Robo Cylinder Controller
EMERGENCY
STOP
Teaching Pendant
RCA-E
Operating Manual
EMERGENCY
STOP
Intelligent Actuator, Inc.
This publication was written to assist you in better understanding this part of your IA system. If you require further assistance, please
contact IA Technical Support. For Central and East Coast Time Zones, please call our Itasca, IL office at 1-800-944-0333 or FAX630467-9912. For Mountain and Pacific Time Zones, please call our Torrance, CA office at 1-800-736-1712 or FAX 310-891-0815; Monday thru
Friday from 8:30 AM to 5:00PM.
Intelligent Actuator, Inc.
U.S. Headquarters
2690 W. 237th Street
Torrance, CA 90505
800-736-1712 / 310-891-0815 Fax
Intelligent Actuator, Inc.
Midwest Regional Office
1261 Hamilton Parkway
Itasca, IL 60143
800-944-0333 / 630-467-9912 FAX
www .intelligentactuator.com
© December 2000 Intelligent Actuator, Inc. All rights reserved.
No portion of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form or by any means, electronic,
mechnical, recording, or otherwise, without the prior written permission of Intelligent Actuator, Inc.
Disclaimer
The information and technical data contained herein are subject to change without notice. Intelligent Actuator, Inc.. assumes no responsibility for
any errors or omissions regarding the accuracy of the information contained in this publication.
Table of Contents
1. Foreword............................................................................................................................................................................ 1
2. Before You Begin .............................................................................................................................................................. 2
3. Safety Precautions ............................................................................................................................................................ 3
4. Warranty and Scope of W arranty ..................................................................................................................................... 4
5. Application Environment................................................................................................................................................... 5
6. Teaching Pendant Functions and Specifications .......................................................................................................... 6~9
6-1 Specifications ............................................................................................................................................................. 6
6- 2 External Dimensions ................................................................................................................................................... 7
6-3 Parts............................................................................................................................................................................ 8
7. Connection With the Controller..................................................................................................................................... 10
7-1 Connection With the Teaching Pendant....................................................................................................................10
7-2 How to Disengage the Teaching Pendant .................................................................................................................10
8. Operation .................................................................................................................................................................. 11~44
8- 1 Initial Screen During Power-UP .................................................................................................................................12
8-2 Controller Selection (when using multiple units).......................................................................................................13
8-3 Operation Mode Selection.........................................................................................................................................14
8-4 Edit/Teaching ...................................................................................................................................................... 15~28
8-4-1 Edit Screen ........................................................................................................................................................15
8-4-2 Position Data T able Content .............................................................................................................................17
8-4-3 The Relationship Between the Push Power During Stop and Current Restriction V alue ..................................19
8-4-4 MDI Numeric Input ...........................................................................................................................................21
8-4-5 Add • Delete......................................................................................................................................................24
8-5 Teach/Play ........................................................................................................................................................... 29~38
8-5-1 T each/Play Screen.............................................................................................................................................29
8-5-2 T each ................................................................................................................................................................30
8-5-3 Move ................................................................................................................................................................35
8-6 Data Modification......................................................................................................................................................38
8-7 Monitor .....................................................................................................................................................................39
8- 8 Error List ....................................................................................................................................................................40
8- 9 User Parameter...........................................................................................................................................................41
8-10 User Adjustment .......................................................................................................................................................43
8-11 Exit .............................................................................................................................................................................44
9. Message Area ...........................................................................................................................................................45~49
9- 1 Warning Label Error...................................................................................................................................................45
9 -2 T eaching Pendant Message Label Error ....................................................................................................................45
9- 3 Controller Error ..........................................................................................................................................................46
9- 4 Error Code Glance Sheet ............................................................................................................................................46
1. Foreword
Thank you very much for purchasing the Easy Type Teaching Pendant (RCA-E) for the Robo Cylinder
Controller. W ithout knowing beforehand how to correctly use or operate the T eaching Pendant, not only will the
user be unable to take full advantage of all the functions built into this product but the user might also inadvertently
cause damage to the Controller or shorten its life. Please carefully read this manual as well as other manuals pertaining to the product to acquire an understanding of the proper method of handling and operating the controller . Keep
this manual handy so that you can refer to the appropriate sections as the need arises.
* All precautions have been taken to ensure the accuracy of the contents of this manual. However, if you
become aware of any inaccuracies or discrepancies, please contact your IAI sales representative or
technical service department.
P. 1
2. Before You Begin
! A word of Caution
(1) Please read this manual carefully to operate the controller properly.
(2) You are not allowed to reproduce this manual or any portion thereof without permission.
(3) We cannot accept any responsibility for possible damage resulting from the use of this manual.
(4) We reserve the right to change the information contained in this manual without prior notice.
! Emergency Procedures
If hazardous conditions arise while using the controller, immediately turn OFF all power switches for the controller and any
devices connected to it, or pull all the power plugs from the electric outlet. (“Hazardous condition” refers to excessive heat,
smoke or flames coming from the controller or any conditions which might lead to fire or cause damage to the controller.)
P. 2
3. Safety Precautions
Please read the following carefully in order to gain an understanding of safety precautions.
This product was developed as components for driving automated equipment and is not designed to produce greater torquing or
speed than is necessary. However, strictly observe the following items to prevent any accidents from occurring:
1. As a rule, any handling or operating methods not described in this manual should be viewed as things that should not be
attempted. Please contact the company if any portion of the contents of this manual are unclear.
2. Use only the products specified for wiring between the actuator and controller .
3 . Stand clear of the operating range of the machine when it is in motion or is ready to operate. Surround the system with safety
partitions if there is a possibility that people can enter the area where the machine is being used.
4 . When assembling, adjusting, or performing maintenance on the machine, always disengage the power supply to the controller.
During work, display a sign stating work in progress where it is readily visible. Also, keep the power cable close to the
operator so that another person cannot inadvertently switch on the power.
5. When more than one person is working on the system, agree on signals beforehand to ensure everyone's safety before
beginning work. In particular, when doing work involving axis movement, always call out for everyone's safety regardless of
whether power is ON or OFF , or the axis is to be mechanically driven or manually moved.
6 . When the user needs to lengthen the cables, check the wiring carefully to make sure it is correct before turning the power ON
since miswiring can lead to misoperation.
7. Do not change the controller parameters without first consulting with an Intelligent Actuator representative. Any
alternation to the parameters not suggested by IA technical staff will void the user warranty and lead to damage of equipment.
P. 3
4. Warranty and Scope of Warranty
The Easy T ype Teaching Pendant undergoes stringent testing before it is shipped from our factory. IAI provides the
following warranty.
(1) W arranty Period
The warranty period is 12 months from the date the unit is shipped to the customer .
(2) Scope of Warranty
If within the period specified above, a breakdown occurs while operating the controller under normal conditions
and is clearly the responsibility of the manufacturer, IAI will repair the unit at no cost. However, the following
items are not covered by this warranty .
• Faded paint or other changes that occur naturally over time.
• Consumable components that wear out with use (battery , etc.).
• Unit seems to be noisy or similar impressions that do not affect machinery performance.
• Damage resulting from improper handling or use.
• Damage resulting from user error or failure to perform proper maintenance.
• Any alterations not authorized by IAI or its representatives.
• Damage caused by fire and other natural disasters or accidents.
The warranty pertains to the purchased product itself and does not cover any loss that might arise from a breakdown of the product. Any repairs will be done at our factory.
(3) Service
The purchase price of the product does not include programming or expenses for sending technicians to the
customer's site. Even if the product is still under the warranty period, separate charges will be assessed for the
following services.
• Assistance with unit installation or trial operation.
• Inspection and maintenance.
