IAI CON-T Operating Manual

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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

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.

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.

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

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.

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)

6-2 External View

External Dimensions

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

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.

(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.

(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

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.)

(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.

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.

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

* 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

2. Reconnect

Move

）

(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

Jog/Inching

Inchin

2. Reconnect

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

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.

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)

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

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.

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

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

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.

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

or return key

8-5 Position Data Table Contents

8-5-1 Position Data Table Contents for PCON, ACON and SCON

The 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.

List of ON/OFF of Position Table According to Model

AccDcl Mode Stop Mode

Position Table Zone +/-

Trapezoid S-shape

First-order

Delay

Full Servo

Auto

Servo

OFF

PCON-C/CG/CF ○ PIO pattern: 0, 1, 2, 4, 5 ○ × × ○ ○

-CY ○ PIO pattern: 1 ○ × × ○ ○

-SE ○ - ○ × × ○ ×

ACON-C/CG ○ PIO pattern: 0, 1, 2, 4, 5 ○ ○ ○ ○

-CY ○ PIO pattern: 1 ○ ○ ○ ○

-SE ○ - ○ ○ ○ ×

SCON positioner

○ PIO pattern: 0, 1, 2, 4, 5 ○ ○ ○ ○

(1) No. Indicates the position data number.

Warning:

Always specify absolute coordinates for the 3-point type of PCON-C/CG, ACON-C/CG

and SCON-C and the proximity switch type of PCON-CY and ACON-CY.

If you specify relative coordinates, a position data error will occur.

In the above case, if you specify “Push,” push completion cannot be judged.

(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.

- Relative Coordinates: Input the target location by determining the distance

between the current position and target position. Any

negative value can be input (if coordinates are in the

negative direction).

(3) Vel: Input the speed at which the actuator will be moved, in [mm/sec].

The initial value will depend on the actuator type.

(4) Acc/Dcc: Input the acceleration/deceleration at which the actuator will be moved, in [G].

Basically, use acceleration/deceleration within the catalog rated value range.

The input range allows larger value input than the catalog rated values, on the

assumption that the tact time will be reduced if the transfer mass is significantly smaller

than the rated value.

Make the numeric value smaller if transfer work vibrates and causes trouble during

acceleration/deceleration.

The acceleration will become sudden if the numeric value is made larger and it will become gradual if the numeric value is made smaller.

Caution:

Enter appropriate values for Vel and Acc/Dec in such a way as to prevent excessive

impact or vibration from being applied to the actuator in consideration of the installation

conditions and the shape of transferred work by referring to the “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.

The default value is “0.”

0: Normal positioning operation

Other than 0: Indicates the current-limiting value and indicates the push operation.

Caution:

In the case of PCON, ACON or SCON, there are cases where the input value to “Push”

may be rounded off to a multiple of the minimum resolution of the controller (during data

acquisition from the controller).

Speed

Acceleration

Start

osition

Deceleration

Target

osition

Time

(6) LoTh: - In the case of the PCON-CF 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 Controller.

(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.

The default value is 0.1 mm.

Standard type

However, it defines the width of the position complete signal to turn ON for the 3-point type

of PCON-C/CG, ACON-C/CG and SCON and the proximity switch type of PCON-CY and

ACON-CY.

3-point type and proximity switch type

Push operation:

It defines the maximum push amount from the target position in the push

operation.

Set the positioning width in such a way as to prevent positioning completion

before the actuator contacts work by considering mechanical variations of

work.

Since increasing the positioning width value

hastens the next sequence operation, it

becomes a factor for tact time reduction.

Set the optimum value by considering the

balance of the entire equipment.

Timing of position complete signal turning ON

Positioning width

Target

position

Positioning width

Target

position

Position complete signal

Position at which the position complete signal turns ON when the actuator contacts

Target

position

Positioning width (Maximum push amount)

Work

(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.

No.

Position

[mm]

Zone+

[mm]

Zone-

[mm]

Comment

0 5.00 100.00 0.00

Backward

end

1 380.00 400.00 300.00

Forward

end

2 200.00 250.00 150.00 Midpoint

Movement command to backward end

Movement command to forward end

Movement command to midpoint

(9) Acc/Dcl Mode: - It defines the acceleration/deceleration characteristics.

The default value is 0.

0: Trapezoid pattern

1: S-shaped motion

2: First-order delay filter

Trapezoid pattern

* Set the acceleration and deceleration in the “Acc” and “Dcl” fields of the position

table.

[Setting example]

Home

Zone output signal

Backward

end

+ side limit

Zone output signal

Forward

end

Zone output signal

Midpoint

Speed

Acceleration

Deceleration

Time

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.

* Set the degree of the S-shaped motion with the parameter No. 56 [S-shaped

motion ratio setting]. The setting unit is % and the setting range is between 0 and

100.

(The above is the image graph when 100% setting is made.)

If “0” is set, the S-shaped motion becomes invalid.

However, it will not be reflected in jogging/increment movement by PC or

Teaching Pendant operation.

(Note) It cannot be set for the PCON controller. The parameter No. 56 is reserved.

First-order delay filter

More gradual acceleration/deceleration curves are drawn than the linear

acceleration/deceleration (trapezoid pattern).

Use this in the applications by giving micro vibrations to work during

acceleration/deceleration not desired.

