IAI RCM-TD, RCM-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/ERC2 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/ERC2 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 ERC2, 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 V1.31

E-Con *1 V1.44

RCP2 *1 V1.61

ERC *1 V1.61

ERC2 V2.00

PCON V2.00

ACON V2.00

SCON V2.00

*1: This Teaching Pendant also supports the RCP, RCS,

E-Con, RCP2, and ERC controllers.

* Check the model to connect and the version of the Teaching Pendant. If any unsupported model is

connected, unexpected movement may occur.

* The software reset function is effective for models corresponding to 1.61 or later of the support started

version.

* ERC2, PCON, ACON, or SCON cannot be used by linking to any model of those shown in *1.

MEMO

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 ................................................................................................................ 11

7-1 Connection with the Teaching Pendant....................................................................................... 11

7-2 How to Disengage the Teaching Pendant ................................................................................... 11

8. Operation: Mode Flow Chart .................................................................................................................... 12

8-1 Initial Screen and TP Operation Mode Screen During Power – UP............................................. 14

8-2 Controller Selection (when using multiple units).......................................................................... 16

8-3 Operation Mode Selection ........................................................................................................... 17

8-3-1 Positioner (PCON-PL/PO, ACON-PL/PO, or SCON: Mode Other than Pulse Train Mode)......... 17

8-3-2 Pulse Train (PCON-PL/PO, ACON-PL/PO, or SCON: Pulse Train Mode) .................................. 18

8-4 Edit/Teaching .............................................................................................................................. 19

8-4-1 PCON, ACON, SCON, or ERC2.................................................................................................. 19

8-4-2 RCP, RCS, E-Con, RCP2, or ERC .............................................................................................. 21

8-5 Position Data Table Contents...................................................................................................... 23

8-5-1 Position Data Table Contents for PCON, ACON, SCON, and ERC2 .......................................... 23

8-5-2 Position Data Table Contents for RCP, RCS, E-Con, RCP2,and ERC ....................................... 29

8-5-3 Data New Input............................................................................................................................ 31

8-5-4 Data Modification......................................................................................................................... 56

8-5-5 Clear • All Clear ........................................................................................................................... 56

8-5-6 Move ........................................................................................................................................... 61

8-5-7 Servo ON/OFF ............................................................................................................................ 68

8-5-8 Pulse Train (PCON-PL/PO, ACON-PL/PO, SCON: Pulse Train Mode) Based Jogging .............. 70

8-6 Monitor ........................................................................................................................

8-7 Error List...................................................................................................................................... 75

................ 72

8-8 User Parameters ......................................................................................................................... 77

8-9 User Adjustment.......................................................................................................................... 81

8-9-1 Pause, servo ON input enable and disable setting, homing operation, axis number setting...... 81

8-9-2 Software Reset ............................................................................................................................ 83

8-9-3 Error List Clear ............................................................................................................................ 85

8-10 TP Operation Mode ..................................................................................................................... 87

8-11 End.............................................................................................................................................. 89

9. Message Area.......................................................................................................................................... 90

9-1 Warning Label Error (Code No. 000h – 07Fh)............................................................................. 90

9-2 Teaching Pendant Message Level Error ..................................................................................... 91

9-3 Controller Error............................................................................................................................ 91

* Appendix....................................................................................................................................................... 92

Parameter (Shipment) Initialization Method .................................................................................................... 92

Teaching Pendant error table.......................................................................................................................... 95

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

(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.

” or “can’t.”

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, ERC2, RCP, RCS, E-Con, RCP2, and ERC,) 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 ERC2, RCP, RCS, E-Con,

RCP2, and ERC, 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.

In addition, for quick reference, a manual card is stored inside the Teaching Pendant body.

Large type LCD

Manual card storage

6-1 Specifications

･････････

････

Horizontal 21 characters Vertical 16 columns

Up to 3 cards

Item Specification

Ambient Temperature & Humidity

Operating Environment Free of corrosive gas, especially, no excessive dust

Weight 500g

Cable Length 5m

Temperature: 0°~40°C Humidity: 85% RH or less * RH relative humidity

6-2 External View

External Dimensions

When drawing out

the manual card.

6-3 Description of Each Part

(1) Large LCD Display

(2) Manual Card

(4) Arrow key

(7)

(5)

(8)

(10) DEADMAN SWITCH

(Minus) key

key

(3) EMERGENCY STOP

(6)

(9)

(Return) ke

(1) Large LCD Display

This is a liquid crystal display with a range of 62.69 × 62.69mmm with a maximum of horizontal: 21

characters per column, and vertical: 16 columns per row.

(2) Manual Card

This is a simplified operational instruction printed on 3 pages. You may observe the instruction by pulling

out the Manual Card from the right side of the Teaching Pendant during operation. When not in use, the

Manual Card may be stored inside the Teaching Pendant Body.

(3) EMERGENCY STOP (Emergency Stop Push Button 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 Line and its status, please refer to the RC Robo Cylinder

Operating Manual.)

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 RCP2-CG (cutout relay external type) and ERC/ERC2 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.

(4) Arrow key:

Every time you press the cursor key of the Selection Display Column Selection and the cursor Move key

of the Position Display Table Main Display Area, the cursor will move to the first item. When pressed for

more than one second the cursor will move continuously. When the content display is composed of more

than two screens (position table and monitor display), these keys scroll to the next screen.

In the farthest right row, push down right arrow key: Next page

In the farthest left row, push down left arrow key: Previous page

In the bottom row, push down arrow key: Next page

In the top row, push down top arrow key: Previous page

(5)

- By pressing this key for more than 2.5 seconds, the screen changes to the “BEGIN/END” screen and

you can reconnect the axis and execute Teaching Pendant configuration.

- If entering data via key pad, you may cancel midway using this key.

- You may clear error warning.

- When an error occurs, a message for this error will appear at the very bottom of the display screen.

Use this key to clear the error and to clear this message.

- Stop key during continuous movement:

Although the continuous movement functions as a test run for several continuous positions, during this

movement, this key will cause a Stop Command. Once the position move command completes, it will

stop.

key

(6)

(7) (Minus) key

(8)

key

- Although Teaching Pendant operation is composed of several screens, using this key will return the

user to the previous screen.

Note: When you don’t understand the operation, undo the operation by pressing the

- Switches between Relative Coordinates and Absolute Coordinates. Move the cursor to the position

table "No" and press the Minus key. “=” will be displayed between "No" and position to indicate it is

Relative Coordinates. By pressing the Minus key one more time, "=” disappears to indicate it is in

Absolute Coordinates mode.

- Position Table Column: When you push this in an area such as positioning width which allows minus

input, the key functions as the “-“ (minus) and the rest as ".” (point). When you input either

in the beginning of the number, in the proper area, the key will automatically recognize it as O. This

key is used during cursor move within the Mode Select Screen and Sub-Display Screen (e.g,

continuous, step, etc.).

key

key.

- This key is used for numeric input.

(9)

(Return) key

- This is used for data input and operation confirm.

(10) DEADMAN SWITCH (Servo Enable Switch) * Option Setting

The switch mounted on both sides of the Teaching Pendant is connected serially with the Emergency

Stop Switch, and causes e-stop when not pressed (normally, this switch is a "open: a-contact").

Caution: If multiple controllers are connected using link cables, the Deadman SW is enabled only for the axis

of the controller which is connected to the Teaching Pendant.

For the RCP2-CG (cutout relay external type) and ERC/ERC2 series, the Deadman SW is enabled

only when the emergency stop circuit is externally installed. Always read the operating manual of

the controller carefully.

7. Connection With the Controller

7-1 Connection with the Teaching Pendant

(1) Connect the Teaching Pendant Cable to the “PORT IN” 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 IN” 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.

(If the Deadman SW is attached as an option, execute while the Deadman SW button on both sides

are pressed.)

7-2 How to Disengage the Teaching Pendant

Hold down the BEGlN/END key which is located in the upper left corner of the key pad. Select "*

Complete" to finish.

Then, turn the PORT switch OFF for the controller having this switch.

Operation:

1. Hold down the

2. Use the Arrow key to select “* Complete” Screen, and then press the Return key.

3. Turn the PORT switch OFF for the controller having this switch.

4. Remove the Teaching Pendant connector.

key for more than 2.5 seconds.

