IAI America RCM-E User Manual

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Easy Type Teaching Pendant

RCM-E

Operating Manual

Second edition

CAUTION

Disconnection of the Teaching Pendant from the PCON/ACON/SCON/ERC2 Controller

* After disconnecting the Teaching Pendant from the PCON/ACON/SCON controller with the AUTO/MANU

switch, always turn the AUTO/MANU switch to AUTO.

* For the PCON/ACON/ERC2 controller without AUTO/MANU switch, always set the TP Operation Mode to

“Monitor 2” before disconnecting the Teaching Pendant from the controller.

(Refer to “8.10 TP Operation Mode.”)

(Note) When the controller is set by connecting the Teaching Pendant to ERC2, the conditions shown

below occur.

When the controller is set by connecting the Teaching Pendant to the gateway unit/SIO converter,

the conditions shown below occur.

● If the Teaching Pendant is disconnected while the setting of “Teach 1” or “ Teach 2”

remains, I/O will become invalid and control from PLC will become impossible.

● If the Teaching Pendant is disconnected while the setting of “Monitor 1” remains, the

maximum speed will become the safety speed set for the parameter regardless of a command

from PLC.

Support Models

Versions of the Easy Type Teaching Pendant RCM-E which have started support for each model are as

follows.

Table 1 List of Support Models

Model Name Support Started Version

RCP *1 V1.00

RCS *1 V1.31

E-Con *1 V1.44

RCP2 *1 V1.61

ERC *1 V1.61

ERC2 V2.00

PCON V2.00

ACON V2.00

SCON V2.00

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

E-Con, RCP2, and ERC controllers.

* Confirm the connected model and version of this application (8.1 Initial Screen During Power-UP).

If any unsupported model is connected, it may operate unexpectedly.

* The software reset function is effective for models corresponding to 1.63 or later of the support started

version.

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

Table of Contents

1. Foreword.................................................................................................................................................... 1

2. Before You Begin....................................................................................................................................... 1

3. Safety Precautions..................................................................................................................................... 2

4. Warranty and Scope of Warranty ............................................................................................................... 3

5. Application Environment ............................................................................................................................ 4

6. Easy Type Teaching Pendant Functions and Specifications...................................................................... 5

6-1 Specifications...................................................................................................................................... 5

6-2 External View...................................................................................................................................... 6

6-3 Description of Each Part ..................................................................................................................... 7

7. Connection With the Controller ................................................................................................................ 10

7-1 Connection with the Easy Type Teaching Pendant........................................................................... 10

7-2 How to Disengage the Easy Type Teaching Pendant....................................................................... 10

8. Operation ................................................................................................................................................. 11

8-1 Initial Screen During Power - UP ...................................................................................................... 13

8-2 Controller Selection (when using multiple units) ............................................................................... 14

8-3 Operation Mode Selection

8-4 Edit....................................................................................................................................................

8-4-1 Edit Screen ................................................................................................................................ 17

8.4.2 Position Data Table Contents for PCON, ACON, SCON, and ERC2......................................... 20

8-4-3 Position Data Table

8-4-4 MDI Numeric Input..................................................................................................................... 28

8-4-5 Clear • All Clear ......................................................................................................................... 32

8-5 Teach/Play........................................................................................................................................ 35

8-5-1 Teach/Play Screen .................................................................................................................... 35

8-5-2 Teach......................................................................................................................................... 36

8-5-3 Move.......................................................................................................................................... 41

8-6 Data Modification .............................................................................................................................. 44

8-7 Monitor.............................................................................................................................................. 45

8-8 Error List ........................................................................................................................................... 47

8-9 User Parameter................................................................................................................................. 49

8.10 Software reset after user parameters are changed........................................................................... 53

8-11 User Adjustment ............................................................................................................................... 54

8.11.1 Pause, servo ON input enable and disable setting, homing operation, axis number setting...... 54

8.11.2 Software Reset .......................................................................................................................... 56

8.11.3 Error List Clear........................................................................................................................... 57

8.12 TP Operation Mode........................................................................................................................... 58

8-13 End ................................................................................................................................................... 59

9. Message Area

9-1 Warning Label Error (Code No. 000h – 07Fh) .................................................................................. 60

9-2

9-3 Controller Error ................................................................................................................................. 61

Easy Type Teaching Pendant Message Level Error ......................................................................... 61

.......................................................................................................................................... 60

................................................................................................................ 15

Contents for RCP, RCS, E-Con, and ERC ................................................ 26

* Appendix....................................................................................................................................................... 62

Teaching pendant error table .......................................................................................................................... 64

1. Foreword

Thank you very much for purchasing the Easy Type Teaching Pendant (RCA-P) for the Robo Cylinder

Controller. Without knowing beforehand how to correctly use or operate the Easy Type Teaching 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.