• Technical training on controller operation, wiring or programming.
• Any other services or work for which IAI normally assesses separate charges.
P. 4
5. Application Environment
• In order to avoid breakdown, please do not apply any type of machinery impact onto 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 the IAI RC Controller,
and should not be used to connect with other devices.
Caution regarding controller connection:
Please turn the controller front side port switch OFF before connecting
to the controller.
Caution regarding controller connection:
Please turn the controller front side port switch OFF before connecting to the controller.
P. 5
6. Teaching Pendant Functions and Specifications
This Teaching Pendant was created exclusively for the RC Controller.
Through the communication between the controller, the RC Teaching Pendant is designed to function as the Display Operation
Unit to edit or display the data (common data, move point data, etc.,) that is stored inside the controller, as well as to execute
teaching without using the PC Interface Software.
LCD
• • • • • Horizontal 16 characters Vertical 2 lines
6-1 Specifications
Item Specifications
Ambient Temperature & Humidity
Operating Environment Free of corrosive gas, especially, no excessive dust
Weight 400g
Cable Length 5m
Temperature: 0°~40° C Humidity: 85% RH or less
* RH relative humidity
P. 6
6. Teaching Pendant Functions and Specifications
6-2 External Dimensions
113 26 615
145
EMERGENCY
STOP
43
23.5
21
72
P. 7
6. Teaching Pendant Functions and Specifications
EMERGENCY
STOP
6-3 Parts
(4) BEGIN/END Key
(1) LCD Display
(2) EMERGENCY STOP Key
(5) Arrow Keys
(3) ESC Key
(7)Numeric Key
0
N
~ 9
(6) Minus Key
(7 )Return Key
P. 8
6. Teaching Pendant Functions and Specifications
(1) LCD Display
This is a liquid crystal display with a maximum of horizontal: 21 characters per column, and vertical: 16 columns per row.
(2) 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.)
(3) ESC 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 ESC Key.
(4) BEGIN/END Key
• By pressing this key for more than 2.5 seconds, the screen will change into the “BEGIN/END” screen and you will be able to reconnect the
axis and execute Teaching Pendant configuration.
• If entering data via key pad, you may cancel midway using this key.
• Y ou 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.
(5) 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 consecutively. When
the content display is composed of more than two screens (position table and monitor display), these keys scroll to the next screen.
(6) (Minus) Key
• 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 0 or 1/. in the beginning of the number,
withinthe proper area, the key will automatically recognize it as 0. This key is used during cursor move within the Mode Select
Screen and Sub-Display Screen (e.g, continuous, step, etc.).
0
(7) ~ 9 Key
N
• This key is used for numeric input.
(8) (Return) Key
• This is used for data input and operation confirm.
P. 9
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 OFF the controller Port Switch first before connecting.
RDY
M.BK
Port Switch
RUN
ALM
PORT IN Connector
(2 ) After connecting, turn the controller PORT Switch ON .
7-2 How to Disengage the Teaching Pendant
Hold down the BEGIN/END Key which is located in the upper left corner of the key pad. Select “Complete” to
finish. Afterwards, turn the controller front SW side to OFF, and remove the Teaching Pendant connector.
SIO
PORT
EMG
24V
BK
N
FG
ON
OFF
PORT IN
RLS
NOM
ENC
PIO
SW
Operation:
1. Hold down the BEGIN/END Key for more than 2.5 seconds.
2. Use the Arrow Key to select “Complete” Screen, and then press the Return Key.
3. Turn the RC Controller PORT SW OFF.
4. Remove the teaching pendant connector.
P. 10
8. Operation
The Teaching Pendant operation is composed of the following structure. You will need to press the ESC Key each time you wish
to return to the previous screen.
Return
Return
Power-ON
Confirming connection
Return
Reconnect
ESC
Axis Select
BEGIN
END
BEGIN
END
Operation
Start/End
End
ESC
Mode Select
Return
ESC
Edit
Teach / Play
Monitor
ESC
(1) MDI
(2) Add
(3) Delete
(4) Clear
(5) All Clear
(1) Direct Teach
(2) Jog
(3) Increment
(4) Homing
(5) Transfer
(6) Consecutive Move
(1) Position
(2) Error No.
(3) Servo
(4) in START
(5) in Position No.
(6) in _ STP
(7) out Position No.
(8) out PEND
(9) out HEND
(10) out Zone
(11) out _ ALM
ESC
(1) Position
(2) Speed
(3) ACC • DEC
(4) Push Power
(5) Positioning
(6) Rated speed
only MAX
(7) ABS / INC
Error List
User
Parameter
User
Adjustment
(1) Error No.
(2) Message
(3) Axis No.
(4) __Minutes ago occurrence
(1) + Zone
(2) - Zone
(3) + Limit
(4) - Limit
(5) Home
(6) Reset speed
(7) Reset ACC • DEC
(8) Reset range
(9) Acceleration MAX
(10) Push stop determined
(11) Servo gain
(12) Current stop
(13) Home current
(1) Adjustment No.
(2) Distribution No.
Note: Display content will vary according to the connecting controller type and version as well as the version of the Easy Type Teaching Box.
P. 11
8. Operation
8-1 Initial Screen During Power - UP
Once power is connected to the RC Controller and the controller PORT Switch is ON, power will be
supplied to the teaching pendant and operation will begin.
Once the power is installed, the LCD Display screen will display the latest teaching pendant software version
number.
Initial Screen during power installation
Confirming connection
IAI RC ST V. 1. 00
During this time, RS485 serial connections between controllers will occur.
Once the controller connection completes, the screen will automatically move onto the next
selection screen.
P. 12
8. Operation
8-2 Controller Selection (when using multiple units)
In case of multiple units connected serially via the RS485 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). The content explained here will be based on operation
of the selected axis (controller). In addition, the controller can connect up to 16 units.
Axis Select
* Axis No. 00
Axis Select
* Axis No. 0 1
Axis No. 1
Axis Select
* Axis No. 02
•
•
•
Using the Keys, select the data inputting axis (controller),
and determine with the Return Key. Only the connecting axis will
be displayed.
From here on, the content explained will be based on operation against the axis (controller) selected here.
Caution:
If power is supplied with the PORT switch ON and power is present on the teaching pendant,
only powered controllers will be detected.
The content explained hereupon will be based on operation against selected axis (controller).
P. 13
8. Operation
8-3 Operation Mode Selection
Mode Select
Teach/Play
Monitor
Error List
User Parameter
User Adjustment
Mode Select A. 00
* Edit
Edit
Mode Select A. 00
* Teach/Play
Mode Select A. 00
* Monitor
Mode Select A. 00
* Error List
Mode Select A. 00
* User Parameter
Operation Mode Selection Screen
For the modes, select one of the 6 options as it appears on the
above screen. T o select, move the cursor to the mode desired
and confirm using the Return Key.
Category of Modes
1. * Edit Edit and numeric input function for position table
2. * Teach/Play Move and Teach for actuator.
3. * Monitor RC Controller status display
4. * Error list Alarm content detailed display
5. * User Parameter Setting of axis zone signal output range and axis
6. * User Adjustment Executing homing and axis number setting
of integrated RC controller series
Mode Select A. 00
* User Adjustment
Display screen
P. 14
8. Operation
8-4 Edit/Teaching
8-4-1 Edit Screen
When “*Edit • Teach (Position) mode is selected, the content of the position data table saved in the RC controller wiill be
displayed.
Mode Select
Edit Mdi
Teach/Play
Monitor
Error List
User Parameter
User Adjustment
Mode Select A. 00
* MDI
Add
Delete
Clear
All Clear
Mode Select A. 00
* Add
Mode Select A. 00
* Delete
Mode Select A. 00
* Clear
Mode Select A. 00
* All Clear
P. 15
8. Operation
The position table main display area is divided into 4 screens and is displayed as below.