Caution: In the case of PCON, ACON, SCON, or ERC2, 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, ACON, or ERC2 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.”)

In the case of ERC2 or 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, SCON: Mode other than the Pulse Train Mode)

The total picture of operations performed with the Teaching Pendant has the tree structure as shown

below. To return to the previous screen, press the ESC key.

Power-ON

Set-up Communication

TP Operation Mode

Select Axis

* Displayed only when

2 or more axes are connected

Press & hold the [BEGIN/END] key

Operation

Start/End

Return to “Set-up Communication” when Reconnection is selected

Return

Press & hold the [BEGIN/END] key

End

* Displayed only for PCON, ACON, SCON, and ERC2.

Return Return Return

Mode Select

* When the

servo is OFF

Servo OFF

Check

* When the

servo is ON

Soft

Reset

* Before changing the parameter

or leaving the mode, check

Edit/Teach

(Position)

whether to reset software.

Monitor

Error List

User Parameter

* Selectable only

CTR ErrList

Homing

Select with

Clr/All

when the cursor is located at “No.”

Select with

Teach/Play

when the cursor is located at “Position (mm)”

key

Clea

All Clea

key

Return

Direct teach

Jog

Increment

Homing

Move

Continuous

Srv ON/OFF

User Adjustment

TP operation mode

* Available only for

PCON, ACON, SCON, and ERC2

Suspend Enable/Disable Setting

Srv ON Enable/Disable Setting

Axis No. Setting

Soft Reset

ErrList Clear

Sip Para

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

The total picture of operations performed with the Teaching Pendant has the tree structure as shown

below.

To return to the previous screen, press the ESC key.

Power-ON

Set-up Communication

TP Operation Mode

Select Axis

* Displayed only when

2 or more axes are connected

Press & hold the [BEGIN/END] key

Operation

Start/End

Return to “Set-up Communication” when Reconnection is selected

Press & hold the [BEGIN/END] key

End

* Displayed only for PCON, ACON, SCON, and ERC2.

Return

Mode Select

* When the

Servo OFF

Check

* When the

Return

Soft

Reset

* Before changing the parameter or leaving the

mode, check whether to reset software.

Monitor

Error List

User Parameter

User Adjustment

TP operation mode

Suspend Enable/Disable Setting

CTR ErrList

Homing

Axis No. Setting

Srv ON Enable/Disable Setting

Soft Reset

ErrList Clear

Sip Para

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, SCON, or ERC2 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, RCP2, or ERC controller, the screen will automatically move to

the Select Axis screen if multiple units are connected.

Select a menu item using the arrow keys

(

) or minus key and press the

Return key. The screen will move to the

Select Axis screen.

Fig. 8.2 TP Operation Mode Selection Screen

Select an operation mode from the following 4 menu items:

- Teach 1 (PIO Prh・SftyVel Efct)

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 (PIO Prh・SftyVel Non)

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 described in position data.

- Monitor 1 (PIO Prm・SftyVel Efct)

PIO Prm: Enables monitoring only. Writing of position data, parameters, etc., in the

controller and commands of the actuator movement system are disabled.

SftyVel Eft: Keeps the maximum speed at the safety speed set for the parameter regardless

of a command from PLC.

- Monitor 2 (PIO Prm・SftyVel Non)

PIO Prm: 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 according to a command from PLC.

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).

When a screen has a reversed character background such as

now on, referred to as the "cursor location"). By pressing either arrow key switches Iocated

on the key sheet or the

The controller can connect up to 16 units. However, the PCON, ACON, SCON, or ERC2 controller

cannot be used by linking to the RCP, RCS, E-Con, RCP2, or ERC controller. All the controller axis

numbers (0-15) will be displayed. In the case of PCON, ACON, SCON, or ERC2, a connected model

will be displayed for the connected controller.

In the case of RCP, RCS, E-Con, RCP2, or ERC, “Connected” will be displayed.

By placing the cursor on the desired controller, and pressing the Return key, selection will occur.

The screen will then change to the "Mode Select" screen.

key, the cursor will move.

(3) (1) (2)

, this field is selected (from

Fig. 8.3 Axis Selection Screen

(1) Protocol type display M: Modbus, T: proprietary protocol

(2) Board type display 1: Flash ROM 128KB board, 2: Flash ROM 1MB board

(3) Connection axis display: In the case of PCON, ACON, SCON, or ERC2, the model name of the

connection axis such as PCON will be displayed.

In the case of RCP, RCS, E-Con, RCP2, or ERC, “Connected” will be

displayed.

The above screen shows the following three controllers are connected to the communication line:

Controller axis number: No. 00, No. 04, and No. 13

(Only the powered controller(s) will be detected when power is present for the Teaching Pendant.)

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).

8-3 Operation Mode Selection

8-3-1 Positioner (PCON-PL/PO, ACON-PL/PO, or SCON: M ode Other than P ulse

Train Mode)

In the case of the positioner controller of PCON-PL/PO, ACON-PL/PO, or SCON (mode other

than the Pulse Train Mode), the Select Mode screen will be displayed in Fig. 8.4.

Screen Display Name

Listing of modes

Selected controller axis numbe

Protocol type display Board type display

Fig. 8.4 Mode Selection Screen

For the modes, select one of the 6 options as it appears on the above screen.

To select it, move the cursor to the mode desired and with an arrow key switch or

and confirm it with the Return key.

Caution: The “* TP Operation Mode” will be displayed only for PCON, ACON, SCON, or ERC2.

Category of Modes

1. * Edit/Teach (Position) Teach and Edit function for position table

(Refer to 8.4 and 8.5)

2. * Monitor Controller status display (Refer to 8.6)

3. * Error list Alarm content detailed display (Refer to 8.7)

4. * User Parameter Setting of axis zone signal output range and axis attributes (Refer to 8.8)

5. * User Adjustment Executing homing and axis number setting of controller series. (Refer to 8.9)

6. * TP Operation Mode Setting of operation mode (Refer to 8.10). Displayed only for PCON, ACON,

SCON, or ERC2.

key switch

8-3-2 Pulse Train (PCON-PL/PO, ACON-PL/PO, or SCON: Pulse Train Mode)

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

Mode screen shown in Fig. 8.5 will be displayed.

Screen Display Name

Listing of modes

Fig. 8.5 Mode Selection Screen

For the modes, select one of the 6 options as it appears on the above screen.

To select it, move the cursor to the mode desired and with an arrow key switch or key switch

and confirm it with the Return key.

Category of Modes

1. * Jog Servo ON, homing, jogging, increment movement (Refer to 8.5.8)

2. * Monitor Controller status display (Refer to 8.6)

3. * Error list Alarm content detailed display (Refer to 8.7)

4. * User Parameter Setting of axis zone signal output range and axis attributes (Refer to 8.8)

5. * User Adjustment Executing homing and axis number setting of actuator-integrated controller.

(Refer to 8.9)

6. * TP Operation Mode Setting of operation mode (Refer to 8.10).

Selected controller axis numbe

Protocol type display Board type display

8-4 Edit/Teaching

8-4-1 PCON, ACON, SCON, or ERC2

When “* Edit/Teach (Position)” mode is selected, the contents of the position table saved in the

controller will be displayed.

* In the case of PCON-PL/PO, ACON-PL/PO, or SCON (Pulse Train mode), they will not be

displayed.

Title Display Area

Main Display Area

Sub Display Area

Editing axis number

Status Display Area

Error Display Area

Caution: Use the arrow keys (

When the cursor is located inside the sub display area, use the

cursor.

Screen Display Descriptions:

The screen display is divided into the following 5 areas for use:

Title Display Area: Displays the current mode and the selected controller axis number

Main Display Area: Displays the movement position data saved in the controller

Sub Display Area: Used for sub command assignment such as position add and delete

Status Display Area: Display servo status and current location

Error Display Area: Displays messages during editing

Fig. 8.6 Position Data Table Display Screen

) to move the cursor within the main display area.

key to move the

Stop

Mode

Cmnd

Mode

AccDcl

Zone- Zone+ Range LoTh Push Dcl Acc Vel Position

The position data main display area is divided and displayed as below.

You can change the screens by continuing to press the arrow keys ( ).

key for 2 sec. or more, the screen will change to the “BEGIN/END” screen.

key and key simultaneously.

the

(If you continue pressing the

Note) When the cursors on the position data table main display area are flashing, you can change the right-and-left areas by pressing

Note) The position number changes according to the model and PIO pattern.

