PC Software
RCM-101-MW, RCM-101-USB
Operation Manual
Fifteenth Edition
IAI America, Inc.
Please Read Before Use
Thank you for purchasing our product.
This Operation Manual explains the handling methods, structure and maintenance of this product, among others,
providing the information you need to know to use the product safely.
Before using the product, be sure to read this manual and fully understand the contents explained herein to
ensure safe use of the product.
The CD or DVD that comes with the product contains operation manuals for IAI products.
When using the product, refer to the necessary portions of the applicable operation manual by printing them out
or displaying them on a PC.
After reading the Operation Manual, keep it in a convenient place so that whoever is handling this product can
reference it quickly when necessary.
[Important]
x This Operation Manual is original.
x The product cannot be operated in any way unless expressly specified in this Operation Manual. IAI
shall assume no responsibility for the outcome of any operation not specified herein.
x Information contained in this Operation Manual is subject to change without notice for the purpose of
product improvement.
x If you have any question or comment regarding the content of this manual, please contact the IAI
sales office near you.
x Using or copying all or part of this Operation Manual without permission is prohibited.
x The company names, names of products and trademarks of each company shown in the sentences
are registered trademarks.
CAUTION
Disconnection of the Teaching Pendant from the PCON, ACON, SCON
ERC2, ERC3, ROBONET, PSEP, ASEP, DSEP, MSEP and MSCON Controller
* After disconnecting the Teaching Pendant from the PCON, ACON, SCON, ROBONET, MSEP or MSCON
controller with the AUTO/MANU switch, always turn the AUTO/MANU switch to AUTO.
* For the PCON, ACON, ERC2, ERC3, PSEP, ASEP and DSEP controller without AUTO/MANU switch, always
set the MANU operation mode to “Monitor Mode 2” on the main window before disconnecting the Teaching
Pendant from the controller. (Refer to 3.2, “Operations Using the Toolbar Buttons.”)
(Note) When connected to the controller without AUTO/MANU switch, the conditions shown below occur.
When the controller is set by connecting the Teaching Pendant to the gateway unit/SIO converter, the
conditions shown below occur.
Ɣ 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.
Ɣ 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.
Software License Agreement
Before opening this product, read the software license agreement (hereinafter referred to as “Agreement”).
This Agreement applies to the PC software that comes with this product (hereinafter referred to “Software”).
By using this software, you are deemed to have agreed to the terms of this Agreement. You may not use this
software if you do not agree to the terms of this Agreement.
If you do not agree to the terms of this Agreement, please return your product in the original, unused condition,
and IAI will refund the price you paid for the product.
IAI Corporation (hereinafter referred to as “IAI”) shall grant to the user (hereinafter referred to as “the User”), and
the User shall accept, a non-transferable, non-exclusive right to use the software program supplied with this
Agreement (hereinafter referred to as “the Licensed Software”), based on the following terms and conditions.
Witnesseth
1. Term of Agreement
This Agreement shall take effect when the User opens this software and remain effective and in force until this
Agreement is terminated upon a written request made by the User to IAI or pursuant to the provision of Section 3.
2. Right of Use
The User may use this software on a computer on the condition that an external equipment communication cable
manufactured and sold by IAI (hereinafter referred to as “Dedicated Connection Cable”) is used. The User or a
third party may use this software on multiple computers on the condition of using dedicated connection cables.
3. Termination of Agreement
If the User violates any of the provisions specified in this Agreement or any material reason arises that makes
continuation of this Agreement difficult, IAI may terminate this Agreement immediately without serving any notice.
If this Agreement is terminated, the User shall destroy this software, dedicated connection cable or cables, and all
copies of this software, within ten (10) days from the date of termination of this Agreement.
4. Scope of Protection
IAI may change any and all specifications regarding this software without prior notice. IAI shall also provide no
warranty in connection with this software.
Neither the User nor any third party may demand compensation for any loss suffered by the User or third party as
a result of use of this software by the User or third party.
Supported Models
The PC software RCM-101-MW and RCM-101-USB supports the following controller models of the specified
versions and later.
Table 1 List of Supported Models
Model Name Initial Supported Version
RCP*1 V1.00.00.00
RCS*1 V3.00.00.00
E-Con*1 V3.00.05.00
RCP2*1 V4.00.00.00
ERC*1 V4.00.00.00
ERC2 V6.00.00.00
ERC3 V8.03.00.00
PCON-C/CG/CF V6.00.00.00
PCON-CA V8.03.00.00
ACON V6.00.00.00
SCON-C V6.00.00.00
SCON-CA V8.00.00.00
ROBONET V6.00.04.00
ASEP*2 V7.00.00.00
PSEP*2 V7.00.00.00
DSEP*2 V8.04.00.00
MSEP*3 V9.01.00.00
MSCON V9.02.00.00
*1: This PC software also supports the RCP, RCS,
E-Con, RCP2, and ERC controllers.