You can change the screens by using the arrow keys ( ).
* MDINumerically inputs the position data directly from the ten key (input example: Page 21 in this manual).
* Add Adds the position data into the assigned position data number (input example: Page 25 in this manual).
* Delete Deletes position data (input example: Page 26 in this manual).
* Clear Resets the position data (input example: Page 27 in this manual).
* All Clear Resets all of the 16 position data.
The position data table will display by selecting and determining MDI
As the table below shows, in the position table, there are 7 setting contents (position, speed, ACC • DEC, Push %,
Range, ACC MAX and ABS/INC) per each position data:
No. Position Speed ACC • DEC Push % Range ACC MAX ABS/INC
0**mm/s*G*%*mm*0
1**mm/s*G*%*mm*0
2**mm/s*G*%*mm*0
3**mm/s*G*%*mm*0
4**mm/s*G*%*mm*0
5**mm/s*G*%*mm*0
6**mm/s*G*%*mm*0
7**mm/s*G*%*mm*0
8**mm/s*G*%*mm*0
9**mm/s*G*%*mm*0
10 * *mm/s *G *% *mm * 0
11 * *mm/s *G *% *mm * 0
12 * *mm/s *G *% *mm * 0
13 * *mm/s *G *% *mm * 0
14 * *mm/s *G *% *mm * 0
15 * *mm/s *G *% *mm * 0
Position Data Table
Use either the Return Key or Key to execute content of the transfer. Use either of Keys for positon number
changes. In the display screen, only the single content of one position number will be displayed.
Numbers following “No.” indicate the position number.
M D I N o. 0 0 A. 0 0
P o s i t i o n A *
The numbers following “A.” indicate the axis number.
Indicates the following:
A : ABS (Absolute Coordinate Assign)
I : INC (Absolute Coordinate Assign)
P. 16
8. Operation
8-4-2 Position Data Table Content
The columns for the position table are Position, Speed, Acc/Dec, Push %, Range, ACC MAX and ABS/INC displayed in
7 screens.
1. Position • The desired move location from home in millimeters.
Absolute Coordinate Assign: Moves the actuator to the desired location in reference to the home location.
Inputting negative values is not possible.
Relative Coordinate Assign: Moves the actuator to the desired position in reference to the current position.
Inputting negatives values is possible. In this case (during negative direction
of the display coordinate), first select Relative Coordinate Assign using
(7) ABS/INC.
Note: By pressing the Key once from the Position Input Screen will
move the screen to ABS/INC Input Screen.
Caution: There are cases when the input value may be rounded off to the least common denominator multiple of the controller.
2. Speed • The speed when moving the actuator (mm/sec).
Initial value will depend on the actuator type.
3. Acc/Dec • The acceleration/deceleration setting for the move
to the corresponding position (in G’s).
4. Push% • Selects the positioning mode or push mode.
The initial value will vary according to the actuator type.
0: Positioning Mode (normal movement)
Besides 0: Push Mode (%)
• In case of push mode, data number is the servo motor current control value during push.
Uses a value that matches the actuator that match the actuator with a maximum value of 70%.
Caution:
For your information, the relationship of “current control value” and “push power during stop”
is listed on the next Section 8-4-3 in this manual.
P. 17
8. Operation
5. Range • As for the range, depending on the setting in the push as
either 0 or other than 0, this function will vary.
(A) Push = 0 (Positioning Mode)
• The positioning mode uses range value as a location to turn ON the
position complete output prior to reaching the actual data.
• The default range value is set as 0.1mm (see diagram A).
(B) Push ≠ besides 0 (Push Mode)
• The push mode uses the range value as the distance of the push.
• When the push direction is towards home, a “minus”sign should be
placed in the range column.
Speed
6. MAX Acceleration • Selects either the assigned acceleration or the maximum acceleration. Inputs
(4) When push = 0
(1) Distance up to the position
Transfer distance
Diagram A
Turns ON
are either 1 or 0. The default value is set as 0.
0: Assigned acceleration
The value placed in (3) 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 (3).
Speed
(1) Distance up to the position
(5) Range V alue
(4) When push ≠ 0
Transfer distance
Diagram B
(5) Range Value
Start PUSH
Ending
position
(6) When acceleration only MAX = 0 (6) When acceleration only MAX = 1
(3) The value set in acceleration/deceleration
Speed
7. ABS/INC • Select either the absolute or increment positioning.
0: Absolute positioning (ABS)
1: Incremental positioning (INC)
The default value is absoulte positioning (ABS).
The maximum acceleration
matches the load
Speed
Transfer
distance
P. 18
acceleration/deceleration
The value set in
Transfer
distance
8. Operation
8-4-3 The Relationship Between the Push Power During Stop and Current Restriction Value
When executing the push mode, place the current restriction value as a “% of max” column into the “push”
column of the position data table. Determine the current restriction (in %) using the tables below . The diagram
below shows the relationship between the current restriction value and push power for each actuator type.
20.0
15.0
10.0
S5 Type
Low
Speed
Type
Medium
Speed
Type
25.0
20.0
15.0
S6 Type
Low
Speed
Type
Medium
Speed
Type
10.0
5.0
Push power (kgf)
0.0
10%
30%
20%
Current restriction value
40%
High
Speed
Type
Push power (kgf)
5.0
0.0
20%
10%
Current restriction value
30% 40% 50%
High
Speed
Type
Caution:
Please be aware that the push power is a standard, and is not guaranteed. When the push power is too small,
push malfunction may occur due to driven resistance, so please be careful. The maximum amount of the current
restriction value is listed in the table below:
Lead
Middle Speed Type
High Speed Type
Type
Low Speed Type
S5
40% or less
40% or less
40% or less
Lead
Middle Speed Type
High Speed Type
P. 19
Type
Low Speed Type
S6
50% or less
50% or less
50% or less
8. Operation
SM Type & SMR Type
60.0
55.0
50.0
45.0
40.0
35.0
30.0
25.0
20.0
Push power (kgf)
15.0
10.0
5.0
0.0
10%
20% 30% 40%
RSA Type
30.0
25.0
20.0
50%
Current Restriction value
Low
Speed
Type
60%
70%
Low
Speed
Type
Medium
Speed
Type
High
Speed
Type
Medium
Speed
Type
35.0
30.0
25.0
20.0
15.0
SS Type & SSR Type
Push power (kgf)
10.0
5.0
0.0
20%
10%
80.0
70.0
60.0
30% 40% 50%
Current Restriction value
RMA Type
Low
Speed
Type
Medium
Speed
Type
High
Speed
Type
60% 70%
Low
Speed
Type
Lead
Middle Speed Type
Type
Low Speed Type
High Speed Type
15.0
Push power (kgf)
10.0
5.0
High
Speed
Type
50.0
40.0
Push power (kgf)
30.0
Medium
Speed
Type
0.0
10%
20% 30% 40%
50% 60% 70%
Current Restriction value
20.0
10.0
0.0
10%
20%
40% 50% 60%
30%
Current Restriction value
High
Speed
Type
70%
Caution:
Please be aware that the push power during stop is standard, and is not guaranteed. When the push power is
too small, push malfunction may occur due to driven resistance, so please be careful. The maximum amount
of the current restriction value is listed in the tables below:
RMA • RMW
RMI (W) • RMGB
RMGS • RMGD
65% or less
70% or less
70% or less
SS • SSR
70% or less
70% or less
70% or less
Lead
Middle Speed Type
Type
Low Speed Type
High Speed Type
SM • SMR
70% or less
70% or less
70% or less
Type
Lead
Low Speed Type
Middle Speed Type
High Speed Type
RSA • RSW
RSI(W) • RSGB
RSGS • RSGD
45% or less
70% or less
70% or less
Type
Lead
Low Speed Type
Middle Speed Type
High Speed Type
P. 20
8. Operation
8-4-4 MDI Numeric Input
MDI is a method which numerically inputs the position data directly from the numeric keys.