8-4-2 RCP, RCS, E-Con, RCP2, or ERC

When “* Edit/Teach (Position)” mode is selected, the contents of the position table saved in the

controller will be displayed.

Title Display Area

Main Display Area

Sub Display Area

Status Display Area

Error Display Area

Fig. 8.7 Position Data Table Display Screen

Editing axis number

Caution: Use the arrow keys (

When the cursor is located inside the sub display area, use the key to move the

cursor.

Screen Display Descriptions:

The screen display is divided into the following 5 areas for use:

Title Display Area: Displays the current mode and the selected controller axis number

Main Display Area: Displays the movement position data saved in the controller

Sub Display Area: Used for sub command assignment such as position add and delete

Status Display Area: Display servo status and current location

Error Display Area: Displays messages during editing

) to move the cursor within the main display area.

The position data main display area is divided and displayed as below.

You can change the screens by continuing to press the arrow keys (

Position Vel Acc Push Range Acc

Note)

When the cursors on the position data table main display area are flashing, you can change the right-and-left

areas by pressing the key and key simultaneously.

(If you continue pressing the key for 2 sec. or more, the screen will change to the

“BEGIN/END” screen.

Note) The position number is 0 to 63 for E-Con (RCP2 according to the parameter setting).

8-5 Position Data Table Contents

8-5-1 Position Data Table Contents for PCON, ACON, SCON, and ERC2

The setting items of the position data table are No., Position, Vel, Acc/Dcl, Push, LoTh, Range,

Zone+, Zone-, AccDcl Mode, Cmnd Mode, and Stop Mode. They are displayed in 10 screens.

The items of Zone+, Zone-, AccDcl Mode, and Stop Mode are enabled (ON) or disabled (OFF)

according to the controller type.

List of ON/OFF of Position Table According to Model

AccDcl Mode Stop Mode

Position Table Zone +/-

ERC2 ○ PIO pattern: 3 ○ × × ○ ○ ERC2-SE ○ - ○ × × ○ × 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.

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.

Trapezoid S-shape

First-order

Delay

Full Servo

Auto

Servo

OFF

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.

(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, SCON, or ERC2, 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).

(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.

Speed

Acceleration

Deceleration

Start

osition

Target

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.

osition

Time

(6) LoTh: - This field is invalid.

The default value is 0.

(7) Range: - The “positioning operation” and “push operation” have different meanings.

Positioning operation:

It defines the distance to the target position from a position at which the position

complete signal turns ON.

The default value is 0.1 mm.

Timing of position complete signal turning ON

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.

Positioning width

Target

position

However, it defines the width of the position complete signal 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

Position complete signal

Positioning width

Target

position

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.

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

Work

Positioning width

Target

position

(maximum push amount)

(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.

[Setting example]

No.

Position

[mm]

0 5.00 100.00 0.00

1 380.00 400.00 300.00

Zone+

[mm]

Zone-

[mm]

Comment

Backward

end

Forward

end

2 200.00 250.00 150.00 Midpoint

Movement command to backward end

Zone output signal

Home

Backward

end

Movement command to forward end

Zone output signal

Forward

end

+ side limit

Movement command to midpoint

Zone output signal

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

Speed

Acceleration

Deceleration

Time

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

table.

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.

Speed

Time

* 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 ERC2 or 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.

Speed

Time

* 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 ERC2 or PCON controller. The parameter No. 55 is

reserved.

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

The factory setting is 0.

(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

Auto servo OFF

Servo status

Servo ON status

ctuator

movement

Target position

(Green LED flashing)

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, RCP2,and ERC

The setting items of the position data table are No., Position, Vel, Acc/Dcl, Push, Range, and Acc

only MAX. They are displayed in 4 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, SCON, or ERC2, 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%.

Time

(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 minus direction from the displayed coordinate, a “minus”

sign should be placed in the range column.

Speed Speed

(5) When push = 0

(2) Distance up to the position

(5) When push = other than 0

(2) Distance up to the position

Diagram A Diagram B

Transfer distance Transfer distance

(6) Positioning

width

(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

 

(7) When Acc only MAX = 0

(4) The value set in

Acc/Decl

Speed

Transfer distance

(7) When Acc only MAX = 1

The maximum acceleration matches the load

(6) Positioning

width

(4) The value set in

Acc/Decl



Transfer distance

8-5-3 Data New Input

The following 4 ways to input new position data exist:

(1) Manual Input Manually enter the position data directly from the Teaching Pendant key pad.

(For the input example, see page 34.)

(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 43.)

(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 46.)

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 49.)

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 operation 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, SCON, and ERC2.

Operation Screen Reference

1. Select the “* Edit/Teach” and

press the Return key.

Select Mode Axis 1

Edit/Teach (Position)

The cursor will move by the arrow

key or

key.

Monitor Error list User Parameter User Adjustment TP Operation Mode

Select Mode -- > Return (You may select with the minus key)

2. Match the cursor to the position.

The number can be anywhere.

Edit/Teach Axis 1

Position Vel

Data unregistered position data

will display “*” sign.

Clr/All: No -- > Return Teach/Play: (Ten key Match)

Position -- > Return

[Srv ON Pos 0.00]

3. Press the Return key. Edit/Teach Axis 1

Position Vel

Clr/All: No -- > Return Teach/Play: (Ten key Match)

Position -- > Return

[Srv ON Pos 0.00]

For numeric values, press just the

Return key.

Operation Screen Reference

4. Use the key for the cursor and

move to “* Home.”

Edit/Teach Axis 1

Position Vel

Use the key to move the

cursor in the sub display area.

* Direct Teach (Servo OFF) * Jog *Increment *Home * Move *Continuous

[Srv ON Pos 0.00]

5. Press the Return key. Edit/Teach Axis 1

Position Vel

* Direct Teach (Servo OFF) * Jog *Increment *Home * Move *Continuous

[Srv ON Pos 0.00]

6. Press the key will turn the

mode into Ten key Card Mode.

Edit/Teach Axis 1

Position Vel

Automatically executes home.

* Direct Teach (Servo OFF) * Jog *Increment *Home * Move *Continuous

[Srv ON Pos 0.00]

2) Numeric Input

Caution: Operating instructions are described on the screens of PCON, ACON, SCON, and ERC2.

Example 1: 2 point continuous loop move 30mm <-> 250mm, Speed 300mm/sec

Operation Screen Reference

1. Select * Edit/Teach and press the

Return key.

Select Mode Axis 1

Edit/Teach (Position)

The cursor will move by the arrow

key or

key.

Monitor Error list User Parameter User Adjustment TP Operation Mode

Select Mode -- > Return (You may also select the minus key)

2. Match the cursor to the position of

the position number column you

wish to input.

The mode will automatically turn

into the ten key input mode.

Edit/Teach Axis 1

Position Vel

The cursor will move with the

arrow key. Any remaining data

will be written over.

Data unregistered position data

will display “*” sign.

Clr/All: No -- > Return Teach/Play: (Ten key Match)

Position -- > Return

[Srv ON Pos 0.00]

3. Input here, and press the

Return key again.

Edit/Teach Axis 1

Position Vel

In order to stop during numeric

input, press the

key

to cancel the input.

Example)

With the left operation, by

pressing

Clr/All: No -- > Return Teach/Play: (Ten key Match)

Position -- > Return

[Srv ON Pos 0.00]

immediately after inputting after

inputting

, the status will

return to the “*” display.

Operation Screen Reference

4. Edit/Teach Axis 1

Position Vel

During new position data

registration, the initial values set

with the user parameters for

velocity, acceleration,

deceleration, etc., will be input

automatically.

Clr/All: No -- > Return Teach/Play: (Ten key Match)

Position -- > Return

[Srv ON Pos 0.00]

In the left screen, the initial value

is set as 100mm/sec.

5. Input here, and press

the Return key again (the cursor

Edit/Teach Axis 1

Position Vel

automatically moves, If change is

not needed, press the Return key

again.)

Clr/All: No -- > Return Teach/Play: (Ten key Match)

Position -- > Return

[Srv ON Pos 0.00]

6. Edit/Teach Axis 1

Position Vel

Clr/All: No -- > Return Teach/Play: (Ten key Match)

Position -- > Return

[Srv ON Pos 0.00]

Operation Screen Reference

7. Input here, and press

the Return key again.