(Note) Confirm the connected model and version of this application. If any unsupported model is connected, it
may operate unexpectedly.
(Note) ERC2, ERC3, PCON, ACON, SCON or MSCON cannot be used by linking with any model shown in *1, *2
and *3.
Models in *1, *2 and *3 cannot be linked with each other.
The software reset function is effective for models corresponding to V4.00.00.00 or later of the supported version.
A Word of Caution
[1] This software is copyrighted by IAI Corporation (IAI).
[2] The software and the manual can only be used upon the software license agreement.
[3] IAI cannot assume responsibility for any damage or loss resulting from the use of this software or the
manual.
[4] Please note that the version or edition number printed on the face of this manual does not correspond to the
software version number.
[5] The content of this manual is subject to change without notice.
[6] This software runs on Windows shown below. This manual has been written on the assumption that the user
already has a basic understanding of Windows operations.
(However, this software does not contain Windows.)
Port used Type Supported Operating Systems
RS-232C RCM-101-MW
USB RCM-101-USB
Windows 2000 SP4 or later, Windows XP SP2 or later
Windows Vista
Windows 2000 SP4 or later, Windows XP SP2 or later
Windows Vista *2, Windows 7
*2
, Windows 7
*2
*2
*1 Supported by software version V7.00.00.00 or later
*2 Supported by software version V9.00.00.00 or later
*1
,
*1
,
Microsoft, MS, MS-DOS, Windows, Windows 98SE, Windows Me, Windows 2000, Windows XP, Windows Vista
and Windows 7 are registered trademarks of Microsoft Corporation.
Copyright© Feb 2012. IAI Corporation. All rights reserved.
Table of Contents
1. Preparation Before Use.................................................................................................................... 1
1.1 Items Supplied with This Software (Product Components)............................................................1
1.2 Operating Environment..................................................................................................................2
1.3 Installing the Software ...................................................................................................................3
1.3.1 How to Install the PC Interface Software for RC.........................................................................3
1.3.2 How to Uninstall PC Interface Software for RC ..........................................................................9
1.3.3 How to Install the USB Conversion Adapter Driver Software ...................................................10
1.3.4 How to Change the IAI USB COM Port.....................................................................................24
1.4 Starting the Software ...................................................................................................................26
1.5 Setting of communication Window...............................................................................................28
2. Checking for Connected Axes........................................................................................................ 29
3. Main Window.................................................................................................................................. 30
3.1 Operating from the Main Menu ....................................................................................................32
3.2 Operations Using the Toolbar Buttons.........................................................................................37
3.3 Tree View ....................................................................................................................................39
3.4 Status Bar....................................................................................................................................40
4. Selecting an Axis............................................................................................................................ 41
5. Editing Position Data on CON Controllers and Older Models ........................................................ 42
5.1 Online Mode ................................................................................................................................42
5.2 Offline Mode ................................................................................................................................68
5.2.1 Creating New Position Data......................................................................................................68
5.2.2 Reading a File ...........................................................................................................................70
6. Initial Setting and Position Data Editing for SEP Controllers ......................................................... 72
6.1 Initial Setting................................................................................................................................72
6.2 Editing Position Data ...................................................................................................................79
6.2.1 Online Mode ..............................................................................................................................79
6.2.2 Offline Mode ..............................................................................................................................90
7. Editing Parameters......................................................................................................................... 94
8. Monitoring ...................................................................................................................................... 98
8.1 Status Monitor Window................................................................................................................98
8.2 CTL Alarm List...........................................................................................................................103
8.3 Velocity/Current Monitor Window ..............................................................................................105
8.4 Servo Monitor Window ..............................................................................................................107
8.5 Maintenance information Window..............................................................................................112
9. Setup............................................................................................................................................ 113
9.1 Setting of application Window ...................................................................................................113
9.2 Assigning an Axis Number ........................................................................................................116
9.3 Time Setting ..............................................................................................................................117
9.4 Load Cell Calibration .................................................................................................................119
10. Version Information ...................................................................................................................... 121
11. Smart Tuning Function (Version V8.03.00.00 or Later) ............................................................... 122
11.1 Restrictions................................................................................................................................123
11.1.1 Actuator Applicable for Smart Tuning Function ......................................................................123
11.1.2 Parameter Setting ...................................................................................................................123