In this section, we will explain the input procedure according to MDI (numeric input).
Po sition No. 0
Po sition No. 1
Po sition No. 2
Po sition No. 3
Data not assigned utilizes initial value. The example here is based on initial status during shipment (when data is all clear).
Y ou may input data from position data table similar to the table below.
No.
0
1
2
3
Input the data inside the thick line (see above table). By inputting the position data, the initial value will automatically input.
The default values (Speed, ACC • DEC and Range) will vary according to actuator machine type (in this example: RSA Low
speed type).
Position
0.00
50.00
80.00
10.00
Speed
125 mm/s
100 mm/s
100 mm/s
20 mm/s
Absolute coordinate position mode
Position 0mm
Absolute coordinate position mode
Position 50mm, Speed 100mm/s, ACC•DEC 0.1G
Range 0.2mm, ACC MAX 1
Absolute coordinate push mode
Position 80mm, Speed 100mm/s, ACC• DEC 0.1G
Push 40%, Range 5mm
Incremental coordinate position mode
Position 10mm, speed 20mm/s
ACC • DEC
0.20 G
0.10 G
0.10 G
0.20 G
Push %
0 %
0 %
40 %
0 %
Range
0.10 mm
0.20 mm
5.00 mm
0.10 mm
ACC MAX
ABS/INC
0
1
0
0
0
0
0
1
Mode Select A. 00
* Edit/Teach
Edit/Teach A. 00
* MDI
Input using position number 0.
MDI No. 00 A. 00
Position A *
MDI No. 00 A.00
Position A 0.__
Using the Key in the Mode Select Screen, select
Edit/T each and choose using the Return Key.
Using the Key in the Edit/Teach Screen, select MDI
and choose using the Return Key.
The screen will turn into the Input Screen for Position.
Using the Numeric Key, press 0 and the Return Key
P. 21
8. Operation
M D I N o. 0 0 A. 00
Speed 1 2 5 mm/s
Input using position number 1
M D I N o. 0 1 A. 00
Position A *
M D I N o. 0 1 A. 00
Position A 50
M D I N o. 0 1 A. 00
Speed 100 mm/s
M D I N o. 0 1 A. 00
ACC•DEC 0.
1 G
The screen will turn into the Input Screen for Speed.
The default value will be utilized as is. Since other data will
use the default value, input for position number 0 will end here.
Next, position number 1 input will be executed.
Press the Key to advance position number to 1.
Position number 1
The screen will turn into the Input Screen for Position. Use the
Numeric Key to input 50 and then, press the Return Key .
The screen will turn into the Input Screen for Speed. Use the
Numeric Key to input 100 and then, press the Return Key .
The screen will turn into the Input Screen for ACC • DEC.
Use the Numeric Key to input 0.1 and then, press the Return Key .
M D I N o. 0 1 A. 00
Push % 0 %
M D I N o. 0 1 A. 00
Range 0. 2mm
M D I N o. 0 1 A. 00
ACC MAX 1
M D I N o. 0 1 A. 00
ABS 0 INC 1 0
Input using position number 2
M D I N o. 0 2 A. 00
Position A *
The screen will turn into the Input Screen for Push %.
The initial value will be utilized as is, so press the Return Key.
The screen will turn into the Input Screen for Range.
Use the Numeric Key to input 0.2 and then, press the Return Key.
The screen will turn into the Input Screen for ACC MAX.
Use the Numeric Key to input 1 and then, press the Return Key .
With the above, input for position number 1 is completed.
Next, we will execute input for position number 2.
Press the Key to advance position number to 2.
Position number 2
P. 22
8. Operation
M D I N o. 0 2 A. 00
Position A 80
M D I N o. 0 2 A. 00
Speed 100 mm/s
M D I N o. 0 2 A. 00
ACC•DEC 0.
1 G
M D I N o. 0 2 A. 00
Push % 40 %
M D I N o. 0 2 A. 00
Range 5mm
M D I N o. 0 2 A. 00
ACC MAX 0
The screen will turn into the Input Screen for Position. Use
the Numeric Key to input 80 and then, press the Return Key .
The screen will turn into the Input Screen for Speed. Use the
Numeric Key to input 100 and then, press the Return Key.
The screen will turn into the Input Screen for ACC • DEC.
Use the Numeric Key to input 0.1 and then, press the Return
Key .
The screen will turn into the Input Screen for Push %.
Use the Numeric Key to input 40 and then, press the Return
Key .
The screen will turn into the Input Screen for Range.
Use the Numeric Key to input 5 and then, press the Return
Key .
With the above, input for position number 2 is completed.
Next, we will execute input for position number 3.
Input using position number 3
M D I N o. 0 3 A. 00
Position A
*
M D I N o. 0 3 A. 00
ABS 0 INC 1 1
M D I N o. 0 3 A. 00
Position I 10. 00
INC
(Relative coordinate assign)
M D I N o. 0 3 A. 00
Speed 2 0 mm/s
Press the Key to advance position number to 3.
The screen will turn into Input Screen for Position.
Position number 3
Press the Key to change screen into ABS/INC
Display Screen. Use the Numeric Key to input 1 and
then, press the Return Key.
The screen will turn into the Input Screen for Position.
Use the Numeric Key to input 10 and then, press the
Return Key .
The screen will turn into the input screen for speed.
Use the Numeric Key to input 20, and then press
the Return Key.
From the above, MDI input is completed.
P. 23
8. Operation
8-4-5 Add • Delete
In this section, we will give specific examples of how to add • delete and clear data in the position table.
1) Add: Adds the position data into the assigned position data number location.
2) Delete: Deletes assigned position data.
3) Clear: Resets the assigned position data.
4) All Clear: Resets all of 16 position data.
P. 24
8. Operation
1) Add:
Method: Enter position data between existing position data
Example: Insert an empty row into point number 2
No. Position Speed ACC/DEC Push % Range ACC MAX ABS/INC
0 0.00 125 mm/s 0.20G 0% 0.10 mm 0 0
1 50.00 100 mm/s 0.10G 0% 0.20 mm 1 0
2 80.00 100 mm/s 0.10G 40% 5.00 mm 0 0
3 10.00 20 mm/s 0.20G 0% 0.10 mm 0 1
No. Position Speed ACC/DEC Push % Range ACC MAX ABS/INC
0 0.00 125 mm/s 0.20G 0% 0.10 mm 0 0
1 50.00 100 mm/s 0.10G 0% 0.20 mm 1 0
2 * * mm/s * G * % * mm * 0
3 80.00 100 mm/s 0.10G 40% 5.00 mm 0 0
4 10.00 20 mm/s 0.20G 0% 0.10 mm 0 1
Mode Select A. 00
* Edit
Mode Select A. 00
* Add
Add? N o. 0 2 A. 00
In the Mode Select Screen, using the Keys, select
Edit and then, press the Return Key .
In the mode select screen, using the Keys, select
Add and then, press the Return Key.
Using the Keys, change the position number into 2.
80.00 Y 1 N 0
Add? N o. 0 2 A. 00
* Y 1 N
0
Pressing 1 on the Numeric Key will insert a blank point and
then, the screen will return to the Edit Screen.
Edit A. 00
* Add
Mode Select A. 00
* Edit
Press the ESC Key once to return the screen back to Mode Select
Screen.