* Set the degree of the first-order lag with the parameter No. 55 (constant for the

position command first-order filtering). The setting unit is 0.1 msec and the

setting range is between 0.0 and 100.0.

If “0” is set, the first-lag filter will become invalid.

However, it will not be reflected in jogging/increment movement by PC or

Teaching Pendant operation.

(Note) It cannot be set for the PCON controller. The parameter No. 55 is reserved.

(10) Cmnd Mode: - This field is invalid.

The factory setting is 0.

Speed

Time

Speed

Time

(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. Delay time defined with the parameter No. 36

2: Auto servo OFF method. Delay time defined with the parameter No. 37

3: Auto servo OFF method. Delay time defined with the parameter No. 38

4: Full servo control method

Full servo control method

The holding current can be reduced by servo-controlling the pulse motor.

The degree of reduction varies depending on the actuator model, load condition, etc., but the

holding current decreases approximately by a factor of 2 to 4.

No displacement occurs since this method maintains the servo ON status.

The actual holding current can be checked on the monitoring screen of PC-compatible

software.

Auto servo OFF method

When a given length of time has elapsed after completion of positioning, the servo OFF status

is automatically entered.

(Since the holding current does not flow, the power consumption can be saved by the same

amount.)

When a movement command is subsequently given from PLC, the status returns to the servo

ON and the actuator starts to move.

Movement command

Servo status

Actuator movement

Servo ON status

Auto servo OFF

(Green LED flashing)

Target position

T: Delay time (sec) until the servo

OFF status is entered after completion of positioning It is set with the parameter.

8-5-2 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.

To specify relative coordinates, move the cursor here and press the minus key. The “=”

sign will appear between No. and Position.

By pressing the minus key again, “=” disappears and the screen returns to absolute

coordinates.

(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.

- Relative Coordinates: Input the target location by determining the distance

between the current position and target position. Any

negative value can be input (if coordinates are in the

negative direction).

Caution:

In the case of PCON, ACON or SCON, there are cases where the input value to “Push”

may be rounded off to the multiple of the minimum resolution of the controller (during

data acquisition from the controller).

(3) Vel: Input the speed at which the actuator will be moved, in [mm/sec].

The initial value will depend on the actuator type.

(4) Acc/Dcc: Input the acceleration/deceleration at which the actuator will be moved, in [G].

The initial value will depend on the actuator type.

(5) Push: - Select the positioning operation or push operation.

The default value is “0.”

0: Normal positioning operation

Other than 0: Indicates the current-limiting value and indicates the push operation.

- In the case of push mode, data number is the servo motor current control value during

push. Uses a value that matches the actuator with a maximum value of 100%.

(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.

The default value will depend on the actuator type. (see diagram A)

- Enter the maximum push amount (distance from the target position) in the push mode. ［mm］ (see diagram B)

- When the push direction is a negative direction from the displayed coordinate, a

“negative” sign should be placed in the range column.

Diagram A Diagram B

(7) Acc only MAX: - Selects either the assigned acceleration or the maximum acceleration. Inputs

are either 1 or 0. The default value is set as 0.

0: Assigned acceleration

The value placed in (4) will be used as the actual acceleration value and

deceleration value.

1: Maximum acceleration

This will automatically utilize the maximum acceleration matched to the

load.

Deceleration remains as the assigned value in (4).

Speed Speed

(5) When push = 0

(2) Distance up to the position

(5) When push = other than 0

(2) Distance up to the position

Transfer distance Transfer distance

(6) Positioning

width

(6) Positioning

width

Speed

(7) When Acc only MAX = 0

Transfer distance

(7) When Acc only MAX = 1

Transfer distance

The maximum acceleration matches the load

(4) The value set in

Acc/Decl

(4) The value set in

Acc/Decl

8-5-3 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 33.)

(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.

(For the input example, see page 42.)

(3) Jog Use the arrow key to jog move and match the desired location and read that

location (current position) into the position table. (For the input example, see

page 45.)

If you continue pressing the arrow key, the actuator will move at a specified

speed (1, 10, 30, 50, 100 mm/sec). However, only the maximum speed will

be gained if the maximum speed is slower than the specified speed.

(4) Increment Use the arrow key to incrementally move and match the desired location

and read that location (current position) into the position table. (For the input

example, see page 47.)

If you press the arrow key once, the actuator will move by a specified pitch

(0.03, 0.10, 0.50 [mm]). If you continue pressing the arrow key, the actuator

will move by jogging at 1 mm/sec. in 2 sec. The speed will then increase

every one second. Finer movement than jogging is possible.

Examples of each operation will be explained as follows.

Caution:

When input position data is performed first after power-on or method of (2), (3), or (4),

it is required to perform home return in advance. (Increment specification)

Jog and Increment movement prior to homing incomplete status is possible up to the

slider end. Visually, perform the interference check.

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 and SCON.

Operation Screen Reference

1. Press the

key.

2. Press the

key to select

“MDI.”

3. Press the

key to select Jog.

4. If the SV OFF (servo OFF) status

is displayed on the screen, press the

key.

The servo will automatically be

turned ON.

“SV ON” (servo ON) will be

displayed on the screen.

5. Press the key.

Homing will automatically be

performed.

6. Press the key twice to

return to the Edit/Teach screen,

2) Numeric Input

Caution:

Operating instructions are described on the screens of PCON and ACON, SCON.