Edit/Teach Axis 1

Position Vel

In order to stop during numeric

input, press the

key

to cancel the input.

Clr/All: No -- > Return Teach/Play: (Ten key Match)

Position -- > Return

[Srv ON Pos 0.00]

8. Edit/Teach Axis 1

Position Vel

Clr/All: No -- > Return Teach/Play: (Ten key Match)

Position -- > Return

[Srv ON Pos 0.00]

9. Input here, and press

the Return key.

Edit/Teach Axis 1

Position Vel

The cursor will automatically

move to speed.

Clr/All: No -- > Return Teach/Play: (Ten key Match)

Position -- > Return

[Srv ON Pos 0.00]

Example 2:

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

(Push range 5mm)

Operation Screen Reference

1. Select * Edit/Teach and press the

Return key..

Select Mode Axis 1

Edit/Teach (Position)

The cursor will move by the arrow

key or

key.

Monitor Error list User Parameter User Adjustment TP Operation Mode

Select Mode -- > Return (You may also select the minus key)

2. Match the cursor to the position of

the position number column you

wish to input. The mode will

automatically turn into the ten key

input mode.

Edit/Teach Axis 1

Position Vel

The cursor will move with the

arrow key. Any remaining data

will be written over.

Data unregistered position data

will display “*” sign.

Clr/All: No -- > Return Teach/Play: (Ten key Match)

Position -- > Return

[Srv ON Pos 0.00]

3. Input here, and press the

Return key again.

Edit/Teach Axis 1

Position Vel

In order to stop during numeric

input, press the

key

to cancel the input.

Example)

With the left operation, by

pressing

Clr/All: No -- > Return Teach/Play: (Ten key Match)

Position -- > Return

[Srv ON Pos 0.00]

immediately after inputting after

inputting

, the status will

return to the “*” display.

Operation Screen Reference

4. Edit/Teach Axis 1

Position Vel

During new position data

registration, the initial values set

with the user parameters for

velocity, acceleration,

deceleration, etc., will be input

automatically.

Clr/All: No -- > Return Teach/Play: (Ten key Match)

Position -- > Return

[Srv ON Pos 0.00]

In the left screen, the initial value

is set as 100mm/sec.

5. Press the Return key. Edit/Teach Axis 1

Position Vel

At the left, the user parameter is

used as it is.

The cursor will move to the

position of No. 1 by the left

operation.

Clr/All: No -- > Return Teach/Play: (Ten key Match)

Position -- > Return

[Srv ON Pos 0.00]

6. Input here, and press the

Return key.

Edit/Teach Axis 1

Position Vel

Clr/All: No -- > Return Teach/Play: (Ten key Match)

Position -- > Return

[Srv ON Pos 0.00]

Operation Screen Reference

7. Edit/Teach Axis 1

Position Vel

The cursor will automatically

move to “Vel.”

8. Press the key when the cursor

is located at “Vel.”

9. Press the key when the cursor

is located at “Acc.” The cursor

position will move to “Dcl.”

Press the

key again.

Clr/All: No -- > Return Teach/Play: (Ten key Match)

Position -- > Return

[Srv ON Pos 0.00]

Edit/Teach Axis 1

Acc Dcl

Acc and Dcl can be individually set.

[Srv ON Pos 0.00]

Edit/Teach Axis 1

Push LoTh Range

The screen will switch.

Push = 0: PTP else: Push Push, Range > 0: Forward

< 0: Backward

[Srv ON Pos 0.00]

Operation Screen Reference

10. Input the current value during

push.

Edit/Teach Axis 1

Push LoTh Range

* For push control, refer to the

Controller Operating Manual.

In this example, input 30%.

Input

, and then press the

Return key.

11. Input the maximum push range

during push into the Range.

In this example, input 5 mm.

Input

and press the Return

key.

Push = 0: PTP else: Push Push, Range > 0: Forward

< 0: Backward

[Srv ON Pos 0.00]

Edit/Teach Axis 1

Push LoTh Range

Push = 0: PTP else: Push Push, Range > 0: Forward

< 0: Backward

[Srv ON Pos 0.00]

Example 3: Relative Coordinates pitch movement 30 mm → 40 mm → 50 mm….

Operation Screen Reference

1. Select * Edit/Teach and press the

Return key.

Select Mode Axis 1

Edit/Teach (Position)

The cursor will move by the arrow

key or

key.

Monitor Error list User Parameter User Adjustment TP Operation Mode

Select Mode -- > Return (You may also select the minus key)

2. Match the cursor to the position of

the position number column you

wish to input. The mode will

automatically turn into the ten key

input mode.

Edit/Teach Axis 1

Position Vel

The cursor will move with the

arrow key. Any remaining data

will be written over.

Data unregistered position data

will display “*” sign.

Clr/All: No -- > Return Teach/Play: (Ten key Match)

Position -- > Return

[Srv ON Pos 0.00]

3. Input here, and press the

Return key again.

Edit/Teach Axis 1

Position Vel

In order to stop during numeric

input, press the

key

to cancel the input.

Example)

With the left operation, by

pressing

Clr/All: No -- > Return Teach/Play: (Ten key Match)

Position -- > Return

[Srv ON Pos 0.00]

immediately after inputting ,

the status will return to the “*”

display.

Operation Screen Reference

4. The cursor will move

automatically to the Vel. If there

are no changes, press the Return

key.

Edit/Teach Axis 1

Position Vel

During new position data

registration, the initial values set

with the user parameters for

velocity, acceleration,

deceleration, etc., will be input

automatically.

Clr/All: No -- > Return Teach/Play: (Ten key Match)

Position -- > Return

[Srv ON Pos 0.00]

In the left screen, the initial value

is set as 100mm/sec.

5. The cursor moves to the next

(No.1) position automatically.

Press the

key to move the

Edit/Teach Axis 1

Position Vel

cursor to No.

Clr/All: No -- > Return Teach/Play: (Ten key Match)

Position -- > Return

[Srv ON Pos 0.00]

6. Press the key here. Edit/Teach Axis 1

Position Vel

Clr/All: No -- > Return Teach/Play: (Ten key Match)

Position -- > Return

[Srv ON Pos 0.00]

Relative coordinate mode

Operation Screen Reference

7. Press the key to move the

cursor to the Position.

Edit/Teach Axis 1

Position Vel

The “=” sign will be displayed

between No. and position to

indicate that it is the relative

coordinate mode.

By pressing the

key, “=”

disappears and returns the mode

to the absolute coordinate mode.

Clr/All: No -- > Return Teach/Play: (Ten key Match)

Position -- > Return

[Srv ON Pos 0.00]

8. Input here, and press the

Return key.

Edit/Teach Axis 1

Position Vel

The relative repositioning rate

plus 10 mm are input.

To input the relative repositioning

rate in the negative direction,

press the

key prior to numeric

input.

Clr/All: No -- > Return Teach/Play: (Ten key Match)

Position -- > Return

[Srv ON Pos 0.00]

9. Edit/Teach Axis 1

Position Vel

The cursor will move

automatically to the Vel.

Clr/All: No -- > Return Teach/Play: (Ten key Match)

Position -- > Return

[Srv ON Pos 0.00]

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, SCON, and ERC2.

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

Operation Screen Reference

1. Select * Edit/Teach and press the

Return key..

Select Mode Axis 1

Edit/Teach (Position)

The cursor will move by the arrow

key or

key.

Monitor Error list User Parameter User Adjustment TP Operation Mode

Select Mode -- > Return (You may also select the minus key)

2. Match the cursor to the position of

the position number column you

wish to input.

The mode will automatically turn

into the ten key input mode.

Edit/Teach Axis 1

Position Vel

The cursor will move with the

arrow key. Any remaining data

will be written over.

Data unregistered position data

will display “*” sign.

Clr/All: No -- > Return Teach/Play: (Ten key Match)

Position -- > Return

[Srv ON Pos 0.00]

3. Press the Return key again. Edit/Teach Axis 1

Position Vel

The numeric value will input the

Return key only.