P. 25
8. Operation
2) Delete:
Method: T o delete a point in the point table
Example: Delete the row of position data number 2.
No. Position Speed ACC/DEC Push % Range ACC MAX ABS/INC
0 0.00 125 mm/s 0.20G 0% 0.10 mm 0 0
1 50.00 100 mm/s 0.10G 0% 0.20 mm 1 0
2 * * mm/s * G * % * mm * 0
3 80.00 100 mm/s 0.10G 40% 5.00 mm 0 0
4 10.00 20 mm/s 0.20G 0% 0.10 mm 0 1
No. Position Speed ACC/DEC Push % Range ACC MAX ABS/INC
0 0.00 125 mm/s 0.20G 0% 0.10 mm 0 0
1 50.00 100 mm/s 0.10G 0% 0.20 mm 1 0
2 80.00 100 mm/s 0.10G 40% 5.00 mm 0 0
3 10.00 20 mm/s 0.20G 0% 0.10 mm 0 1
Mode Select A. 00
* Edit
Mode Select A. 00
* Delete
Delete? N o. 0 2 A. 00
* Y 1 N 0
In the Mode Select Screen, using the Keys, select
Edit and then, press the Return Key .
In the Edit Screen, using the Keys, select Delete
and then, press the Return Key.
Using the Keys, change the position number into 2.
Pressing 1 on the Numericn Key will delete position number 2
and then, the screen will return to the Edit Screen. To cancel,
press 0. In either case, the screen will return to the previous
screen.
Edit A. 00
* Delete
Mode Select A. 00
* Edit
Press the ESC Key once to return the screen back to Mode
SelectScreen.
P. 26
8. Operation
3) Clear:
Method: Clear the position data of assigned location
Example: Clear the row of positon data number 1
No. Position Speed ACC/DEC Push % Range ACC MAX ABS/INC
0 0.00 125 mm/s 0.20G 0% 0.10 mm 0 0
1 50.00 100 mm/s 0.10G 0% 0.20 mm 1 0
2 80.00 100 mm/s 0.10G 40% 5.00 mm 0 0
3 10.00 20 mm/s 0.20G 0% 0.10 mm 0 1
No. Position Speed ACC/DEC Push % Range ACC MAX ABS/INC
0 0.00 125 mm/s 0.20G 0% 0.10 mm 0 0
1 * * mm/s * G * % * mm * 0
2 80.00 100 mm/s 0.10G 40% 5.00 mm 0 0
3 10.00 20 mm/s 0.20G 0% 0.10 mm 0 1
Mode Select A. 00
* Edit
Edit A. 00
* Clear
In the Mode Select Screen, using the Keys, select
Edit and then, press the Return Key .
In the Edit Screen, using the Keys, select
Clear and then, press the Return Key.
Position number 1
Using the Keys, change the position number into 1.
Clear? N o. 0 1 A. 00
50.00 Y 1 N 0
Pressing 1on the Numeric Key will clear position number 1 and
then, the screen will return to the Edit Screen. To cancel, press 0.
In either case, the screen will return to the previous screen.
Position data for
position number 1
Edit A. 00
* Clear
Mode Select A. 00
* Edit
Press the ESC Key once to return the screen back to Mode
SelectScreen.
P. 27
8. Operation
1) All Clear:
Operation: Clear all position data
No. Position Speed ACC/DEC Push % Range ACC MAX ABS/INC
0 0.00 125 mm/s 0.20G 0% 0.10 mm 0 0
1 50.00 100 mm/s 0.10G 0% 0.20 mm 1 0
2 80.00 100 mm/s 0.10G 40% 5.00 mm 0 0
3 10.00 20 mm/s 0.20G 0% 0.10 mm 0 1
No. Position Speed ACC/DEC Push % Range ACC MAX ABS/INC
0 * * mm/s * G * % * mm * 0
1 * * mm/s * G * % * mm * 0
2 * * mm/s * G * % * mm * 0
3 * * mm/s * G * % * mm * 0
Mode Select A. 00
* Edit
Mode Select A. 00
In the Mode Select Screen, using the Keys, select
Edit and then, press the Return Key .
In the Edit Screen, using the Keys, select All
Clear and then, press the Return Key.
* All Clear
All Clear? N o. 0 1 A. 00
50. 00 Y 1 N 0
Pressing 1on the Numericn Key will clear all data and then, the
screen will return to the Edit Screen. T o cancel, press 0. In either
case, the screen will return to the previous screen.
Edit A. 00
* All Clear
Mode Select A. 00
* Edit
Press the ESC Key to return the screen back to Mode
SelectScreen.
P. 28
8. Operation
8-5 Teach / Play
8-5-1 Teach Play Screen
Selecting “Teach/Play” from the Mode Selection will display the Teach/Play Screen. You may execute Teach and Move the
actuator using this screen. As the diagram below shows, there are six options available in the T each/Play Screen.
Mode Select
Edit
Teach/Play
Monitor
Error List
User Parameter
User Adjustment
Direct Teach
Teach / Play A. 00
* Direct Teach
Teach / Play A. 00
* Jog
Jog
Increment
Home
All Clear
Continuous
Teach / Play A. 00
* Increment
Teach / Play A. 00
* Home
Teach / Play A. 00
* Move
Teach / Play A. 00
* Continuous
P. 29
8. Operation
8-5-2 Teach
1) Direct Teach: Turns the servo controller OFF, manually move the slider to match to the desired location,
and reads that location in the position table.
2) Jog: Uses the arrow keys to jog to the desired location, and reads that location and reads that
location into the position table.
3) Increment: Uses the arrow keys to incrementally move and read the desired location into the position
table.
4) Home: Executes home.
Caution Regarding Teaching:
* You must home the unit before teaching points.
* Jog and Increment before homing will allow you to move up until the end of the
mechanism, therefore please do a thorough check prior to operation.
* Only position data may be taught. Please use MDI mode for all other data.
P. 30
8. Operation
1) Direct Teach
Method: Manually move the actuator to the desired position, and teach that position into the position table.
Example: T each position number 4 using Direct Teach
Mode Select A. 00
* Edit
Edit A. 00
* Direct Teach
Direct Teach A. 00
Servo OFF 51. 23F
Displays the current location.
*Although this displays even during home
incomplete status, it is not an accurate value.
Position number 4
Incorporate? N o. 0 4 A. 00
* Y 1 N 0
Displays the old position data.
This is not the desired position determined
in the previous screen.
In the Mode Select Screen, using the Keys, select
Edit and then, press the Return Key.
In the Edit Screen, using the Keys, select
Direct T each and then, press the Return Key.
Servo will turn OFF and the current location will be displayed.
In this status, manually move either the slider or rod, and
determine the desired location (for actuators with brake, be sure
to release the brake). Once the desired location is determined,
press the Return Key.
Use the Keys to change the position number
to 4. Press 1 to teach the current location (if the slider or rod
moves prior to pressing 1, then redetermine the desired location).
T o cancel, press 0.
Direct Teach A. 00
In either case, the screen will return to the previous screen.
You may use this screen to continue teaching using Direct Teach.
Servo OFF 51.23F
Mode Select A. 00
Press the ESC Key twice to return the screen back to Mode
SelectScreen.
* Edit
Caution:
• For data (speed, ACC • DEC) other than position, use MDI to input.
• You must home the unit before teaching points.
P. 31
8. Operation
2) Jog
Method: Jog the actuator to the desired position, and teach that position into the position table.
Example: T each position number 5 using Jog
Mode Select A. 00
* Teach / Play
Teach / Play A. 00
* Jog
Jog A. 00
Speed V2 18. 90 N
Displays the Jog speed.
Displays the current location.