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.”

3. Set 0 into the position No. with

the

or key.

For any unregistered data, the

display will show “*” sign.

4. Move the cursor to the “Pos” input

position with the

, ,

or key.

5. Input

here, and then

press the Return key.

In order to stop during numeric input, press the

key to

cancel the input.

Example) With the left operation, by pressing

immediately

after inputting

, the

status will return to the “*” display.

During new position data

registration, the initial values set

with the user parameters for Vel,

Acc, Dcc, etc., will automatically

be input.

In the left screen, the initial value

is set as 100 mm/sec.

Operation Screen Reference

Input

here, and

then press the Return key.

Press the key.

(The cursor will automatically

move to the next [No. 1].)

The screen will change to the

screen of Position No. 1 for Acc

and Dcc.

Change the screen to the screen for Pos and Vel with the

key.

Move the cursor to “Pos” with the

key.

Move the cursor to the “Pos” input position with the

, or key.

Input

here, and

then press the Return key.

In order to stop during numeric input, press the key to

cancel the input.

10.

The cursor will automatically

move to the “Vel” input position.

Operation Screen Reference

11.

Input

here, and

then press the Return key.

Press the key.

(The cursor will automatically

move to the next [No. 2]

position.)

The screen will change to the

screen of Position No. 2 for Acc

and Dcc.

Example 2:

2 point continuous loop move Push operation 10mm position <-> 80mm position

(Push range 5mm)

Operation Screen Reference

1. Press the

key.

2. Press the

key to select

“MDI.”

3. Set 0 into the position No. with

the

or key.

For any unregistered data, the

display will show “*” sign.

4. Move the cursor to the “Pos” input

position with the

, ,

or key.

5. Input

here, and then

press the Return key.

In order to stop during numeric input, press the key to

cancel the input.

Example) With the left operation, by pressing

immediately

after inputting

, the

status will return to the “*” display.

During new position data

registration, the initial values set

with the user parameters for Vel,

Acc, Dcc, etc., will automatically

be input.

In the left screen, the initial value

is set as 100 mm/sec.

Operation Screen Reference

Press the Return key.

Press the

key.

(The cursor will automatically

move to the next [No. 1]

position.)

At the left, the user parameter is

used as it is.

The screen will change to the

screen of Position No. 1 for Acc

and Dcc.

Change the display to the

screen for Pos and Vel with the

key.

Move the cursor to “Pos” with the

key.

Input

here, and then

press the Return key.

10.

The cursor will automatically

move to “Vel.”

11.

Change the display to the

screen for Acc and Dcc with the

key.

The screen will change.

12.

Change the display to the

screen for Push, LoTh and Range with the

key.

The screen will change.

Operation Screen Reference

13.

Input the current value during

push.

In this example, input 30%.

Input

and then press

the Return key.

Press the Return key again to

move the cursor to “Range.”

* For push control, refer to the

Controller Operating Manual.

14.

Input the maximum push range

during push into the Range.

In this example, input 5 mm.

Input

and then press the

Return key.

Press the

key.

The screen will change to the

screen of Position No. 2 for Push,

LoTh and Range.

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.”

3. Set 0 into the position No. with

the or key.

For any unregistered data, the

display will show “*” sign.

4. Move the cursor to the “Pos” input

position with the

, ,

or key.

5. Input

here, and then

press the Return key.

In order to stop during numeric input, press the

key to

cancel the input.

Example) With the left operation, by pressing

immediately

after inputting

, the

status will return to the “*” display.

During new position data

registration, the initial values set

with the user parameters for Vel,

Acc, Dcc, etc., will automatically

be input.

In the left screen, the initial value

is set as 100 mm/sec.

Operation Screen Reference

Press the Return key.

Press the

key.

(The cursor will automatically

move to the next [No. 1]

position.)

At the left, the user parameter is

used as it is.

The screen will change to the

screen of Position No. 1 for Acc

and Dcc.

Change the display to the

screen for Pos and Vel with the

key.

Move the cursor to “Pos” with the

key.

Input

here, and then

press the Return key.

10.

The cursor will automatically

move to “Vel.”

11.

Change the display to the

screen for Acc and Dcc with the

key.

The screen will change.

12.

Change the display to the

screen for Push, LoTh and Range with the

key.

The screen will change.

Operation Screen Reference

13.

Change to the screen for Zone + and Zone- with the

key.

The screen will change.

14.

Change to the screen for Acc

Dcl Mode and Incremental with the

key.

Move the cursor to “Incremental” with the

key.

15.

Set to “Incremental” (relative

coordinate specification).

Input

and then press the

Return key.

Press the key.

The screen will change to the

screen of Postion No. 2 for Cmnd

Mode and Stop Mode.

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 32.) (Increment specification)

Caution:

Operating instructions are described on the screens of PCON, ACON and SCON.

Example: 2 point continuous loop Point A --> Point B, speed 300mm/sec

Operation Screen Reference

1. Press the

key.

2. Press the

key to select

“Teach/Play.”

3. Press the

key to select

“Jog.”

(Note) Even if “2. Inching” is

selected, the same direct

teaching will be available.

4. Press the

key.

5. Set the position No. you want to

input with the

and

key.

Press the key to put into

the servo OFF status.

Any remaining data will be written

over.