11.2 Outline of Smart Tuning Function ..............................................................................................123
11.2.1 Setting of maximum acceleration/deceleration speed considering the indicated
carrier load and velocity ..........................................................................................................124
11.2.2 Setting of acceleration/deceleration speed to provide the shortest operation time
figured out from the indicated carrier load and moving distance ............................................124
11.2.3 Overshoot judgment on S motion operation ...........................................................................124
11.2.4 Test Run..................................................................................................................................124
11.2.5 Takt time calculation................................................................................................................124
11.3 Operation in Edit position data Window.....................................................................................125
11.3.1 Explanation of Window Screen ...............................................................................................125
11.3.2 Explanation of Each Operation ...............................................................................................129
11.4 Operation on Test Run and Takt Time Calculation....................................................................140
11.4.1 Outline of Test Run Operation ................................................................................................140
11.4.2 Explanation of Each Window for Test Run Operation.............................................................141
11.4.3 Explanation of Takt Time Calculation Window........................................................................156
12. Off Board Tuning Function on SCON-CA and MSCON Controller .............................................. 165
12.1 Restrictions................................................................................................................................166
12.1.1 Actuators Applicable for Off Board Tuning Function...............................................................166
12.1.2 Restrictions in Operation.........................................................................................................166
12.1.3 Caution Regarding Gain Set No. 0..........................................................................................166
12.2 Guideline of Off Board Tuning Function ....................................................................................167
12.3 How to Start up..........................................................................................................................167
12.4 Operation to Select Target Axis Number for Off Board Tuning..................................................168
12.4.1 Explanation of Each Item Shown in Window ..........................................................................168
12.5 Operation on Off Board Tuning .................................................................................................170
12.5.1 Outline of Operation ................................................................................................................170
12.5.2 Explanations for each Item in Select actuator Window...........................................................171
12.5.3 Explanations for each Item in Carrier load Select Window.....................................................177
12.5.4 Explanations for each Item in Select adjustment method Window.........................................183
12.5.5 Explanations for each Item in Manual Window.......................................................................187
12.5.6 Explanations for each Item in Test run Window......................................................................193
12.5.7 Explanations for each Item in Adjustment record data save Window.....................................200
12.6 Operations in Takt time calculation............................................................................................202
12.6.1 Explanations for each Item in Takt time calculation Window..................................................202
12.6.2 Test run plan Setting Window .................................................................................................203
12.6.3 Test run result Display Window...............................................................................................207
13. Frequency Analysis Function for SCON-CA Controller Anti-Vibration Control
(Version V8.00.00.00 or Later)..................................................................................................... 211
13.1 Operation Overview...................................................................................................................212
13.2 Explanation of Each Window.....................................................................................................214
13.2.1 Measurement Data Selection Window....................................................................................214
13.2.2 Sampling Window....................................................................................................................217
13.2.3 Analysis Result Display Window.............................................................................................228
13.2.4 Print Setting Window...............................................................................................................232
13.3 Operating Procedure .................................................................................................................238
14. Appendix ...................................................................................................................................... 243
14.1 Parameter (Factory Default Setting) Initializing Method ............................................................243
14.2 PC Software Error List...............................................................................................................245
15. File Extensions............................................................................................................................. 249
16. Change History ............................................................................................................................ 250
1. Preparation Before Use
1.1 Items Supplied with This Software (Product Components)
Please check to make sure that the following items are included in your software package.
[1] Operation manual (1)
[2] CD-ROM containing the software
[3] Customer registration card (1)
[4] External connection cables (1)
External connection cables vary depending on the PC interface software type.
The types and external connection cables are shown in the table below.
Type External Connection Cable
RCM-101-MW RS232C conversion unit (RCB-CV-MW): 1 cable
Communication cable (CB-RCA-SIO050): 1 cable
*1
(1)
Compatible controller
1. Preparation Before Use
PCON, etc.
Connection
Configuration
Type External Connection Cable
RCM-101-USB USB conversion unit (RCB-CV-USB): 1 cable
Communication cable (CB-RCA-SIO050): 1 cable
USB cable (CB-SEL-USB030): 1 cable
Connection
Configuration
*1 ROBONET Gateway Parameter Setting Tool is stored in the CD-ROM.
Refer to ROBONET Operation Manual for the how to use the tool.
RS232C conversion unit
RCB-CV-MW
USB conversion unit
(RCB-CV-USB)
USB cable
CB-SEL-USB030
Communication cable:
CB-RCA-SIO050
Communication cable
CB-RCA-SIO050
Compatible controller
PCON, etc.
1
1.2 Operating Environment
You need the following environment to run this software.