*Although this displays even
during home incomplete status,
it is not an accurate value.
Position number 5
Incorporate? N o. 0 5 A. 00
* Y 1 N 0
In the Mode Select Screen, using the Keys, select
Teach/Play and then, press the Return Key.
In the Edit Screen, using the Keys, select
Jog and then, press the Return Key.
You may select the jog speed and current location here.
Use the Key to select the Jog speed as follows:
→→
→
V1 (slow) V2 V3 V4 V5 ( fast)
→
Use the Key to move either the slider or rod, to the desired
location.
: Positive direction
: Negative direction
Once the desired location is determined, press the Return Key.
Use the Keys to change the position number
to 5. Press 1 to teach the current location. T o cancel, press 0.
→→
Displays the old position data using
Position number 5. This is not the desired
position determined in the previous screen.
Jog A. 0 0
Speed V2 18. 90N
Teach / Play A. 00
* Jog
Mode Select A. 00
* Teach / Play
In either case, the screen will return to the previous screen.
You may use this screen to continue teaching using Jog .
Press the ESC Key twice to return the screen to T each /Play screen.
Press the ESC Key twice to return the screen to Mode
SelectScreen.
P. 32
8. Operation
3) Increment
Method: Increment movement using Keys to the desired position, and teach that position into the
position table.
Example: T each position number 6 using increment.
Mode Select A. 00
* Teach / Play
Teach / Play A. 00
* Increment
Increment A. 00
Distance 0. 10 4. 00 N
Displays the increment distance.
Displays the current location.
*Although this displays even
during home incomplete status,
it is not an accurate value.
Position number 6
In the Mode Select Screen, using the Keys, select
Teach/Play and then, press using the Return Key.
In the Edit Screen, using the Keys, select Increment
and then, press the Return Key.
You may select the increment distance and current location here.
Use the Key to select the increment distance (0.03→0.10→0.50).
Use the Keys to move either the slider or rod, matching it
to the desired position.
: Positive direction
: Negative direction
Jog move is possible by pressing Keys for more than 2
seconds (beyond that, speed will jump up after every second).
In case the desired location is far, approach closer to that desired
location using this function, and then return to increment and do
fine adjustment using the Keys.
Incorporate? N o. 06 A. 00
* Y 1 N 0
Displays the old position data using
Position number 6. This is not the desired
position determined in the previous screen.
Increment A. 0 0
Distance 0. 10 4. 00N
Teach / Play A. 00
* Increment
Use the Keys to change the position number to 6. Press 1
on the Numeric Key to teach the current position. To cancel,
press 0.
In either case, the screen will return to the previous screen.
You may use this screen to continue teaching using Increment.
Press the ESC Key to return the screen to Teach / Play screen.
P. 33
8. Operation
Mode Select A. 00
* Teach / Play
4) Home
Executes home.
Mode Select A. 00
* Teach / Play
Teach / Play A. 00
* Home
Homing A. 00
Return Key Execute
Use the ESC Key to return the screen back to Mode Select
Screen.
In the Teach/Play Screen, use the Keys to select
Home and then, press the Return Key .
Press the Return Key to execute homing.
Teach / Play A. 00
* Home
Mode Select A. 00
* Teach / Play
Press the ESC Key to return to the T each/Play Screen.
Press the ESC Key to return to the Mode Select Screen.
P. 34
8. Operation
8-5-3 Move
You may move towards a position registered in the position data table (1 step move) and consecutively move through the
consecutive position data. In this section, the move will differ from jog and increment move used with the arrow key. This
will be movetowards a position that was registered in the position data table within the controller.
1. Move
1 step move from the current location to the assigned position number registered in the position table.
2. Consecutive Move
Consecutive operation from the assigned position data number to the consecutive position data number until an empty
location is reached.
What is consecutive move?
In case of the position data similar to the table below, when a consecutive move command is executed from the position No.,
the place where data exists consecutively will operate as one group (Example: Position No.2 → No. 3 → No. 1 → No.2
and so on).
No
0
1
2
3
4
5
6
7
Caution:
As for positioning mode and push mode, position complete output may not turn ON at a speed of 10% and 50%.
The positioning complete output will not turn ON when push mode does not encounter a force.
When this occurs, the RC will stop at that step.
Upon installing power or after alarm, if you try to move before homing, the RC will home and then, move to the
assigned position number.
Position
mm
10.00
50.00
100.00
555.55
666.66
777.77
Speed
mm/s
*
20
33
100
*
333
444
777
*
*
Acc/Dec
G
*
0.05
0.11
0.22
*
0.22
0.11
0.07
P. 35
8. Operation
1) Move
Operation: Move to position in position table.
Example: Move from current position to position number 2.
Mode Select A. 00
* Teach / Play
Teach / Play A. 00
* Move
Move A. 00
No. 02 Speed 10%
Position number
Move speed ratio
Move A. 00
No. 02 10. 25N
Current position will display for numeric values
that have N at the end. N indicates servo ON.
In the Mode Select Screen, using the Keys, select
Teach/Play and then, press the Return Key.
In the Edit Screen, using the Keys, select Move and
then, press the Return Key.
Position number and move speed ratio will be displayed.
Changes can be made in the move speed ratio using the Key
(10% 50% 100%).
Use the Keys to turn the moving position number into 2.
The numeric value indicated inside the dotted box can be
changed by pressing 0 on the Numeric Key. These values
show speed%, current position or next position to move to
(from point table). Press the Return Key from either screen
to move to the position number 2. In case of homing
incomplete status, after first homing, the actuator will move
to position number 2.
Move? A. 00
No. 02 50.00
Position data from the point table is dislayed.
Move A. 00
No. 03 Speed 10%
Position Number
Move A. 00
No. 01 Speed 10%
Teach / Play A. 00
* Move
Mode Select A. 00
* Teach / Play
Upon move, the position number will automatically turn into 3.
Here, press the Return Key to move to position number 3.
Upon move, the position number will automatically turn into 1
(if the position table is the one indicated on Page 35 in this
manual).
Press the ESC Key to return the screen to Teach / Play Screen.
Press the ESC Key to return the screen to Mode Select Screen.
P. 36
8. Operation
2) Consecutive Move
Operation: Continuously move through positions in the point table.
Example: Consecutive move position number 0 through position number 2.
Mode Select A. 00
* Teach / Play
Teach / Play A. 00
* Consecutive Move
Consecutive Move A. 00
No. 02 Speed 10%
Position number
Consecutive Move A. 00
Move speed ratio
No. 02 10. 25N
Current position will display for numeric values
that have N at the end. N indicates servo ON.
In the Mode Select Screen, using the Keys, select
Teach/Play and then, press the Return Key.
In the Edit Screen, using the Keys, select
Consecutive Move, and press the Return Key.
Position number and move speed ratio will be displayed.
Changes can be made in the move speed ratio using the Key
(10% 50% 100%).
Use the Keys to turn the moving position number into 2.
The numeric value indicated inside the dotted box can be
changed by pressing 0 on the Numeric Key. These values
show speed%, current position or next position to move to
(from point table). Press the Return Key from either screen
to move to the position number 2. In case of homing
incomplete status, after first homing, the actuator will move
to position number 2.
Incorporate? N o. 06 A. 00
No. 02 50.00
Position data from the position table is displayed.
Consecutive Move A. 00
No. 03 Speed 10%
Position Number
Consecutive Move A. 00
No. 03 Speed 10%
Teach Play A. 00
* Consecutive Move
Mode Select A. 00
* Teach / Play
During Consecutive Move, the position number will display the
position number it is currently moving towards.
Press either the ESC Key or emergency stop button to stop
Consecutive Move. Press the Return Key to resume Consecutive
Move (the emergency stop button is in released status).
