Adjustment
TP operation mode
Homing
Axis No. Setting
Soft Reset
ErrList Clear
Sip Para
Press & hold
the STOP key
Press & hold
the STOP key
Jog/Inching
Inchin
g
2. Reconnect
2. Reconnect
15
8-1 Initial Screen and TP Operation Mode Screen During Power – UP
When Teaching Pendant is connected to the controller, power is supplied to the Teaching Pendant
and operation starts.
In the case of a controller with a PORT switch, power will be supplied to the Teaching Pendant and
operation will start once power is supplied to the Teaching Pendant.
Upon power-on, the LCD display screen (hereinafter called the “screen”) displays the Teaching
Pendant software version as follows:
Fig. 8.1 Initial Screen During Power – UP
16
In the case of the PCON, ACON or SCON controller, the screen will automatically move to the TP
Operation Mode selection screen once checking of the connection is completed.
In the case of the RCP, RCS, E-Con or RCP2 controller, the screen will automatically move to the
Select Axis screen if multiple units are connected.
Fig. 8.2 TP Operation Mode Selection Screen
Select an operation mode from the following 4 menu items:
- 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.
Select and press one of the
, ,
or keys. The screen will move
the controller selection (Axis Select)
screen.
17
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).
If the jig No. is incremented or decremented with the
or key, power-on controllers will be
displayed in order when the power is applied to the Teaching Pendant. Display the controller to be
selected.
Then, press the return key. The selection will be confirmed and the screen will change to the “Mode
Select” screen.
The controller can connect up to 16 units. However, the PCON, ACON or SCON group controllers
cannot be used by linking to the RCP, RCS, E-Con or RCP2 controllers.
Fig. 8.3 Axis Selection Screen
(1) Protocol type display M: Modbus, T: proprietary protocol
(2) Axis No. display
(3) Connection axis display: In the case of PCON, ACON or SCON, the series name and type name of
the connection axis such as PCON-CY will be displayed.
In the case of RCP, RCS, E-Con or RCP2, “Connected” will be displayed.
Caution:
In the case of controllers with the PORT switch, only the powered controller(s) will be
detected when the PORT switch is ON and power is present for the Teaching Pendant.
The content explained hereinafter will be based on operation in response to the selected axis (controller).
(3)
(1)
(2)
18
8-3 Operation Mode Selection
Fig. 8.4 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
, , , or keys.
The screen will move to the screen of the selected mode.
However, it cannot move to any mode with the key LED out.
Category of Modes
(1) * EDIT Positioner (PCON-PL/PO, ACON-PL/PO and SCON: Mode other than the
Pulse Train mode)
Display and Edit function for positioner table
(Refer to 8.4 and 8.5)
Pulse Train (PCON-PL/PO, ACON-PL/PO and SCON: Pulse Train Mode) Jog
Operation, Inching Operation
(Refer to 8.5.8)
(2) * MONIT Controller status display (Refer to 8.6)
(3) * ERROR LIST Alarm content detailed display (Refer to 8.7)
(4) * PARAM Setting of axis zone signal output range and axis attributes (Refer to 8.8)
(5) * ADJ Executing homing and axis number setting of controller series (Refer to 8.9)
Protocol type display
Board type display
Selected
controller axis
number
Screen Display Name
Listing of modes
19
8-4 Edit/Teaching
8-4-1 PCON, ACON or SCON
When the “*EDIT” mode is selected, the Edit/Teach select screen will be displayed.
Fig. 8.5 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)
Fig. 8.6 Position and Velocity Data Screen
Specification of Position No.
When the position No. is incremented or decremented with the or key, the position
data of the displayed position No. will be displayed in order.
Alternatively, move the cursor to the position No. with the , , or key, input a
numeric value with the ten keys and press the return key. The position data of the specified position
No. will be displayed.
Editing axis No. Position No.
20
The position data table screen is divided and displayed as below.
When the
or 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. Pressing
the key again after the cursor has reached the top or bottom line will change the screen.
Press it several times Press it several times Press it several times Press it several times Press it several times
Press it several times Press it several times Press it several times Press it several times Press it several times
or return
key
or return
key
or return
key
or return
key
or return
key
or return
key
or return
key
or return
key
or return
key
or return
key
21
8-4-2 RCP, RCS, E-Con or RCP2
When the “*EDIT” mode is selected, the Edit/Teach select screen will be displayed.
Fig. 8.7 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)
Fig. 8.8 Position and Velocity Data Screen
Specification of Position No.
When the position No. is incremented or decremented with the
or key, the position
data of the displayed position No. will be displayed in order.
Alternatively, move the cursor to the position No. with the , , or key, input a
numeric value with the ten keys and press the return key. The position data of the specified position
No. will be displayed.
Editing axis No. Position No.
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