For any unregistered data, the

display will show “*” sign.

Operation Screen Reference

Manually move the slider and

match to the desired position.

Press the Return key.

The controller status will be

displayed on the bottom row of

the screen.

Servo Control: OFF

Position: 100.00

You can change the position No. you want to input with the

and key.

Press the

key to select

“Yes.”

Press the Return key.

As for Vel, Acc, Dcc, etc., the

initial value set with the user

parameter will automatically be

input.

(Note) If scan is performed

without executing homing, the

error message “Homing

Incomplete” will be displayed.

Return to the screen of 6 above

with the ESC key to put into the

servo ON status and press the

key to execute homing.

Press the

key.

10.

Operation Screen Reference

11.

Set the position No. youu want to input with the or

key.

12.

Manually move the slider and

match to the desired position.

Press the Return key.

13.

Press the

key to select

“Yes.”

14.

Press the Return key.

15.

Press the key.

16.

The screen will return to the

Teach/Play select screen.

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. (Refer to page 32.) (Increment specification)

Caution:

Operating instructions are described on the screens of PCON, ACON and SCON.

Example: 2 point continuous loop Point A --> Point B, speed 300mm/sec

Operation Screen Reference

1. Press the

key.

2. Press the

key to select

“Teach/Play.”

3. Press the

key to select

“Jog.”

4. Input the desired jog speed with

the ten keys and press the Return

key.

The input range is from 1 mm/sec

to the safety speed set for the

parameter.

5. Move the slider with the

key and match to the

desired position.

6. Press the

key.

Operation Screen Reference

Set the position No. you want to input with the or key.

Press the Return key.

Any remaining data will be

written over.

For any unregistered data, the

display will show “*” sign.

Press the

key to select

“Yes.”

Press the Return key.

As for Vel, Acc, Dcc, etc., the

initial value set with the user

parameter will automatically be

input.

10.

Press the key.

11.

The screen will return to the

Teach/Play select screen.

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. Finer movement than jogging is possible.

When inching movement is performed first after power-on, it is required to perform home return operation in

advance. (Refer to page 32.) (Increment specification)

Caution:

Operating instructions are described on the screens of PCON, ACON and SCON.

Example: 2 point continuous loop Point A --> Point B, speed 300mm/sec

Operation Screen Reference

1. Press the

key.

2. Press the

key to select

“Teach/Play.”

3. Press the

key to select

“Inching.”

4. Input the desired inching distance

with the ten keys and press the

Return key.

The input range is from 0.01 mm

to 1.00 mm.

5. Move the slider with the

and

key and match to the

desired position.

6. Press the

key.

Operation Screen Reference

Set the position No. you want to input with the or

key.

Press the Return key.

Any remaining data will be

written over.

For any unregistered data, the

display will show “*” sign.

Press the

key to select

“Yes.”

Press the Return key.

As for Vel, Acc, Dcc, etc., the

initial value set with the user

parameter will automatically be

input.

10.

Press the key.

11.

The screen will return to the

Teach/Play select screen.

8-5-4 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.

(3) Jog: Use the arrow keys to jog to the desired location and read that location

(current position) into the position table.

(4) Increment: Use the arrow keys to incrementally move and read that location (current

position) into the position table.

Caution during data modification:

* As for manual input, the data entered will erase the old data.

* The position will be updated only when the Return key is pressed to read in the current location (direct

teach, jog, increment). It does not influence speed and others.

* Once the position data is cleared, the previous data will no longer remain anywhere. Therefore, when

the next position data is registered, any data other than position will be default values.

When clearing to re-set the push assign position data, be sure to confirm all items of the position data to

input required data.

8-5-5 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. The data will become unregistered. (For the

input example, see page 50.)

(2) All Clear: Resets all of all position data. (For the input example, see page 51.)

1) Clear

(Method: To clear the position data of assigned location)

Caution:

Operating instructions are described on the screens of PCON, ACON and SCON.

Example: Clear the row of position data number 2.

Operation Screen Reference

1. Press the

key.

2. Press the

key to select

“Clear.”

3. Set the position No. you want to

clear with the or key.

Press the Return key.

4. Press the

key to select

“Yes.”

5. Press the Return key.

The data of the specified position

No. will be cleared.

2) All Clear (Operation: To clear all position data)

Caution:

Operating instructions are described on the screens of PCON, ACON and SCON.

Operation Screen Reference

1. Press the

key.

2. Press the

key to select “All

Clear.”

3. Press the

key to select

“Yes.”

4. Press the Return key.

All position data will be cleared.

8-5-6 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.

Use this move for test operation etc.

(1) Move 1 step move from the current location to the assigned position number registered in the

position table.

(2) Continuous Continuous operation from the assigned position data number to the continuous position

data number until an empty location is reached.

* What is Continuous?

In the case of the position data similar to the table below, when a Continuous command is

executed from the position No., the place where data exists continuously (to the position

before unregistered data (*)) will operate as one group (Example: Position No.2 Æ No. 3 Æ

No. 1 Æ No.2 and so on).

Posi. Vel. Acc./Dcc.

In the case of the Teaching Pendant, continuous movement is performed only through 64

positions such as position No. 0-63 and No. 64-127.

As shown in the example below, continuous movement continues by returning to position No.

61 after No. 63 (returning to the first position No. where position data is continuously input).