Upon stop, press the ESC Key to return the screen to Teach / Play
Screen.
Press the ESC Key to return the screen to Mode Select Screen.
P. 37
8. Operation
8-6 Data Modification
Y ou may write over all of the position data. Similar to new input, there are the following 4 cases:
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,
3) Jog Use the arrow keys to jog to the desired location, and read
4) Increment Use the arrow keys to incrementally move and read that location
Caution during data modification:
and read that location into the position table.
that location into the position table.
into the position table.
* 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).
* Once the position data is cleared, the previous data will not remain.
P. 38
8. Operation
8-7 Monitor
The RC Controller I/O status and current location will be displayed. The status for multiple axes will be displayed on the
screen, and by using the Keys, you can switch between the axes.
Mode Select A. 00
In the Mode Select Screen, using the Keys,
select Monitor then, press the Return Key.
* Monitor
Use either the Keys or Return Key to select the display content.
Use the Keys to change the axis number.
(Display example of controller RCA-S)
Displays the current position.
Monitor A. 00
Pos 0. 00N mm
Monitor A. 00
Displays the error code number.
Error No. 000
Monitor A. 00
Displays the ON/OFF status of servo.
Servo ON
Monitor A. 00
Displays the ON/OFF status of start input.
in Start OFF
Monitor A. 00
in Pos No. 00
Displays the assigned position number.
Monitor A. 00
in _ STP ON
Monitor A. 00
out No. 00
Monitor A. 00
out PEND ON
Monitor A. 00
out HEND ON
Monitor A. 00
out ZONE ON
Monitor A. 00
out _ ALM ON
Mode Select A. 00
Monitor
Displays the ON/OFF status of temporary stop input.
Displays the complete position number.
Displays the ON/OFF status of positioning
complete output.
Displays ON if homing is complete, and displays
OFF if homing is incomplete.
Displays ON/OFF status of zone output.
Displays ON/OFF status of alarm output.
Press the ESC Key to return to the Mode Select Screen.
P. 39
8. Operation
8-8 Error List
As long as the Teaching Pendant is connected, this display will show the content of the controller error. With the
Keys, you may scroll through the error log. The error will clear when the axis reconnects.
Mode Select A. 00
In the Mode Select Screen, using the Keys,
select Error List then, press using the Return Key.
* Error List
Use either the Keys or Return Key to select the display content.
Use the Keys to change the axis number.
Error List List No. 00
Displays the error code number.
Error No. 0E8
Error List List No. 00
Displays the error name.
A, B Phase Disconnection
Error List List No. 00
Displays axis number in which the error occured.
Axis No. 00
Displays how many minutes ago the error occured.
Error List List No. 00
1 Min
Mode Select A. 00
* Error List
Press the Return Key to return to the Mode Select Screen.
P. 40
8. Operation
8-9 User Parameter
The User parameter assigns zone and soft limit ranges, actuator attributes and home direction. Zone and soft limit
are set within ±9999.99 (input unit: mm). Home and servo parameters are determined by the actuator. Each
setting for initial setting value parameters is the registered default value for position data during teaching.
Mode Select A. 00
In the Mode Select Screen, using the Keys,
select User Paramter then, press the Return Key .
* User Parameter
Use either the Keys or Return Key to select the display content. To change the value, use the Numeric Key
for input and then, press the Return Key.
User Para A. 00
Displays the zone limit +side.
+ Zone 150. 30mm
User Para A. 00
Displays the zone limit -side.
- Zone -0. 30mm
User Para A. 00
+ Limit 150. 3
0mm
User Para A. 00
- Limit -0. 3
0mm
Displays the soft limit + side.
Displays the soft limit - side.
User Para A. 00
Home (CWO CCW1)
User Para A. 00
Initi. Vel 125mm
User Para A. 00
Initi. ACC 0. 2
User Para A. 00
Range 0. 1
0mm
User Para A. 00
ACC (1: MAX)
0
User Para A. 00
Push Comp 25
5ms
1
0G
Displays the homing direction.
Displays the initial velocity value.
Displays the initial ACC • DEC value.
Displays initial positioning width value.
Displays the initial ACC MAX value.
Displays the push stop determination time.
P. 41
8. Operation
User Para A. 00
Servo Gain
6
User Para A. 00
Displays the number of the servo gain.
Displays the positioning hold current.
Hold Cur 24%
User Para A. 00
Home Cur 5
• 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
Approximately 0.3mm
0%
Displays the home current limit value.
Soft Limit set in controller
Approximately 0.3mm
Effective area
Approximately 0.1mm
• After changing the homing direction, all saved position data will be cleared. As needed, please re-enter the data.
• Reversed homing direction may not be done on the Rod Type Actuator.
• Homing direction setting is reversed on the In-Line Type (SSR • SMR) Actuator (0: Correct, 1: Reversed).
Caution:
Please cycle the controller power after making parameter changes.
Although pressing the emergency switch or port switch ON/OFF will
rewrite the parameter, there may be ones that will not be changed.
0
Jog Increment allowable range after homing
8 0
Approximately 0.1mm
* Regarding parameter, please refer to the RC Controller Operating Manual.
P. 42
8. Operation
8-10 User Adjustment
Execute home move and axis number setting of integrated RC Controller. Please enter setting for disabled or
enable emergency stop input.
Mode Select A. 00
* User Adjustment
Home:
User Adjustment A. 00
Adjustment No. 1
Disable hold input:
User Adjustment A. 00
Adjustment No. 91
Input 91
Enable hold input:
User Adjustment A. 00
Adjustment No. 90
Input 90
In the Mode Select Screen, using the Keys,
select Error List and then, press the Return Key.
Input 1 into the adjustment number and then, press Return
Key to execute home.
Input 91 into the adjustment number and then, press the
Return Key . Afterwards, the controller must be turned
OFF .
Input 90 into the adjustment number and then, press the
Return Key . Afterwards, the controller must be turned
OFF .
Integrated RC Controller axis number setting:
User Adjustment A. 00
Alloc. No. 0
Input axis number
Arrows
User Adjustment A. 00
Adjustment No. 2
Input 2
Arrows
Caution: Please do not input numeric value other than 1, 2, 90 and 91 into the adjustment numbers.
Input the axis number into the allocation number and then,
press the Return Key.
Input 2 into the adjustment number and then, press the
Rerutn Key. If this procedure is done on a non-integrated
controller, you will get error number 61. Afterwards, the
controller must be turned OFF .
P. 43
8. Operation
8-11 End
Execute end in order to record each setting and save the content of the teaching pendant.
Please execute this end whenever disabling the Teach Port of the RC controller.
Operation:
1 . Press the BEGIN/END for more than 2.5 seconds.
2. Move the cursor to “End,” and press the return key.
Afterwards, to remove, turn the controller port switch to OFF, then remove the Teach Pendant connector. You will
be able to reopen the connection from the initial screen by selecting “reconnect” and pressing down the return key.
In case data input ends, and the Easy Type
Teaching Box needs to be removed
Op. Start / End
* End ST= Efct
Home
Op. Start / End
* End ST-Non
Turn the RC Controller PORT Switch to OFF.
Then, remove the connector.
In case you reconnect and wish to reopen
from the Reset Screen.
Op. Start / End
* Reconnection
Confirming Connection
IAI RC ST V. 1.00
ï
Select Axis
* Axis No. 00
(in case of multiple axes connection)
Or
Mode Select A. 00
* Edit
(in case of single axis connection)
Caution:
When multiple axes are connected with a controller link cable, after cycling power of a controller that is not
directly connected to the teaching pendant, please execute a reconnect.
P. 44
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 Yes E rror inside the controller
100~1FF TB* Message Yes Input error, guide message, etc.