Applicable operating systems
Model number Supported operating systems
1. Preparation Before Use
Computer Personal computer running an applicable operating system (Windows)
Keyboard Keyboard compatible with a personal computer running an applicable
Memory Enough memory needed to run an applicable operating system
Display XGA or higher
Pointing device Mouse and other compatible driver
Memory-medium reading drive CD-ROM drive
Hard disk Hard disk with at least 20 MB of free space
Serial port
RS232C
(compatible with EIA-S74)
RCM-101-MW Windows 2000 SP4 or later, Windows XP SP2 or
later*1, Windows Vista *2, Windows 7
RCM-101-USB Windows 2000 SP4 or later, Windows XP SP2 or
*1
later
, Windows Vista *2, Windows 7
*2
*2
*1 Supported by software version V7.00.00.00 or later
*2 Supported by software version V9.00.00.00 or later
Applicable for 32 bit and 64 bit versions of the OS.
operating system (Windows)
(Windows)
(This software must be installed on the hard disk.)
An applicable serial port is required if the model number of your PC
software is as follows:
Model number: RCM-101-MW
USB port An applicable serial port is required if the model number of your PC
software is as follows:
Model number: RCM-101-USB
2
1.3 Installing the Software
This software is run from the hard disk. This section explains how to install the software.
1.3.1 How to Install the PC Interface Software for RC
[1] Insert the CD-Rom containing this software into your CD-ROM drive.
[2] The installed data selection window (Fig. 1.1) will be displayed.
Select the version you wish to install from these choices: PC Interface Software for RC (ENG) and PC
Interface Software for RC (EUR). Then click the corresponding button to begin the installation. (Some
items are not indicated depending on the version.)
Fig. 1.1 Installed Data Selection Window
(The displayed window may vary depending on the version or other factor.)
1. Preparation Before Use
* What to do when the Installed Data Selection window (Fig. 1.1) does not appear
If the Installed Data Selection window (Fig. 1.1) does not appear after inserting the CD-ROM, follow the
procedure below to display the Installed Data Selection window.
a. Use Explorer, etc., to display a list of folders and files in the CD-ROM.
The window should display the icons shown in Fig. 1.2.
Fig. 1.2 Icons
b. Double-click among the icons displayed. The Installed Data Selection window (Fig. 1.1) will
appear.
3
[3] A previous version install check window (Fig. 1.3) is displayed.
Click Yes if no previous version has been installed.
Click No if any previous version has been installed.
Installation is interrupted, then uninstall using the Program add/remove icon on the control panel.
1. Preparation Before Use
If the installer still detects that a previous version is installed after you have clicked Yes, the previous
version detection window (Fig. 1.4) appears. If this window appears, uninstall the previous version and
then repeat the installation process from the beginning.
* How to uninstall is described at the end of how to install PC Interface Software for RC. Refer to it.
Fig. 1.3 Previous Version Install Check Window
Fig. 1.4 Previous Version Install Check Window
4
[4] The installation window (Fig. 1.5) for PC Interface Software for RC
Click Next.
Fig. 1.5 Installation Window
[5] Customer information register window (Fig. 1.6) is displayed. Enter customer information and click Next.
1. Preparation Before Use
Fig. 1.6 Customer Information Registration
5
[6] Specify a destination folder to install the PC interface software for RC. (Fig. 1.7)
Normally, you can install it to the default location.
After specifying it, click Next.
1. Preparation Before Use
Fig. 1.7 Specification of Destination Folder
[7] The wizard is ready to begin installation. Clicking Install will begin actual installation.
Fig. 1.8 Installation Preparation
6
The window shown in Fig. 1.9 will be displayed during installation.
Fig. 1.9 Installation Progress
[8] When installation is completed, the window shown in Fig. 1.10 will be displayed.
1. Preparation Before Use
Fig. 1.10 Installation Completion
7
[9] When the install program is ended, a shortcut in Program o IAI o ROBO Cylinder o PC Interface
Software for RC is displayed on the start menu. This software starts by selecting this item.
[10] Remove the CD-ROM.
* If install is completed with the previous version installed, two shortcuts may be located in Program o IAI o
ROBO Cylinder on the start menu. In this case, only the short cut corresponding to the present version is
deleted when uninstalled. Right click the shortcut for the previous version (PC Interface software for
RC&E-Con) click Delete to manually delete it.
1. Preparation Before Use
Fig. 1.11 Shortcut Delete Window for Previous Version
8
1.3.2 How to Uninstall PC Interface Software for RC
[1] Open the application add and delete window on the control panel.