No movement is made from position No. 63 to No. 64.

Position Velocity

Specific examples will be provided to explain operation procedures.

Caution:

With regard to PCON, ACON and SCON, 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. (Refer to page 32.) (Increment specification)

1) Move

(Operation: Registered position data number assigned move)

Caution:

Operating instructions are described on the screens of PCON, ACON and SCON.

Example: Current position → move towards position number 2, 3

Operation Screen Reference

Press the

key.

Pres the

key to select

“Teach/Play.”

Press the

key to select

“Move.”

For any unregistered data, the

display will show “*” sign.

Set the position No. you want to move with the

or key.

Press the Return key.

Operation Screen Reference

Select “Vel” with the

key.

Speed is divided into 3 levels and can be selected using the

or 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%).

(Note) When PCON, ACON or

SCON is connected, the

maximum speed will be the

safety speed set for the

parameter if the MANU operation

mode is set to the Teach mode 1

(safety speed: valid).

If you press the

key,

movement will be made to the

location of the position No. you

set.

When the servo is not ON, press the

key to put into the

servo ON status.

When moving towards position of

No. 3 continuously:

Set 3 into the position No. with the

key.

If you press the

key

continuously, movement will be

made to the location of position

No. 3.

Operation Screen Reference

Press the key.

10.

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.

2) Continuous Move

(Operation: Registered position data number assigned continuous move)

Caution:

Operating instructions are described on the screens of PCON, ACON and SCON.

Example: Current position → Continuous move towards position numbers 1 to 3

Operation Screen Reference

Press the

key.

Press the

key to select

“Teach/Play.”

Press the

key to select

“Cont.”

For any unregistered data, the

display will show “*” sign.

Set the position No. you want to move first with the

key.

Press the Return key.

Operation Screen Reference

Select “Vel” with the

key.

Speed is divided into 3 levels and can be selected using the

or 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%).

(Note) When PCON, ACON or

SCON is connected, the

maximum speed will be the

safety speed set for the

parameter if the MANU operation

mode is set to the Teach mode 1

(safety speed: effective).

If you press the

key,

continuous movement will start.

The screen display will change to

the screen of the position No.

currently moving.

When the servo is not ON, press the

key to put into the

servo ON status.

When stopping continuous operation, press the

key.

When the key is pressed,

operation will decelerate and

stop.

When performing continuous operation again, press the

key.

Operation Screen Reference

When operation stops, press the

key.)

10.

The screen will return to the

Teach/Play select screen.

8-5-7 Servo ON/OFF

Servo ON/OFF can be performed.

Caution:

Operating instructions are described on the screens of PCON, ACON and SCON.

Operation Screen Reference

Press the

key.

Press the

key to select

“Teach/Play.”

Press the

key to select

“Cont.”

For any unregistered data, the

display will show “*” sign.

If you press the key in the

servo ON status, the status will

change to the servo OFF.

If you press the key in the

servo OFF status, the status will

change to the servo ON.

Servo ON/OFF can also be performed in the same way in “1. Jog,” “2. Inching,” or “4. Cont” mode.

8-5-8 Pulse Train (PCON-PL/PO, ACON-PL/PO, SCON: Pulse Train Mode)

Based Jogging

In the case of the PCON-PL/PO, ACON-PL/PO, or SCON controller (pulse train mode), if you select

“Jog” on the Jog/Inching select screen, servo ON/OFF, homing, or jog operation can be performed. If

you select “Inching,” inching operation can be performed.

Press the

key.

If you press the

key, jog operation can be performed. If you press the key, inching

operation can be performed.

(1) Jog operation

The Jog 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.

①

Current position: Indicates the current position. The unit can be changed between mm and

pulse with the

, , or key.

②

Servo ON/OFF: If you press the

key, the servo ON/OFF status will be reversed.

③

Jog speed: Input the desired jog speed with the ten keys and press the Return key. The

input range is from 1 mm/sec to the safety speed set for the parameter.

④

Homing: If you press the

key, homing will be performed.

① Current position

④ Homing

② Servo ON/OFF

③ Jog speed

(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.

①

Current position: Indicates the current position. The unit can be changed between mm and

pulse with the

, , or key.

②

Servo ON/OFF: If you press the

key, the servo ON/OFF status will be reversed.

③

Inching distance: Input the desired inching distance with the ten keys and press the Return key.

The input range is from 0.01mm to 1.00mm set for the parameter.

④

Homing: If you press the

key, homing will be performed.

① Current position

④ Homing

② Servo ON/OFF

③ Inching

distance

8-6 Monitor

The I/O status and current position will be displayed for all the controllers connected on the serial

communication line.

Press the

key.

After this, the screen will change to the special

input port or version display screen.

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. For details,

refer to the operating manual of each controller. If you press the or key, the axis to

monitor can be changed.

If you press the

or key, the screen will

change.

To end monitoring, press the

key.

①

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.

②

On the input port 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 axis status screen.

③

On the output port 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 special input port monitor screen.

●

Display description

① Displays the axis position in [mm].

In the case of the PCON-PL/PO, ACON-PL/PO or SCON controller (pulse train mode), if you press the

key, the display will change to the pulse display.

② 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), if you press the key, the display will change to the pps display.

③

Displays the servo ON/OFF status of the axis.

④

Displays the error No. when an error occurs.