200~2FF TB* Movement Release Yes Movement continuation impossible
300~3FF TV Cold Start Error No TB Power install or reconnect are not necessary.
* Refers to the Teaching Box
9-1 Warning Label Error
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 BEGIN/END Key.
Warning is probably due to the following possibilities:
• RS485 communication abnormality
• Teaching Pendant operational mistake
Cause: 1 ) RS 485 communication related abnormality
For example, when move command is delivered by PIO signal from teaching while communicating to
other devices (PLC), “075h” will occur.
2) Influence by foreign noise or connections is not properly installed.
The teaching pendant and RC controller execute packet communication 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 occurences, please remove the signal cable
and power line.
9-2 Teaching Pendant Message Label 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 • • • Keypad input value is incorrect.
P. 45
9. Message Area
9-3 Controller Error
An alarm detected from the controller side can be displayed. This is a serious error due to abnormality related to servo
control and electricity. Please read though the RC Controller operating manual carefully for error compliance.
Code No: 0B0h, 0B1h, 0B8h, 0B9h, 0BBh, 0BCh, 0BDh, 0BEh
0C0h, 0C1h, 0D0h, 0D1h, 0D8h, 0E0h, 0E8h, 0E9h, 0EAh, 0F8h
9-4 Error Code Glance Sheet
Code Error Description Common Solutions
05A
05B
05D
05E
07F
061
062
063
064
067
070
071
073
074
075
Transmi ssion Error
Transmission Framing Error
Start Text Error
End Text Error
BCC Error
FNCCHR, W Address Error Serial string needs to be formated correctly.
1 Operand Error Incorrect Data Command (possibly an operation not allowed with the controller type).
2 Operand Error
3 Operand Error Incorrect Data Command Rejection (possibly an operation not allowed with the controller type).
BCC Error Incorrect Data Command Rejection (characters other than either 0~9 or A~F are included).
RUN-OFF, Transfer Command
No homi ng, PTP
Servo ON, Error Reset
Communication Error
During homing, movement
comman d
Abnormal Communication, Check for noise. Inspect all serial ports and cables involved.
Incorrect Data Command (possibly an operation not allowed with the controller type).
In case of another placed controller, there could be an initialization of rotation numbers
which surpasses 200rpm against the SW7-ON, SW8-off against the controller.
Incompatible Command Rejection
(possibly due to External PIO command).
Attempted move while homing.
0B0
0B1
Bank 30 Error (Parameter) Execute a common parameter edit or initialize the controller.
Bank 31 Error (Point)
1. Cycle power to controller
2. Possibly, parameters need to be set correctly.
P. 46
9. Message Area
Code Error Description Common Solutions
0B8
0B9
0BB
0BC
0BD
0BE
0C0
0C1
0D1
0D8
0E0
0E8
0E9
0EA
0EB
0EC
0F8
0F9
101
102
104
105
106
10A
10B
Communication Error 1
Communication Error 2
ORG - Search C Error Abnormal Z phase.
ORG - Search A, B Error Abnormal A and B Phase
Speed prior to ORG Search Error D uring homing, already moving over the rated speed.
Homing Time Out Error Check the motor and encoder cables. Make sure that the slider is not jammed against the hard stop.
Over Speed
Servo Error
Excessive Circuit Voltage Please check the payload or lower the velocity and ACC/DEC .
Deviation Error Please check mechanical binding.
Over Load Too much payload. Please check mechanical binding.
No A, B Phase Feedback
No A Phase Feedback
No B Phase Feedback
No C Phase Feedback
No PS Phase Feedback
Memory Error Controller reset is needed.
Abnormal PLD Base mounted PLD is showing abnomal movement.
Over run error (s) Check for noise. Inspect all serial ports and cables involved.
Framing Error (S) Please check serial baud rate
SCI R-QUE OV (S) Excessive data is being externally transmitted (duing update)
SCI S-QUE OV (S) SC I Transmission Over Flow (during update)
Termi R-BF OV (S) External excess data receptio n (during update)
Motorola S Sum Error Ab norma l p ro g ra m file (during upd a te )
Motorola S Record Error A bnormal update program file (during update)
Please check the following:
• Payload is within specification.
• If external power source works well - check motor encoder cable.
Please reduce the payload or lower the velocity and ACC/DEC.
Please check the encoder • cable.
P. 47
9. Message Area
Code Error Description Common Solutions
10C
10D
10E
10F
111
112
113 Input Under Error Input value is too small. Please input allowable data.
114 Input Over Error Input value is too big. Please input allowable data.
115 Homing Incomplete Moved before home complete.
116 Last Position Data Exists During position add, please clear or delete the last position data.
117 No Move Data Moving position data does not exist. Please assign position data.
118 Non-co nn ec t Axis S elec t Non- co nn ec ted axi s is se le cted (this is no t an err or ).
119 TB Paramater Rotation Over The TB internal parameter change allowable rotation number exceeds after update.
11A Fla sh Veri fy Erro r: S
11B Flash ACK Time Out: S
11C Flash Veri fy Error: M
11D Flash ACK Time Out: M
11E P a ir Da ta Mismatch Data values are not consistent ( i .e. one (+) is s ma lle r than sone (-1) ).
11F Absolute Value Error The absolute value of the input value is too small.
120 Initialize factor error
121 Push search end over
122 Allocate, multi-axes connect Axis Number allocate must be done with 1 axis
180 Change to axis number OK (Not an error)
181 Controller initialize OK (Not an error)
Motorola S Address Error
Motorola S File Nam e Error
Timing Limit (W) (S) Please check the TB-CPU Board Flash ROM Address setting DIP-SW (during update).
Timing Limit (E) (S) Please check the TB-CPU Board Flash ROM Address setting DIP-SW (during update).
Timing Limit (P) (S) Please check the TB-CPU Board Flash ROM Address setting DIP-SW (during update).
Input Incorrect Error Input value is incorrect. Please input allowable data.
Abnormal Update program file (during update)
Abnormal update program file (during update)
Please check the TB-CPU Board Flash ROM Address setting DIP-SW (during update).
Factor data input data during controller initialization is abnormal. Please input allowable
data.
Push final destination point has an excessive stroke. Please modify the position or
positioning width.
P. 48
9. Message Area
Cod e Erro r Descrip tio n Commo n Solu tio ns
182 Home Change All Clear
201 Emergency Stop
20A During mo vement, Servo OFF Servo turned OFF during movement.
20C During movement, CSTR-ON Start turned ON during movement.
20D ILK-OF F d uring mo vement S TP turned OFF during movement.
301 Over Run Error (M) Please check for noise. Inspect all serial ports and cables involved.
302 Framing E rro r (M) Inspect all serial ports a nd ca b le s that are i nvolved.
304 SCI R-QUE OV (M) External excessive data reception.
305 SCI S-QUE OV (M) SC I transmission QUE over Flow (during central port )
306 Termi R-BF OV (M) External excessive data reception.
307 Memory Command Reject
308 Response Ti me Out (M) Inspect all serial ports and cables involved.
309 Termi Light Address Error Termi light address non-determined error.
30A Packet R-QUE External excessive data reception.
30B Packet S-QUE OV Packet transmission QUE overflow.
30C No Connect Error Inspect controller power and all serial ports and cables that are involved.
(No error).
(No error).
Command was rejected from the controller. In order to invstigate the cause,
record all error list before TB power is turned OFF.
P. 49
Intelligent Actuator, Inc.
2690 W. 237th Street
Torrance, CA 90505
800-736-1712 / 310-891-0815 (Fax)
www.intelligentactuator.com
Publication Date: December 2000
Publication No.: IAI-061C
Loading...