For the actuator and controller to be used, be sure to refer to the Instruction Manuals attached to the

products.

Caution: Do not edit position data while the actuator is operating by PLC, etc.

Also, do not edit any position number not actually operated.

2. Before You Begin

(1) 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) For any handling and operating methods other than those described in this Instruction Manual, interpret

them as “don’t

(4) We cannot accept any responsibility for possible damage resulting from the use of this manual.

(5) We reserve the right to change the information contained in this manual without prior notice.

” or “can’t.”

3. Safety Precautions

(1) Use a genuine product specified by us for wiring between the actuator and controller.

(2) 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.

(3) 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. Alternatively, lock the power plug or receptacle and direct the operator to hold the key or

prepare a safety plug.

(4) 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.

(5) 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.

4. Warranty and Scope of Warranty

The Easy Type Teaching Pendant undergoes stringent testing before it is shipped from our factory.

IAI provides the following warranty.

1. Warranty Period

The warranty period shall be either the following period, whichever is reached first.

- 18 months after our shipment

- 12 months after delivery to the place designated by you

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 (such as a cable).

- 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.

- Damage resulting from the use of any part other than our genuine parts.

- 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.

- Inspection and maintenance.

- Technical guidance and technical training in operating instructions.

- Technical guidance and technical training on program-related matters such as program creation.

5. Application Environment

- In order to avoid breakdown, please do not apply any type of machinery impact to the Easy Type

Teaching Pendant.

- Always hold onto the entire Easy Type Teaching Pendant Body so that the Easy Type Teaching

Pendant Cable does not get pulled by unwanted cables.

Caution: This Easy Type Teaching Pendant is designed exclusively for IAI RC Controller, and

should not be used to connect with other devices.

Caution: Turn the controller front side PORT switch OFF before connecting to controller equipped

with a PORT switch.

6. Easy Type Teaching Pendant Functions and Specifications

This Easy Type Teaching Pendant was created exclusively for the RCP, RCS, E-Con, RCP2, ERC,

ERC2, PCON, ACON, and SCON Controllers.

Through the communication between the controller, the RC Teaching Pendant is designed to function as

a 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 Specification

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

6-2 External View

External Dimensions

6-3 Description of Each Part

(1) LCD

(2) EMERGENCY STOP

(5)

(4)

(7)

key

(Arrow) keys

(Numeric) keys

(3)

(6) (Minus) key

(8) (Return) key

key

(1) LCD

This is a liquid crystal display with a maximum of horizontal: 16 characters per column, and vertical: 2

columns per row.

This displays edit and teaching contents of various set values.

(2) EMERGENCY STOP

This switch connects serially with the controller emergency stop signal line. Once pushed down, this

switch will be in an emergency stop status and the power supply to the motor will be cut off (normally,

closed: b contact).

(* For information on the Emergency Stop Line and its status, please refer to the RC Robo Cylinder

Operating Manual.)

Caution: If multiple controllers are connected using link cables, the EMERGENCY STOP switch is

enabled only for the axis of the controller which is connected to the Teaching Pendant.

Caution: For the RCP2-CG (cutout relay external type) and ERC/ERC2 series, the EMERGENCY STOP

switch is enabled only when the emergency stop circuit is externally installed. Always read the

operating manual of the controller carefully.

(3) key

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

user to the previous screen.

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

(4)

- 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.

- You may clear error warning.

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

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

(5)

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.

- This is used for selection of the mode, the contents of data and changing position No.

key

(Arrow) keys:

key.

(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

in the beginning of the number, within the proper area, the key will automatically recognize it as 0.

(7)

- This key is used for numeric input.

(8)

- This is used for data input and operation confirm.