⑤

Displays the percent rated current in [%].

In the case of the PCON, ACON or SCON controller, if you press the

key, the current value

will be displayed in [mA].

① ②

③ ⑤

④

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).

After this, the screen will change to the special

input port or version display screen.

If you press the

or key, the axis to

monitor can be changed.

If you press the

or key, the screen will

change.

To end monitoring, press the

key.

①

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.

If you press the

or key, the axis to

monitor can be changed.

To end monitoring, press the

key.

8-7 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.

The Error List screens of PCON, ACON or SCON are comprised of 0 to 16.

The previous 16 alarm-level errors including the last (latest) error will be displayed.

In the case of PCON, ACON or SCON, the alarm list contents will be maintained even after the

power is turned OFF.

The Error List screens of RCP2, RCS, E-Con or RCP2 are comprised of 0 to 8.

The previous 8 alarm-level errors including the last (latest) error and one last-detected error of the

warning level will be displayed.

(Note) The power ON log (no error) displays that the power has been applied to the controller. No

error has occurred.

Time displays the time elapsed from this power ON log (no error).

If you press one of the

, , or keys, the mode will change to the mode of the

pressed key.

Errors occurring in the controller will be displayed.

If you press the

or key, the Error List

screens can be changed.

Alarm detailed code

(In the case of “0,” - - - - will be displayed.)

On the screen where the error description is displayed, if you press the

key, Address and

Time will be displayed. If you press the

key, the screen will return to

the previous screen.

8-8 User Parameters

8.8.1 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 the parameter

No. with the ten key and pressing the Return key.

When changing a parameter, move the cursor to the parameter value with the

, , or

key or Return key.

Input a numeric value with the ten key and press the

Return key.

Press the key.

The screen will change to the next screen. Press the

key.

When “1” (Yes) is selected for “Is the writing data

written?,” the screen will change to the Software

Reset screen.

Press the

key and press the Return key.

Models which support the software reset (restart) are PCON, ACON and SCON.

For any model which does not support the software reset, restore the power to the controller.

On the following page, user parameter display examples of the PCON-CY controller are provided.

* The contents will vary depending on each controller. Refer to the operating manual of each

controller.

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.

Examples of PCON-CY Controller

On following page

From previous page

On following page

From previous page

On following page

From previous page

- 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

Caution:

Please restore the controller power after making parameter changes. Alternatively, reset

software in the case of any model which supports the software reset function. Although

pressing the emergency switch or port switch ON/OFF will rewrite the parameter, there may

be ones that will not be changed.

* Regarding parameter, please refer to the Controller Operating Manual.

8.8.2 Pause, Servo ON Input Enable and Disable Setting

(1) Pause

Pause input can be enabled or disabled with user parameter No. 15.

0: Enb, 1: Dsb

(2) Servo ON input

Servo ON input can be enabled or disabled with user parameter No. 21.

0: Enb, 1: Dsb

Soft Limit set in controller

Effective area

Jog Increment allowable range after homing

Approx.

0.1mm

Approx.

0.3mm

Approx.

0.3mm

Approx.

0.1mm

8-9 User Adjustment

8-9-1 Homing Operation and Axis Number Setting

Execute homing.

Set the axis number of the controller (PCON, ACON, RCP-RSI, RCP-RM1, etc.).

Press the

key.

Caution:

Caution: Do not input any numeric value other than 1, 2, 3, 4 and 5119 into Adjust No.

In the case of the RCP or RCP2 controller, 0 or 2 is set to parameter No. 25 (PIO pattern)

(when there is no servo ON input), do not input 92 into Adjust No., either. The controller will be

inoperable due to no servo ON input.

- If you input 1 into Adjust No. and press the Return

key, homing will be performed.

- Axis number setting

Move the cursor to Adjust No. with the

key. Input

the axis number and press the Return key.

Input 2 into Adjust No. and press the Return key.

* In the case of the PCON-C/CG and other controllers

for which the axis number is set with the rotary switch

on the front panel of the controller, axis number

setting is not available.

8-9-2 Software Reset

Software reset (controller restart) will be performed.

* The compatible models are PCON, ACON, SCON and RCP2.

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.

(When not resetting software, press the

key and

press the Return key. The screen will return to the

Mode Select screen.)

When the servo is ON, the screen will change to the

Servo OFF confirmation screen. Press the key and press the Return key. Then the

controller will restart and the screen will change to the

Mode Select screen. Since the servo is automatically

turned OFF, it is not required to turn SON input OFF.

8-9-3 Error List Clear

All the contents of the error lists will be cleared.

* The compatible models are PCON, ACON and SCON.

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.

The error list will be cleared and the screen will return to

the Mode Select screen. (When not clearing the error list, press the

key

and press the Return key. The screen will return to the

Mode Select screen.)

8-10 TP Operation Mode

The operation mode will be set in the manual mode (MANU).

The compatible models are PCON, ACON and SCON.

When changing the TP operation mode, press the key of the mode you want to change from

among the

, , and keys.

As an example, when changing from the TEACH1 mode status to the TEACH2 mode, press the

key.

The screen will change to the TP Ope Mode Change

data writing confirmation screen. If you press the key and press the Return key, the

TP mode will change and the screen will change to the

Mode Select screen.

The LED of TEACH2, which is the TP operation mode

display LED, will light.

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.