Clr/All: No -- > Return Teach/Play: (Ten key Match)

Position -- > Return

[Srv ON Pos 0.00]

Operation Screen Reference

4. Use key to move the cursor,

and then select *Direct Teach and

press the Return key (upon

Edit/Teach Axis 1

Position Vel

Use the key to move the

cursor inside the sub display

area.

pressing the Return key, status

will be in servo off. The diagram

on the right shows display before

pressing.)

* Direct Teach (Servo OFF)

* Jog * Increment * Home * Move * Continuous

[Srv ON Pos 0.00]

5. Manually move the slider and

match to the desired position.

Press the Return key.

Edit/Teach Axis 1

Position Vel

The controller status will be

displayed on the bottom row of

the screen.

Servo Control: OFF

Position: 100.00

Direct Teach (Servo OFF)

Return -> Acquire

[Srv OFF Pos 100.00]

Use the

cursor of the main screen and

change the inputting position

number.

key to move the

Operation Screen Reference

6. Use the key to move the

cursor to * YES.

Press the Return key again.

Edit/Teach Axis 1

Position Vel

Pressing the Return key will read

the position.

7. Manually move the slider and

match to the next desired

position.

Press the Return key.

Acquire position No. 0?

* NO * Yes

[Srv OFF Pos 0.00]

Edit/Teach Axis 1

Position Vel

Direct Teach (Servo OFF)

Return -> Acquire

[Srv OFF Pos 100.00]

The position data number will

automatically select the next

number (auto increment). As for

the speed and Acc/Dec value, the

initial value set in the user

parameter will automatically

input.

In the example at the left, the

initial value is 300mm/sec.

(Only during new position data

input).

Operation Screen Reference

8. Use the key to move the

cursor to * YES.

Press the Return key again.

Edit/Teach Axis 1

Position Vel

Pressing the Return key will read

the position.

Acquire position No. 1?

* NO * Yes

[Srv OFF Pos 30.00]

9. Press the key twice. Edit/Teach Axis 1

Position Vel

Clr/All: No -- > Return Teach/Play: (Ten key Match)

Position -- > Return

[Srv ON Pos 0.00]

10. Press the key gain.

Select Mode Axis 1

Edit/Teach (Position)

Monitor Error list User Parameter User Adjustment TP Operation Mode

Select Mode -- > Return (You may also select the minus key)

The screen will return to the

Edit/Teach main screen.

At this time, the servo control will

turn ON.

The screen will return to the

mode select screen.

4) Jog Teach

(Method: Tagging the actuator, matching to the desired position, and teaching that position into the position

table)

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.

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, SCON, and ERC2.

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

Operation Screen Reference

1. Select * Edit/Teach and press the

Return key..

Select Mode Axis 1

Edit/Teach (Position)

The cursor will move by the arrow

key or

key.

Monitor Error list User Parameter User Adjustment TP Operation Mode

Select Mode -- > Return (You may also select the minus key)

2. Match the cursor to the position of

the position number column you

wish to input. The mode will

automatically turn into the ten key

input mode.

Edit/Teach Axis 1

Position Vel

The cursor will move with the

arrow key. Any remaining data

will be written over.

Data unregistered position data

will display “*” sign.

Clr/All: No -- > Return Teach/Play: (Ten key Match)

Position -- > Return

[Srv ON Pos 0.00]

Operation Screen Reference

3. Press the Return key again. Edit/Teach Axis 1

Position Vel

The numeric value will input the

Return key only.

4. Use key to move the cursor,

and then select * Jog and press

the Return key.

5. Select speed with the key.

Move the slider with the key

and match it to the desired

position.

: Plus direction of display

coordinates

: Minus direction of display

coordinates

Press the Return key.

Clr/All: No -- > Return Teach/Play: (Ten key Match)

Position -- > Return

[Srv ON Pos 0.00]

Edit/Teach Axis 1

Position Vel

* Direct Teach (Servo OFF)

* Jog * Increment * Home

* Move * Continuous

[Srv ON Pos 0.00]

Edit/Teach Axis 1

Position Vel

Jog (<- · -> key)

Speed 1 2 3 4 5 -> Fast Return --> Acquire

[Srv ON Pos 500.00]

Use the key to move the

cursor inside the sub display

area.

: Speed select

Using the

key, move the

main screen cursor to change the

inputting position number.

Vel 1: 1 mm/sec

Vel 2: 10 mm/sec

Vel 3: 30 mm/sec

Vel 4: 50 mm/sec

Vel 5: 100 mm/sec

However, only the maximum

speed will be gained if the

maximum speed is slower than

the specified speed.

Operation Screen Reference

6. Use the key to move the

cursor to * YES.

Press the Return key again.

Edit/Teach Axis 1

Position Vel

Pressing the Return key will read

the position.

7. Match to the next desired

position.

Press the Return key.

Acquire position No. 0?

* NO * Yes

[Srv ON Pos 500.00]

Edit/Teach Axis 1

Position Vel

Jog (<- · -> key)

Speed 1 2 3 4 5 -> Fast Return --> Acquire

[Srv ON Pos 100.00]

The position data number will

automatically select the next

number (auto increment). As for

the speed and Acc/Dec value, the

initial value set in the user

parameter will automatically

input.

In the example at the left, the

initial value is 300mm/sec.

Operation Screen Reference

8. Use the key to move the

cursor to * YES.

Press the Return key again.

Edit/Teach Axis 1

Position Vel

Pressing the Return key will read

the position.

9. Press the key.

Then press the

key gain.

10. Press the key.

Acquire position No. 1?

* NO * Yes

[Srv OFF Pos 100.00]

Edit/Teach Axis 1

Position Vel

Clr/All: No -- > Return Teach/Play: (Ten key Match)

Position -- > Return

[Srv ON Pos 100.00]

Select Mode Axis 1

Edit/Teach (Position)

Monitor Error list User Parameter User Adjustment TP Operation Mode

Select Mode -- > Return (You may also select the minus key)

The screen will return to the

Edit/Teach main screen.

The screen will return to the

mode select screen.

5) Increment

(Method: Incremental movement using arrow key, matching to the desired position, and teaching that

position into the position table)

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. The speed will

increase every one second. Finer movement than jogging is possible.

When increment 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, SCON, and ERC2.

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

Operation Screen Reference

1. Select * Edit/Teach and press the

Return key..

Select Mode Axis 1

Edit/Teach (Position)

The cursor will move by the arrow

key or

key.

Monitor Error list User Parameter User Adjustment TP Operation Mode

Select Mode -- > Return (You may also select the minus key)

2. Match the cursor to the position of

the position number column you

wish to input. The mode will

automatically turn into the ten key

input mode.

Edit/Teach Axis 1

Position Vel

The cursor will move with the

arrow key. Any remaining data

will be written over.

Data unregistered position data

will display “*” sign.

Clr/All: No -- > Return Teach/Play: (Ten key Match)

Position -- > Return

[Srv ON Pos 0.00]

Operation Screen Reference

3. Press the Return key again. Edit/Teach Axis 1

Position Vel

The numeric value will input the

Return key only.

4. Use key to move the cursor,

and then select * Increment and

press the Return key.

5. Select speed with the key.

Move the slider with the key

and match it to the desired

position.

: Plus direction of display

coordinates

: Minus direction of display

coordinates

Press the Return key.

Clr/All: No -- > Return Teach/Play: (Ten key Match)

Position -- > Return

[Srv ON Pos 0.00]

Edit/Teach Axis 1

Position Vel

* Direct Teach (Servo OFF) * Jog * Increment * Home * Move * Continuous

[Srv ON Pos 0.00]

Edit/Teach Axis 1

Position Vel

* Increment -> Jog (<- · -> key)

Distance 0.03 0.10 0.05 Return --> Acquire

[Srv ON Pos 0.00]

Use the key to move the

cursor inside the sub display

area.

: Increment distance select

When ( is pressed for more

than 2 seconds, jog movement is

possible. (Upon that, the speed

will increase to 1, 10, 30, 50, and

100 mm/sec every one second.

However, only the maximum

speed will be gained if the

maximum speed is slower than

the specified speed.)

When the desired position is far,

move close to this function, and

release the arrow key once, and

return to the increment for detail

adjustment.

Operation Screen Reference

6. Use the key to move the

cursor to * YES.

Press the Return key again.

Edit/Teach Axis 1

Position Vel

Pressing the Return key will read

the position.