(Numeric) keys

(Return) key

7. Connection With the Controller

7-1 Connection with the Easy Type Teaching Pendant

(1) Connect the Easy Type 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 with regard to

a controller equipped with a PORT switch.

(2) After connecting, turn the controller PORT Switch ON with regard to a controller equipped with a PORT

switch.

7-2 How to Disengage the Easy Type Teaching Pendant

Hold down the BEGIN/END key which is located in the upper of the key pad. Select “Complete” to

finish. Afterwards, turn the controller front SW side to OFF, and remove the Data input pendant

connector.

Afterwards, turn the controller front PORT switch to OFF, and remove the Easy Type Teaching

Pendant connector with regard to a controller equipped with a PORT switch.

Operation:

1. Hold down the

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

3. Turn the RC Controller PORT SW OFF with regard to a controller equipped with a PORT switch.

4. Remove the Easy Type Teaching Pendant connector.

key for more than 2.5 seconds.

Caution: In the case of PCON, ACON, SCON, or ERC2, an instantaneous stop will be made when

the Teaching Pendant is disconnected. However, this is not an error.

Caution: In the case of the PCON, ACON, or ERC2 controller not having the AUTO/MANU switch,

set the TP Operation Mode to “Monitor 2” before disconnecting the Teaching Pendant from

the controller. (Refer to “8.10 TP Operation Mode.”)

In the case of ERC2 or when controller setting is made by connecting the Teaching Pendant

to the gateway unit or SIO converter:

• If the Teaching Pendant is disconnected while the setting of “Teach 1” or “Teach 2”

remains, I/O will become invalid and control from PLC will become impossible.

• If the Teaching Pendant is disconnected while the setting of “Monitor 1” remains, the

maximum speed will become the safety speed set for the parameter regardless of a

command from PLC.

8. Operation

(1) Positioner (PCON-PL/PO, ACON-PL/PO, SCON: Mode other than the Pulse Train Mode)

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

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

Power-ON

Confirming connection

TP operation mode

Reconnect

Axis Select

* This is indicated

only when two or more axes are connected.

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

Return Return

Mode Select

Operation

Start/End

End

* You will be able to change

to the “Operation Start/End” screen from any other screen by using the BEGIN/END key. Please, press the BEGIN/END key for more than 2.5 seconds.

Servo OFF

confirmation

* Confirm whether to reset software when

going through the mode with the key if changing the parameter. (Only for PCON, ACON, SCON, RCP2, ERC, ERC2)

* Content to be indicated may depend on

type and version of controller to be connected, version of Easy Type Teaching Pendant.

Software

reset

Return

Edit

Clear

ll Clear

Position Vel

Incorporate

Teach/Play

Monitor

Error List

User

Dcl Push

LoTh Range

Zone + Zone -

cc/Dcl Mode BS/INC

Cmnd Mode Stop Mode

Direct teach Jog Increment Homing

Move Continuous

Error No. Message

xis No.

_Minutes ago

occurrence

Parameter

User

Adjustment

djustment No.

Distribution No.

Return

Position Vel

cc/Dcl Push Range Rated speed only MAX

BS/INC

CTL error list

- Error No.

- Message

Return

TP operation

mode

* Only PCON, ACON, SCON

and ERC2 are allowed.

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

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

below.

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

Power-ON

Confirming connection

TP operation mode

Reconnect

Axis Select

* This is indicated

only when two or more axes are connected.

Operation

Start/End

End

* You will be able to change

to the “Operation Start/End” screen from any other screen by using the BEGIN/END key. Please, press the BEGIN/END key for more than 2.5 seconds.

Servo OFF

confirmation

Mode Select

Software

reset

Teach/Play

Monitor

Error List

User

Parameter

User

Adjustment

TP operation

mode

ReturnReturn Return

Jog Increment Homing

Error No.

Message

occurrence

Distribution No.

xis No.

_Minutes ago

djustment No.

CTL error list

- Error No.

- Message

Return

* Confirm whether to reset software when

going through the mode with the key if changing the parameter.

* Content to be indicated may depend on

type and version of controller to be connected, version of Easy Type Teaching Pendant.

8-1 Initial Screen During Power - UP

When power is connected to the controller and the controller PORT switch is ON, power is supplied

to the Easy Type Teaching Pendant and operation starts.