[2] Select RcPc on the application add and delete window, and click Change/Remove.
1. Preparation Before Use
Fig. 1.12 Application Add and Delete
[3] When a file delete check window (Fig. 1.13) is displayed, click Yes.
Fig. 1.13 File Delete Check
9
1.3.3 How to Install the USB Conversion Adapter Driver Software
When a USB port is used, it is required to install USB conversion adapter driver software.
[Compatible software]
RCM-101-USB (with USB conversion adaptor + cable)
(1) Windows XP and Windows 2000
For Windows XP and Windows 2000 follow the steps below to install the software.
[For how to install in Windows 7 and Windows Vista, refer to (2) Windows Vista.]
[1] Insert the CD-ROM of this software into your CD-ROM drive.
1. Preparation Before Use
[2] The installed data selection window (Fig. 1.14) will be displayed.
Click [USB conversion adapter].
Fig. 1.14 Installed Data Selection Window
(The displayed window may vary depending on the version, data in the CD or other factors.)
10
[3] You are prompted to set the folder of the copy destination. If you use the displayed folder as it is, click
Copy. To change it, enter it manually or click Browse to set the folder of the copy destination.
On the browse for folder window (Fig. 1.16), click the folder of the copy destination to select it and then
click OK. Once you have clicked OK, the browse for folder window (Fig. 1.16) will disappear and the
selected folder path will be displayed on the window to specify the folder of the copy destination (Fig.
1.15).
Fig. 1.15 Window to Specify Folder of Copy Destination
1. Preparation Before Use
Fig. 1.16 Browse for Folder Window
[4] When the folder of IAI USB (copy data) already exists in the copy destination, you are prompted to
overwrite it.
Click OK to overwrite it, or click Cancel to stop copying.
Fig. 1.17 Overwrite Confirmation Window
[5] The complete window (Fig. 1.18) will be displayed.
Fig. 1.18 Complete Window
11
[6] Once the complete window (Fig. 1.18) has been displayed, click OK. The complete window (Fig. 1.18) will
disappear. Then, click Cancel on the window to specify the folder of the copy destination (Fig. 1.15).
The window to specify the folder of the copy destination (Fig. 1.15) will disappear.
Finally, click Exit on the data selection window (Fig. 1.14). The data selection window (Fig. 1.14) will
disappear.
[7] Remove the CD-ROM.
[8] Then, insert the USB conversion adapter (RCB-CV-USB) into the USB port of your PC.
[9] Windows will open the Found New Hardware Wizard.
1. Preparation Before Use
Click Next.
Fig. 1.19 Found New Hardware Wizard Start Window
12
[10] The driver search select window will open.
Check the Search for a suitable driver for my device (recommended).
Click Next.
Fig. 1.20 Driver Search Select Window
1. Preparation Before Use
[11] The locate driver files window will open.
Select Specify a location.
Click Next.
Fig. 1.21 Specify the Locate Driver Files Window
13
[12] The “Copy manufacturer’s files from:” window will open.
Click Browse and find K: \IAI USB (the folder you have specified in [3] of 1.3.3) and set it.
Click OK.
1. Preparation Before Use
Fig. 1.22 Specify the Copy Manufacturer’s Files from Window
[13] The driver files search results window will open.
Click Next.
Fig. 1.23 Driver Files Search Results Window
14
[14] When the IAI USB Composite Device driver installation finish is displayed, the installation of the driver is
completed.
Click Finish.
Fig. 1.24 IAI USB Composite Device Installation Finish Window
1. Preparation Before Use
[15] Subsequently, the found new hardware wizard window will open.
Click Next.
Fig. 1.25 Found New Hardware Wizard Window
15
[16] The install hardware device drivers window will open.
Select the Search for a suitable driver for my device recommended.
Click Next.
1. Preparation Before Use
Fig. 1.26 Driver Search Select Window
[17] The locate driver files window will open.
Select Specify a location.
Click Next.
Fig. 1.27 Locate Driver Files Window
16
[18] The copy manufacturer’s files from window will open.
Click Browse and find K:\IAI USB (the folder you have specified in [3] of 1.3.3) and set it.
Click OK.
Fig. 1.28 Specify the Copy Manufacturer’s Files from Window
1. Preparation Before Use
[19] The driver files search results window will open.
Click Next.
Fig. 1.29 Driver Files Search Results Window
17
[20] When the IAI USB to UART Bridge Controller driver installation finish window is displayed, the driver
installation is completed.
Click Finish.
1. Preparation Before Use
Fig. 1.30 IAI USB to UART Bridge Controller Installation Finish Window
[21] The installation of all drivers is completed.
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