7. Match to the next desired

position.

Press the Return key.

Acquire position No. 0?

* NO * Yes

[Srv ON Pos 10.00]

Edit/Teach Axis 1

Position Vel

* Increment -> Jog (<- · -> key)

Distance 0.03 0.10 0.05 Return --> Acquire

[Srv ON Pos 10.00]

The position data number will

automatically select the next

number (auto increment).

As for the speed and Acc/Dec

value, the initial value set in the

user parameter will automatically

input.

In the example at the left, the

initial value is 300mm/sec. (Only

when new position data is input)

Operation Screen Reference

8. Use the key to move the

cursor to * YES.

Press the Return key again.

Edit/Teach Axis 1

Position Vel

Pressing the Return key will read

the position.

9. Press the key.

Then press the

key again.

10. Press the key.

Acquire position No. 1?

* NO * Yes

[Srv OFF Pos 90.00]

Edit/Teach Axis 1

Position Vel

Clr/All: No -- > Return Teach/Play: (Ten key Match)

Position -- > Return

[Srv ON Pos 90.00]

Select Mode Axis 1

Edit/Teach (Position)

Monitor Error list User Parameter User Adjustment TP Operation Mode

Select Mode -- > Return (You may also select the minus key)

The screen will return to the

Edit/Teach main screen.

The screen will return to the

mode 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) Manual Input: Manually enter the position data directly from Teaching Pendant key pad.

(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 not remain anywhere, therefore, when the next

position data is set, the position move is selected as a default.

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 53.)

(2) All Clear: Resets all of all position data. (For the input example, see page 55.)

1) Clear

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

Caution: Operating instructions are described on the screens of PCON, ACON, SCON, and ERC2.

Example: Clear the row of position data number 2.

Operation Screen Reference

1. Select * Edit/Teach and press the

Return key..

Select Mode Axis 1

Edit/Teach (Position)

The cursor will move by the arrow

key or

key.

Monitor Error list User Parameter User Adjustment TP Operation Mode

Select Mode -- > Return (You may also select the minus key)

2. Match the cursor to the position of

the position number column.

Edit/Teach Axis 1

Position Vel

Data unregistered position data

will display “*” sign.

Clr/All: No -- > Return Teach/Play: (Ten key Match)

Position -- > Return

[Srv ON Pos 0.00]

3. Press the Return key again. Edit/Teach Axis 1

Position Vel

Clr/All: No -- > Return Teach/Play: (Ten key Match)

Position -- > Return

[Srv ON Pos 0.00]

Operation Screen Reference

4. Use key to move the cursor,

and then select * Clear and press

the Return key.

Edit/Teach Axis 1

Position Vel

Use the key to move the

cursor inside the sub display

area.

Use the

key to move the

cursor of the main screen and

change the clear position number.

Select Clr/All: No -- > Return

* Clear * All Clear

[Srv ON Pos 0.00]

5. Confirm the screen display. If you

wish to delete, move the cursor to

* Yes using the

key and press

Edit/Teach Axis 1

Position Vel

When the screen switches to this

screen, the cursor will be at * No.

the Return key.

Clear Position No. 2?

* NO * Yes

[Srv ON Pos 0.00]

6. Edit/Teach Axis 1

Position Vel

Select Clr/All: No -- > Return

* Clear * All Clear

[Srv ON Pos 0.00]

7. Press the key. Edit/Teach Axis 1

Position Vel

The cursor row will clear

(unregistered status).

The screen will return to the

Edit/Teach main screen.

* Increment -> Jog (<- · -> key)

Distance 0.03 0.10 0.05 Return --> Acquire

[Srv ON Pos 10.00]

1) All Clear

(Operation: To clear all position data)

Operation Screen Reference

1. Select * Edit/Teach and press the

Return key..

Select Mode Axis 1

Edit/Teach (Position)

The cursor will move by the arrow

key or

key.

Monitor Error list User Parameter User Adjustment TP Operation Mode

Select Mode -- > Return (You may also select the minus key)

2. Match the cursor to the position of

the position number column.

Edit/Teach Axis 1

Position Vel

The position can be anywhere.

Clr/All: No -- > Return Teach/Play: (Ten key Match)

Position -- > Return

[Srv ON Pos 0.00]

3. Press the Return key again. Edit/Teach Axis 1

Position Vel

Clr/All: No -- > Return Teach/Play: (Ten key Match)

Position -- > Return

[Srv ON Pos 0.00]

Operation Screen Reference

4. Use key to move the cursor,

and then select * Clear and press

Edit/Teach Axis 1

Position Vel

the Return key.

Select Clr/All: No -- > Return

* Clear * All Clear

[Srv ON Pos 0.00]

5. Confirm the screen display. If you

wish to delete, move the cursor to

* Yes using the

key and press

Edit/Teach Axis 1

Position Vel

the Return key.

Clear all position data?

* NO * Yes

[Srv ON Pos 0.00]

6. Edit/Teach Axis 1

Position Vel

When the screen switches to this

screen, the cursor will be at * No.

All position data will be cleared

showing “*” sign indicating

“unregistered.”

Select Clr/All: No -- > Return

* Clear * All Clear

[Srv ON Pos 0.00]

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).

Specific examples will be provided to explain operation procedures.

Caution: With regard to PCON, ACON, SCON, and ERC2, 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, SCON, and ERC2.

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

Operation Screen Reference

1. Select * Edit/Teach and press the

Return key..

Select Mode Axis 1

Edit/Teach (Position)

The cursor will move by the arrow

key or

key.

Monitor Error list User Parameter User Adjustment TP Operation Mode

Select Mode -- > Return (You may also select the minus key)

2. Match the cursor to the position of

the position number column you

wish to move.

Edit/Teach Axis 1

Position Vel

The cursor will move by the arrow

key. For any unregistered data,

the display will show “*” sign.

Clr/All: No -- > Return Teach/Play: (Ten key Match)

Position -- > Return

[Srv ON Pos 0.00]

3. Press the Return key again. Edit/Teach Axis 1

Position Vel

Clr/All: No -- > Return Teach/Play: (Ten key Match)

Position -- > Return

[Srv ON Pos 0.00]

Input only the Return key without

inputting any numeric value.

Operation Screen Reference

4. Use key to move the cursor,

and then select * Move and press

the Return key.

Edit/Teach Axis 1

Position Vel

Use the key to move the

cursor inside the sub display

area.

Use the

key to move the

cursor of the main screen and

change the moving position

* Direct Teach (Servo OFF) * Jog * Increment * Home

number.

* Move * Continuous

[Srv ON Pos 0.00]

5. Select speed using the key,

and press the Return key.

Edit/Teach Axis 1

Position Vel

Speed is divided into 3 levels and

can be selected using the

key. Move to the position

No.2 position. The cursor will

automatically move to No.3

position.

(Note) When PCON, ACON,

Move (1 position) Speed 10% 50% 100% Return --> position Move

[Srv ON Pos 0.00]

SCON, or ERC2 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).

6. When moving towards No.3

position continuously, press the

Edit/Teach Axis 1

Position Vel

The cursor will automatically

move to the No. 1 position.

Return key again.

Move (1 position) Speed 10% 50% 100% Return --> position Move

[Srv ON Pos 200.00]

Operation Screen Reference

7. Press the key twice, and

return to the edit/teach screen.

Edit/Teach Axis 1

Position Vel

The screen will return to the

Edit/Teaching main screen.

Move (1 position) Speed 10% 50% 100% Return --> position Move

[Srv ON Pos 300.00]

8. Press the key twice, and

return to the edit/teach screen.

Edit/Teach Axis 1

Position Vel

Clr/All: No -- > Return Teach/Play: (Ten key Match)

Position -- > Return

[Srv ON Pos 300.00]

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.

The screen will return to the

Edit/Teaching main screen.

1) Continuous Move

(Operation: Registered position data number assigned continuous move)

Caution: Operating instructions are described on the screens of PCON, ACON, SCON, and ERC2.

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

Operation Screen Reference

1. Select * Edit/Teach and press the

Return key.

Select Mode Axis 1

Edit/Teach (Position)

The cursor will move by the arrow

key or

key.

Monitor Error list User Parameter User Adjustment TP Operation Mode

Select Mode -- > Return (You may also select the minus key)

2. Match the cursor to the position of

the position number column you

wish to move first.