Once the PORT switch on the controller equipped with the PORT switch is ON, power is supplied to

the Easy Type Teaching Pendant and operation will begin.

Upon power-on, the LCD display screen (hereinafter called the “screen”) displays the Easy Type

Teaching Pendant software version as follows:

Confirming connection IAI RE ST V. 2.00

Once the RCP, RCS, E-Con, RCP2 and ERC controller connections are complete, the screen will

automatically move to the TP operation mode selection screen.

If a number of RCP, RCS, E-Con, RCP2, ERC controllers are connected, the screen will

automatically move to the controller select screen.

ＴＰＯｐＭｏｄｅＡ． 0 0

Ｓｌｃｔ（ ← ， → ）：Ｔｅａｃｈ 1

Fig. 8.2 TP operation mode selection screen

The TP operation mode is selected from the following four menus.

- Teach 1

PIO not allowed: It is allowed to write position data and parameters, etc., in the controller

and command for actuator operation system.

With safety speed: The maximum speed is the safety speed set for the parameter

regardless of the position data.

- Teach 2

PIO not allowed: It is allowed to write position data and parameters, etc., in the controller

and command for actuator operation system.

Without safety speed: It is allowed to move at a speed registered on the position data.

- Monitor 1

PIO allowed: Only monitoring is allowed. It is not allowed to write position data and

parameters, etc., in the controller.

With safety speed: The maximum speed is the safety speed set for the parameter

regardless of the command from the PLC.

- Monitor 2

PIO allowed: Only monitoring is allowed. It is not allowed to write position data and

parameters, etc., in the controller.

Without safety speed: It is allowed to move at a speed as commanded from the PLC.

8-2 Controller Selection (when using multiple units)

In the case of multiple units connected serially via the communication line, the axis selection screen

will be displayed. For a single unit, since there is no need to select the axis, the first screen below will

not appear (refer to Section 8.3 entitled Operational Mode Selection of this manual). The content

explained here will be based on operation of the selected axis (controller). In addition, the controller can

connect up to 16 units. However, it is impossible to link a group of PCON, ACON, SCON, ERC2

controllers with RCP, RCS, E-Con, RCP2 and ERC controllers for use.

Display a controller to be used, and further press the Return key. The selection is confirmed, and

“8.3 Operation Mode Selection” will appear on the screen.

Slct Axis * Axis No. 00 (PCON)

Using the

axis (controller), and determine with the Return key.

Only the connecting axis will be displayed.

keys, select the data inputting

Slct Axis * Axis No. 01 (PCON)

xis number 1

Slct Axis * Axis No. 02 (PCON)

•

Caution: In the case of a controller with the PORT switch, when power is supplied with the PORT switch

ON and power is present on the Easy type teaching pendant, only powered controllers will be

detected.

The content explained hereinafter will be based on operation in response to a selected axis (controller).

Type of controller will be displayed.

8-3 Operation Mode Selection

Mode Select Edit

Teach/Play

Monitor

Error List

RCP, RCS, E-Con, RCP2 and ERC will be displayed as T2.

PCON, SCON, ACON and ERC2 will be displayed as M2.

Slct Mode/M2 A. 00 * Teach/Pla

Slct Mode/M2 A. 00 Teach/Pla

Parameter

Slct Mode/M2 A. 00 * Monitor

User

TP Operation

Slct Mode/M2 A. 00 * Error List

Adjustment

Mode

For the modes, select one of the 7 options as it appears on the above screen.

To select, move the

RCP, RCS, E-Con, RCP2, and ERC will not be displayed.

Slct Mode/M2 A. 00 * User Parm

Slct Mode/M2 A. 00 * User Ad

Slct Mode/M2 A. 00 * TP O

“* TP Operation Mode” will not be displayed for RCP, RCS,

E-Con, RCP2, and ERC.

keys to the mode desired and confirm using the Return key.

Mode

ust

Display screen

Category of Modes

1. * Edit Edit and numeric input function for position data table

Note: Not displayed in the case of the pulse sequence modes of

PCON-PL/PO, ACON-PL/PO and SCON.

2. * Teach/Play Move and teach an 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 Setting for enabling or disabling of temporary stop (hold) input and

axis No. of RC controller.