- Teach 2: The LED is lit in the TEACH2 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.

- Monitor 1: The LED is lit in the MONIT1 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.

- Monitor 2: The LED is lit in the MONIT2 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.

8-11 End

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” and the Teaching Pendant will be disconnected from the

controller.

In the case of any controller with a PORT switch, turn the controller PORT switch to OFF and

remove the Teaching Pendant connector.

When reconnecting the Teaching Pendant to the controller without removing it, press the

key

to select “Reconnection.” Reconnection will be established and operation will start from the initial

screen.

Caution:

When multiple axes are connected with a controller link cable, after recycling power of a

controller that is not directly connected to the Teaching Pendant, please execute a

reconnect.

Caution:

In the case of the PCON or ACON controller with no AUTO/MANU switch, set the TP

operation mode to “Monitor 2” before removing the Teaching Pendant. (Refer to “8.10 TP

Operation Mode.”)

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.

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 Yes Controller rejects command

080-0FF Controller Error Note Error inside the controller

100~1FF DIP* Message Yes Input error, guide message, etc.

200~2FF DIP* Movement Release Yes Movement continuation impossible

300~3FF DIP Cold Start Error No DIP Power install or reconnect are necessary.

TP: Teaching Pendant

Note) Refer to “9.3 Controller Error.”

* In the case of any error with error reset “Yes,” if you press the

key, the error will be reset. All the

error lists in the controller can be cleared with error list clear of User Adjustment. (Refer to 8.9.3.)

9-1 Warning Label Error (Code No. 000h – 07Fh)

Warning message is cleared by recovery procedure as follows:

Release operation:

1. First, confirm the cause of the warning and resolve the problem.

2. Press down

key.

Warning is probably due to the following possibilities:

- RS485 communication abnormality

- Teaching Pendant operational mistake

a) RS 485 communication related abnormality

Indicates occurrence of any abnormality on the RS485 communication line.

Code No: 05Ah, 05Bh, 05Dh, 05Eh, 07Fh (Communication error detected by the controller)

Cause: (1) Teaching Pendant is in conflict with other devices (PLC or PC.)

For example, when move command is delivered by PIO signal from teaching

while communicating to other devices (PLC), “075h” will occur during homing.

(2) Influence by foreign noise or connections is not properly installed.

The Teaching Pendant and RC controller execute packet communication (move

instruction, data transfer, etc.) at all times. At this time, when data changes due

to noise, the RC controller will determine that it is incorrect data and will reject the

data.

Solution: (1) Confirm the above causes. In the case of frequent warning occurrences, please

separately set the signal cable and power line.

(2) Be sure to use one unit to operate the RC controller.

See to it that the Teaching Pendant will not conflict with the PIO signal.

9-2 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.)

9-3 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. Please read

through the RC Controller operating manual carefully for error compliance.

If any errors of the below code numbers occur, it is required to perform the error reset of the

controller (press the

key) to reset it in the case of a movement release level error. It is required to

perform the reset of the controller software in the case of a cold start level error. (Refer to 8.9.2.) With

regard to the controllers not equipped with the software reset function, it is required to turn on the

power again.

Code No: 0B0h, 0B1h, 0B8h, 0B9h, 0BBh, 0BCh, 0BDh, 0BEh

0C0h, 0C1h, 0D0h, 0D1h, 0D8h, 0E0h, 0E8h, 0E9h, 0EAh, 0F8h

For details of error codes, refer to the operating manual of the controller you use.

Appendix

* Appendix

Parameter (Shipment) Initialization Method

Parameters will be changed (initialized) to shipment parameters.

The compatible models are PCON, ACON and SCON.

Caution:

Please take note that if parameter (shipment) initialization is performed, user-set parameters will

be changed to shipment parameters.

Caution:

If software reset has not been executed, parameters have been rewritten to shipment

parameters but operation will not be performed with shipment parameters.

After the next reset or power-on, the parameters will be effective.

Input

for “Adjust No.” and press

the Return key.

The screen will change to the Parameter Init execution

confirmation screen. Press the

key and press the Return key.

(When not performing parameter initialization, press the

key and press the Return key. The screen will

return to the Mode Select screen,)

The screen will change to the Software Reset screen. Press the

key and press the Return key.

When the servo is ON, the screen will change to the

Servo OFF confirmation screen.

Press the

key and press the return key.

Parameters will be initialized and become shipment

parameters.

Since the servo is automatically turned OFF, it is not

required to turn SON input OFF.

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.

The screen will return to the previous screen from the error display screen even using the

key. However,

in this case, controller alarm reset will be performed simultaneously.

(Note) Since emergency stop, motor voltage reduction and absolute battery voltage reduction are not

alarms, the alarm code will display “- - - -” sign.

Listed in the table below are Teaching Pendant specific errors.

For error of controller, refer to the Operating Manual of each controller.

Code Message name Description

112 Input Incorrect Error An incorrect value was entered for a parameter.

(Example) 9601 was entered as the serial communication speed by mistake. Reenter a

correct value.

113 114

Input Under Error Input Over Error

The entered value is smaller than the setting range. The entered value is larger than the setting range. Refer to the actuator specifications or parameter table and reenter a correct value.

115 Homing Incomplete The current position was written when home return was not yet completed.

Execute home return again.

117 No Move Data Target position is not set under the selected position number.

Enter the target position first.