Edit/Teach Axis 1

Position Vel

The cursor will move by the arrow

key. For any unregistered data,

the display will show “*” sign.

Clr/All: No -- > Return Teach/Play: (Ten key Match)

Position -- > Return

[Srv ON Pos 0.00]

3. Press the Return key again. Edit/Teach Axis 1

Position Vel

Clr/All: No -- > Return Teach/Play: (Ten key Match)

Position -- > Return

[Srv ON Pos 0.00]

Input only the Return key without

inputting any numeric value.

Operation Screen Reference

4. Use key to move the cursor,

and then select * Continuous and

press the Return key.

Edit/Teach Axis 1

Position Vel

Use the key to move the

cursor inside the sub display

area.

Use the

key to move the

cursor of the main screen and

change the moving position

* Direct Teach (Servo OFF) * Jog * Increment * Home

number.

* Move * Continuous

[Srv ON Pos 0.00]

5. Select speed using the key,

and press the Return key.

Continuous operation starts. In

the example at the right, the

position numbers 1-3 are

continuously executed.

The cursor moves to the position

currently moving.

Edit/Teach Axis 1

Position Vel

Continuous Speed 10% 50% 100%

Return --> Continuous [Srv ON Pos 0.00]

Speed is divided into 3 levels and

can be selected using the

key.

- Continuous operation stop:

Stop after moving to the

position.

- Continuous operation stop:

Immediately stop on the spot

(Note) When PCON, ACON,

SCON, or ERC2 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).

6. When stopping continuous

operation, press the key switch

Edit/Teach Axis 1

Position Vel

If you continue pressing the

key, the screen will

change to BEGIN/END.

Operation stops after movement

to the position currently moving.

While moving, press the

key to stop immediately.

(When performing continuous

operation again, press the Return

key.)

Continuous Speed 10% 50% 100%

Return --> Continuous [Srv ON Pos 0.00]

Operation Screen Reference

7. Press the key twice. Edit/Teach Axis 1

Position Vel

The screen will return to the

Edit/Teaching main screen.

Clr/All: No -- > Return Teach/Play: (Ten key Match)

Position -- > Return

[Srv ON Pos 0.00]

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.

However, in the case of continuous move, the actuator will move to the next position after position

complete output turns ON.

8-5-7 Servo ON/OFF

Servo ON/OFF can be performed.

Caution: Operating instructions are described on the screens of PCON, ACON, SCON, and ERC2.

Operation Screen Reference

1. Select * Edit/Teach and press the

Return key..

2. Match the cursor to the position.

The number can be anywhere.

Select Mode Axis 1

Edit/Teach (Position)

Monitor Error list User Parameter User Adjustment TP Operation Mode

Select Mode -- > Return (You may also select the minus key)

Edit/Teach Axis 1

Position Vel

The cursor will move by the arrow

key or

key.

Data unregistered position data

will display “*” sign.

Clr/All: No -- > Return Teach/Play: (Ten key Match)

Position -- > Return

[Srv OFF Pos 0.00]

3. Press the Return key. Edit/Teach Axis 1

Position Vel

Clr/All: No -- > Return Teach/Play: (Ten key Match)

Position -- > Return

[Srv OFF Pos 0.00]

Input only the Return key without

inputting any numeric value.

Operation Screen Reference

4. Use the key to move the

cursor to “Srv.”

Edit/Teach Axis 1

Position Vel

Use the key to move the

cursor inside the sub display

area.

* Direct Teach (Servo OFF) * Jog * Increment * Home * Move * Continuous

[Srv OFF Pos 0.00]

5. Press the Return key. Edit/Teach Axis 1

Position Vel

* Direct Teach (Servo OFF) * Jog * Increment * Home * Move * Continuous

[Srv ON Pos 0.00]

6. Press the key to change

the mode to the ten key input

Edit/Teach Axis 1

Position Vel

mode.

Every time the Return key is

pressed, the servo will turn ON

and OFF.

* Direct Teach (Servo OFF) * Jog * Increment * Home * Move * Continuous

[Srv ON Pos 0.00]

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,” servo ON/OFF, homing, jogging, or increment movement can be performed.

Select “* Jog” on the Select Mode screen and press the Return key.

(Use the

key or key to move the cursor.)

The Jog screen will be displayed.

To select, Servo, Home, Jog, and Increment, use the

key or key to move the cursor.

(1) Current position

Servo

(2) Servo ON/OFF

(3) Home

(4) Jog

(5) Increment

(1) Current position: Indicates the current position. If you press the [X] key, the display will change

to the pulse display.

(2) Servo: If you press the Return key, the serve ON/OFF status will be reversed.

(3) Home: If you press the Return key, home return operation will be executed.

(4) Jog: Can perform jogging. Select Jog and press the Return key.

The cursor will move to Vel 1. Select Vel with the [X] key.

1: 1 mm/sec, 2: 10 mm/sec, 3: 30 mm/sec, 4: 50 mm/sec, 5: 100 mm/sec

However, only the maximum speed will be gained if the maximum speed is

slower than the specified speed.

If you press the arrow key (

), the cursor will move.

If you press the key, the cursor will move in the positive direction of the

display coordinates. If you press the

key, the cursor will move in the

negative direction of the display coordinates.

(5) Increment: Can perform increment movement. Select Increment and press the Return key.

The cursor will move to the distance of 0.03 mm. Select Dist (0.03 mm, 0.1 m,

0.5 mm). If you press the arrow key (

), the cursor will move.

If you press the key, the cursor will move in the positive direction of the

display coordinates. If you press the

key, the cursor will move in the

negative direction of the display coordinates.

If you continue pressing the arrow key (

) for 2 sec. or more, jog movement

can be performed.

The speed will increase every one sec. from 1 to 10, 30, 50, and 100 mm/sec.

However, only the maximum speed will be gained if the maximum speed is

slower than the specified speed.

8-6 Monitor

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

communication line.

Select * Monitor on the Select Mode screen and

press the Return key.

(Use the

(Note) In the case of the PCON-PL/PO,

key or key to move the cursor.)

ACON-PL/PO, or SCON controller (pulse

train mode), “Edit/Teach (Position)” will be

displayed as “Jog.”

The left figure shows an example of the PCON-C

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

key, the axis to monitor can

be changed.

To end monitoring, press the

key.

* Since only 12 ports of input and output can be

(1) (2) (3) (4) (5) (6)

(7)

displayed on one screen, change the page using

the

key in the case of a model with 13 ports o

more.

If you press the

key, the screen will change.

* The display of special input port varies depending

on the axis to connect.

If you press the

key, the axis to monitor can

be changed.

To end monitoring, press the

key.

(1) Displays the servo ON/OFF status of the axis.

(2) Displays the error number when an error occurs.

(3) 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. (Refer to the following page.)

(4) Displays the speed of the moving axis in [mm/sec].

In the case of the pulse train model, if you press the

key, the display will change to the PPS display.

(5) Displays the percent rated current in [%].

If you press the

key, the Current value will be displayed. In the case of PCON, ACON, SCON, or ERC2

controller, if you press the key again, the display will return to the Current Rate display. (Refer to the

following page.)

(6) Displays the special input ports such as HMCK (home check sensor).

(7) Displays the model and version of the connecting controller.

Pulse Position Display

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

16.5%

Current Value (mA) Display

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.

Teaching Pendant Error List

Select “* Error List” on the Select Mode screen and

press the Return key.

(Use the

(Note) In the case of the PCON-PL/PO,

n error occurring after the connection (PORT ON)

of the Teaching Pendant will be displayed.

The figure at the left shows an example of the RCP2

controller.

Errors which occurred in the past can be displayed

using the arrow key.

If you press any of the ten-key “0” to “8” from this

screen, an error which occurred after a controller’s

power-on will be displayed. (Controller error list)

The number of Teaching Pendant error lists is 30 (0 -

29).

key or key to move the cursor.)

ACON-PL/PO, or SCON controller (pulse

train mode), “Edit/Teach (Position)” will be

displayed as “Jog.”

Controller Error List

If you press any of the ten key “0” to “8,” an erro

Bank 31 error (Point) Err No 0B1 ----

which occurred after a controller’s power-on will be

displayed. For the numbers of 10 or larger, press

and any of the ten key “0” to “5.”