7. * TP Operation Mode Setting the TP operation mode

Note: Not displayed for RCP, RCS, E-Con, RCP2 and ERC.

8-4 Edit

8-4-1 Edit Screen

When “*Edit” is selected on the Mode Select screen, the Edit screen is displayed.

The Teach/Play screen has the 6 items as follows:

* Not displayed in the case of the pulse sequence modes of PCON-PL/PO, ACON-PL/PO and

SCON.

Mode Select

Edit

Teach/Play

Monitor

MDI

Clear

ll Clear

Error List

User

Parameter

User

Adjustment

User

Adjustment

RCP, RCS, E-Con, RCP2 and ERC will not be displayed.

Edit A. 00 * MDI

Edit A. 00 * Clear

Edit A. 00 *

ll Clear

You can change the screens by using the arrow keys ( ) and press the return key.

* MDI: Numerically inputs the position data directly from the ten keys

(input example: Page 28 in this manual).

* Clear: Resets the position data (input example: Page 33 in this manual).

* All Clear: Resets all of the 16 position data (input example: Page 34 in this manual).

The position data table will be displayed by selecting and determining MDI.

(1) PCON, ACON, SCON, ERC2

As the table below shows, in the position table, there are 13 setting contents (Position, Vel, Acc, Dcl, Push,

LoTh, Range, Zone +, Zone -, Acc/Dcl Mode, ABS/INC, Cmnd Mode, Stop Mode) per each position data

number.

* The pulse sequence modes of PCON-PL/PO, ACON-PL/PO and SCON will not be displayed.

No. Position Vel Acc Dcl Push LoTh Range Zone + Zone -

0 * * mm/s * G * G * % * % * mm * mm * mm * * * *

1 * * mm/s * G * G * % * % * mm * mm * mm * * * *

2 * * mm/s * G * G * % * % * mm * mm * mm * * * *

3 * * mm/s * G * G * % * % * mm * mm * mm * * * *

4 * * mm/s * G * G * % * % * mm * mm * mm * * * *

5 * * mm/s * G * G * % * % * mm * mm * mm * * * *

6 * * mm/s * G * G * % * % * mm * mm * mm * * * *

7 * * mm/s * G * G * % * % * mm * mm * mm * * * *

8 * * mm/s * G * G * % * % * mm * mm * mm * * * *

9 * * mm/s * G * G * % * % * mm * mm * mm * * * *

10 * * mm/s * G * G * % * % * mm * mm * mm * * * *

11 * * mm/s * G * G * % * % * mm * mm * mm * * * *

12 * * mm/s * G * G * % * % * mm * mm * mm * * * *

13 * * mm/s * G * G * % * % * mm * mm * mm * * * *

14 * * mm/s * G * G * % * % * mm * mm * mm * * * *

15 * * mm/s * G * G * % * % * mm * mm * mm * * * *

Acc/Dcl

Mode

ABS/INC

Cmnd Mode

Stop

Mode

Position Data Table

Use either the

key or the key to execute the transfer of the contents. Use either of the keys for

position number changes. In the display screen, only the single content of one position number will be

displayed.

The numbers following “No.” indicate the position number.

ＭＤＩＮｏ． 0 0 0 Ａ． 0 0

The numbers following “A” indicate the axis number.

ＰｏｓＡ＊

Indicates the following:

: ABS (Absolute Coordinate Assign)

I: INC (Relative Coordinate Assign)

(2) RCP, RCS, E-Con, RCP2, ERC

As the table below shows, in the position table, there are 7 setting contents (Position, Vel, Acc/Dcl, Push,

Range, Acc only MAX, and ABS/INC) per each position data number.

No. Position Vel Acc/Dcl Push Range Acc only 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

key or the key to execute the transfer of the contents. Use either of the keys for

position number changes. In the display screen, only the single content of one position number will be

displayed.

The numbers following “No.” indicate the position number.

ＭＤＩＮｏ． 0 0 Ａ． 0 0

ＰｏｓＡ＊

The numbers following “A” indicate the axis number.

Indicates the following:

: ABS (Absolute Coordinate Assign)

I: INC (Relative Coordinate Assign)

8.4.2 Position Data Table Contents for PCON, ACON, SCON, and ERC2

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

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

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

according to the controller type.