11E Pair Data Mismatch The values indicating the magnitude relationship of a pair of data are incorrect.

(Example) The same value was entered in both the parameters for + and – soft limits. Reenter correct values.

11F Absolute Value Error The minimum movement toward the target position is determined by the lead length of

the drive system and resolution of the encoder. This message indicates that the entered target value is smaller than the minimum movement. (Example) If the actuator is the RCP2 Series actuator and the lead length is 20 mm, the

encoder’s resolution is 800 pulses and accordingly the minimum movement becomes 20÷800 = 0.025 mm/pulse. In this case, this message will be displayed if 0.02 mm is entered at the target position.

121 Push search end over The final position in push operation exceeds the soft limit.

This has no negative effect if the actuator contacts the work. If the actuator misses the work, however, the soft limit will be reached and this message is displayed as a warning. Change either the target position or positioning band.

Appendix

Code Message name Description

122 Allocate, multi-axes connect Address was assigned when multiple axes were connected.

Assign each address only when one axis is connected.

133 Change to axis number

prohibit

In the case of the PCON-C/CG, ACON-C/CG, or SCON controller, the axis number is set with the rotary switch on the front panel. It cannot be set with the Teaching Pendant.

Change to axis number OK Controller initialize OK Home Change All Clear IO function changed

These messages are displayed to confirm operation. (They do not indicate an operation error or other abnormality.)

201 Emergency Stop An emergency stop condition was detected. (This is not an error.)

It is displayed for PCON, ACON and SCON.

- Emergency Stop This message indicates an emergency stop condition. (This is not an error.) It is displayed for PCON, ACON and SCON.

- Motor voltage drop This message indicates the motor drive power shut-off condition due to an open circuit between the MPI terminal and MPO terminal. (Note) If this message occurs when a circuit between the MPI terminal and MPO

terminal is closed, a controller failure is suspected.

- ABS battery voltage drop This message indicates that the battery voltage dropped when the power was turned ON.

20A During movement, Servo OFF This message indicates that the servo ON signal (SON) was turned OFF by the PLC

while the actuator was moving and that the servo turned OFF and the movement was disabled as a result.

20C During movement, CSTR-ON This message indicates that the start signal (CSTR) became “1” by the PLC while the

actuator was moving and that duplicate movement commands occurred as a result.

20D During movement, STP-OFF This message indicates that the temporary stop signal (*STP) was turned OFF by the

PLC while the actuator was moving and the movement was disabled as a result.

20E Soft limit over This message indicates that a soft limit was reached.

210 HOME-ON during operation This message indicates that a home return signal (HOME) became ON from PLC and

duplicate movement commands occurred during movement operation.

211 JOG-ON during operation This message indicates that a home return signal (HOME) became ON from PLC and

duplicate movement commands occurred during movement operation.

220 Write in AUTO prohibited This messages indicates that parameter writing operation was performed in the AUTO

mode of the PCON-C/CG, ACON-C/CG, or SCON controller.

221 Write in Monitor mode

prohibited

This message indicates that position data or parameter writing operation was performed in the Monitor mode.

222 Operation in AUTO prohibited This message indicates that actuator movement operation was performed in the AUTO

mode.

223 Operation in Monitor mode

prohibited

This message indicates that actuator movement operation was performed in the Monitor mode.

301 302 304 305 306

308 30A 30B

Over Run Error (M) Framing Error (M) SCIR-QUE OV (M) SCIS-QUE OV (M) R-BF OV (M) Response Time Out (M) Packet R-QUE OV Packet S-QUE OV

These messages indicate an error in the serial communication with the controller. Cause: [1] Garbage data due to the effect of noise

[2] Duplicate slave numbers when multiple controllers are controlled by serial

communication.

Action: [1] Adjust the wiring in a manner eliminating the effect of noise and review the

installation of equipment, etc.

[2] Change the slave numbers to avoid duplication.

If the message is still displayed after taking the above actions, please contact IAI.

Appendix

Code Message name Description

307

309

Memory Command Reject

Wright Address Error

This message indicates that the command was refused in the serial communication with the controller. 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.

30C 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] If a SIO converter is used, 24V is supplied to the converter but the link cable

is not connected.

[4] The ASDRS switch settings are duplicated by mistake when multiple

connectors are linked.

Action: [1] Check if the RDY lamp on the controller is lit. If the lamp is not lit, the

controller is faulty.

[2] If 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] Supply 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.

Catalog No.: MJ0178-1A (April 2007)

IAI America Inc.

Head Office: 2690W 237th Street Torrance, CA 90505

TEL (310) 891-6015 FAX (310) 891-0815

Chicago Office: 1261 Hamilton Parkway Itasca, IL 60143

TEL (630) 467-9900 FAX (630) 467-9912

New Jersey Office: 7 South Main St., Suite-F, Marlboro, NJ 07746

TEL (732) 683-9101 FAX (732) 683-9103

Home page: www.intelligentactuator.com

IAI Industrieroboter GmbH

Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany

TEL 06196-88950 FAX 06196-889524

The prices, specifications, dimensions and other information provided in this manual are subject to change without notice for purposes of product improvement. Copyright © 2007 April IAI Corporation. All rights reserved.

IAI CON-T Operating Manual

Specifications and Main Features

Frequently Asked Questions

User Manual