Note: The function of displaying errors after a

7004

controller’s power-on is supported by the Teaching

Pendant FLASH Ver. 1.61 or later.

In the case of PCON, ACON, SCON, or ERC2, the

alarm list contents will be maintained even after the

Alarm detail code

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

power is turned OFF.

The previous eight alarm-level errors including the

last (latest) error and one last-detected error of the

warning level will be displayed.

The relationship between the ten key number and

the displayed error is as shown below. The erro

display can also be changed by the arrow key.

Display of PCON, ACON, SCON and ERC2 Display of RCP, RCS, E-Con, RCP2 and ERC

Ten key Ten key

Alarm-level error detected last

Alarm-level error detected 1-time before

Alarm-level error detected 2-times before

Alarm-level error detected 3-times before

Alarm-level error detected 4-times before

Alarm-level error detected 5-times before

Alarm-level error detected 6-times before

Alarm-level error detected 7-times before

Alarm-level error detected 8-times before

Alarm-level error detected 9-times before

Alarm-level error detected 10-times before

Alarm-level error detected 11-times before

Alarm-level error detected 12-times before

Alarm-level error detected 13-times before

Alarm-level error detected 14-times before

Alarm-level error detected 15-times before

Alarm-level error detected last

Alarm-level error detected 1-time before

Alarm-level error detected 2-times before

Alarm-level error detected 3-times before

Alarm-level error detected 4-times before

Alarm-level error detected 5-times before

Alarm-level error detected 6-times before

Alarm-level error detected 7-times before

Warning-level error detected last

If you press the

key, the screen will return to the Teaching Pendant error list screen.

8-8 User Parameters

Parameters are displayed and edited.

Select “* User Parameter” on the Select Mode

screen and press the Return key.

(Use the

(Note) In the case of the PCON-PL/PO,

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.

There are 6 screens for user parameters.

Each screen can be changed using the

When changing a parameter, move the cursor to the parameter value to be changed. Input a numeric

value with the ten-key pad and press the Return key.

(To move the cursor, use the

Restore the controller power after making parameter changes.

In the case of any model which supports the software reset (restart) function (PCON, ACON, SCON, ERC,

RCP2, ERC2), the screen can be moved to the Soft Reset screen by pressing the

(When software has been reset, it is not required to restore the power.)

Note: The changed parameter will become valid by restoring the power or resetting software.

key.)

key.

key or key to move the cursor.)

ACON-PL/PO, or SCON controller (pulse

train mode), “Edit/Teach (Position)” will be

displayed as “Jog.”

key.

Examples of PCON-CY Controller

◄ ►

When resetting software, Select “* Yes” and press

the Return key.

(When stopping software reset, select “* No” and

press the Return key. The screen returns to the

Select Mode screen.)

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

servo OFF confirmation screen.

When restarting the controller, select “* Yes” and

press the Return key. Since the servo is

automatically turned OFF, it is not required to turn

SON input OFF.

(When stopping software reset, select “* No” and

press the Return key.)

The screen will return to the Select Mode screen

regardless of whether you select “Yes” or “No.”

- When soft limit is modified at the customer site, please set a value which extends 0.3mm outside of the

effective area.

Example: When setting the effective area between 0mm~80mm

Soft limit + side: 80.3

Soft limit - side: -0.3

Soft Limit set in controller

pprox.

0.3mm

pprox.

0.1mm Jog Increment allowable range after homing

Effective area

pprox.

0.1mm

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.

pprox.

0.3mm

8-9 User Adjustment

8-9-1 Pause, servo ON input enable and disable setting, homing operation,

axis number setting

Sets enable or disable of pause, servo on input.

Execute homing.

Set the axis number of the controller (PCON, ACON, ERC2, RCP-RSI, RCP-RMI, ERC, etc.).

Select “* User Adjustment” on the Select Mode

screen and press the Return key.

(Use the

(Note) In the case of the PCON-PL/PO,

key or key to move the cursor.)

ACON-PL/PO, or SCON controller (pulse

train mode), “Edit/Teach (Position)” will be

displayed as “Jog.”

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

Return key, homing will be performed.

- Temporary stop effect: 90

Input 90 into Adjust No. and press the Return

key.

After that, turn off the controller power.

- Temporary stop non-effect: 91

Input 91 into Adjust no. and press the Return key.

After that, turn off the controller power.

- Servo ON input effect: 92

Input 92 into Adjust no. and press the Return key.

After that, turn off the controller power.

- Servo ON input non-effect: 93

Input 93 into Adjust No. and press the Return

key.

After that, turn off the controller power.

- Axis number setting

Move the cursor to Adjust No. with the

Input the axis number and press the Return key.

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

After that, turn off the controller power.

* 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.

key.

Caution: Caution: Do not input any numeric value other than 1, 2, 3, 4, 90, 91, 92, 93, 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.

8-9-2 Software Reset

Software reset (controller restart) will be performed.

* The software reset function is supported by Ver. 2.00 or later.

The compatible models are PCON, ACON, SCON, RCP2, ERC, and ERC2.

Select “* User Adjustment” on the Select Mode

screen and press the Return key.

(Use the

Input 4 into Adjust and press the Return key.

key or key to move the cursor.)

When resetting software, select “* Yes” and press

the Return key.

(When stopping software reset, select “* No” and

press the Return key. The screen will return to the

Select Mode screen.)

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

servo OFF confirmation screen.

When restarting the controller, select “* Yes” and

press the Return key. Since the servo is

automatically turned OFF, it is not required to turn

SON input OFF.

(When stopping software reset, select “* No” and

press the Return key.)

The screen will return to the Select Mode screen

regardless of whether you select “* Yes” or “* No.”

8-9-3 Error List Clear

All the contents of the error lists will be cleared.

* The error list clear function is supported by Ver. 2.00 or later.

The compatible models are PCON, ACON, SCON, and ERC2.

Select “* User Adjustment” on the Select Mode

screen and press the Return key.

(Use the

Input 3 into Adjust and press the Return key.

key or key to move the cursor.)

When clearing the error list, select “* Yes” and

press the Return key.

(When stopping error list clear, select “* No” and

press the Return key.)

The screen will return to the Select Mode screen

regardless of whether you select “* Yes” or “* No.”

8-10 TP Operation Mode

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

The compatible models are PCON, ACON, SCON, and ERC2.

Select “* TP Operation Mode” on the Select Mode

screen and press the Return key.

(Use the

(Note) In the case of PCON-PL/PO,

Select the menu using the arrow keys (

minus key and press the Return key. The screen

will move to the Select Controller screen.

key or key to move the cursor.)

ACON-PL/PO, or SCON controller (pulse

train mode), “Edit/Teach (Position)” will be

displayed as “Jog.”

) o

Fig. 8.3 Operation Mode Selection Screen

Select the operation mode from the following 4 menu items:

- Teach 1 (PIO Prh・SftyVel Efct)

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 the

position data.

- Teach 2 (PIO Prh・SftyVel Non)

PIO Prh: Enables writing of position data, parameters, etc., in the controllers and commands of the

actuator movement system.

SftyVel Non: Enables movement at the speed described in the position data.

- Monitor 1 (PIO Prm・SftyVel Ect)

PIO Prm: Enables monitoring only. Writing of position data, parameters, etc., in the controller and

commands of the actuator movement system are disabled.

SftyVel Ect: Keeps the maximum speed at the safety speed set for the parameter regardless of the

command from PLC.

- Monitor 2 (PIO Prm・SftyVel Non)

PIO Prm: 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 according to the command from PLC.

8-11 End

Before removing the Teaching Pendant from the RC controller, be sure to execute End.

Operation:

1. Press the

2. Moving the cursor to * Complete, press down the Return key.

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

remove the Teaching Pendant connector.

You will be able to reopen the connection from the initial screen by selecting "* Reconnect" and

pressing down the Return key.

key for more than 2.5 seconds.

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, ACON, or ERC2 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.”)

In the case of ERC2 or 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

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

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.

key.

key, the error will be reset.

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

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

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

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, SCON, and ERC2.

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

be changed to shipment parameters.

Select “* User Adjustment” and press the Return

key.

(Use the

key or key to move the cursor.)

IAI RCM-TD, RCM-T Operating Manual

Specifications and Main Features

Frequently Asked Questions

User Manual