List of ON/OFF of Position Table According to Model

AccDcl Mode Stop Mode

Position Table Zone +/-

ERC2 ○ PIO pattern: 3 ○ × × ○ ○ ERC2-SE ○ - ○ × × ○ × PCON-C/CG/CF ○ PIO pattern: 0, 1, 2, 4, 5 ○ × × ○ ○

-CY ○ PIO pattern: 1 ○ × × ○ ○

-SE ○ - ○ × × ○ ×

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

-CY ○ PIO pattern: 1 ○ ○ ○ ○

-SE ○ - ○ ○ ○ ×

SCON positioner

○ PIO pattern: 0, 1, 2, 4, 5 ○ ○ ○ ○

(1) No. Indicates the position data number.

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

will appear between No. and Position.

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

coordinates.

Trapezoid S-shape

First-order

Delay

Full Servo

Auto

Servo

OFF

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

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

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

(2) Position: Input the target position to move the actuator to, in [mm].

- Absolute Coordinates:

Input the target location by determining the distance between the original point and target

position. No negative value can be input.

- Relative Coordinates:

Input the target location by determining the distance between the current position and

target position. Any negative value can be input (if coordinates are in the negative

direction). In this case (during negative direction of the display coordinate), first select

Relative Positioning using (10) ABS/INC.

Caution: In the case of PCON, ACON, SCON, or ERC2, there are cases where the input value to

“Push” may be rounded off to a multiple of the minimum resolution of the controller (during

data acquisition from the controller).

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

The initial value will depend on the actuator type.

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

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

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

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

value.

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

acceleration/deceleration.

Speed

Acceleration Deceleration

Target

position

Target

position

Time

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

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

(5) Push:

(6) LoTh:

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

conditions and the shape of transferred work by referring to the “List of Actuator

Specifications” in the Appendix.

Increasing such values largely relates to the transfer mass and the actuator

characteristics vary depending on the model, consult IAI regarding the input-limiting

values.

- Select the positioning operation or push operation.

The default value is “0.”

0: Normal positioning operation

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

- This field is invalid.

The default value is 0.

(7) Range:

- The “positioning operation” and “push operation” have different meanings. Positioning operation: It defines the distance to the target position from a position at which the position complete signal turns ON. The default value is 0.1 mm.

Standard type

Timing of position complete signal turning ON

Since increasing the positioning width value hastens the next sequence operation, it becomes a factor for tact time reduction. Set the optimum value by considering the balance of the entire equipment.

Positioning width

Target

position

However, it defines the width of the position complete signal for the 3-point type of PCON-C/CG, ACON-C/CG, and SCON and the proximity switch type of PCON-CY and ACON-CY.

3-point type and proximity switch type

Position complete signal

Positioning width

Target

position

Push operation:

It defines the maximum push amount from the target position in the push operation. Set the positioning width in such a way as to prevent positioning completion before the actuator contacts work by considering mechanical variations of work.

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

Work

Positioning width

Target

position

(maximum push amount)

(8) Zone +/-:

- It defines the zone where the zone output signal of the standard type turns ON. Individual setting is available for each target position to give flexibility.

[Setting example]

No.

Position

[mm]

0 5.00 100.00 0.00 1 380.00 400.00 300.00

2 200.00 250.00 150.00 Midpoint

Movement command to backward end

Zone output signal

Movement command to forward end

Zone output signal

Movement command to midpoint

Home

Zone+

[mm]

Backward

end

Zone-

[mm]

Forward

end

Comment Backward

end

Forward

end

+ side limit

(9) Acc/Dcl Mode:

- It defines the acceleration/deceleration characteristics. The default value is 0. 0: Trapezoid pattern 1: S-shaped motion 2: First-order delay filter

Midpoint

Zone output signal

Trapezoid pattern

Speed

Acceleration

Deceleration

Time

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

table.

S-shaped motion

A curve, which is gradual at the beginning of acceleration but rises sharply halfway, is drawn. Use it in the applications for which you want to set the acceleration/deceleration high due to tact time requirement but desire a gradual curve at the beginning of movement or immediately before stop.

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

ratio setting]. The setting unit is % and the setting range is between 0.0 and 100.0 (The above is the image graph when 100% setting is made.) If “0” is set, the S-shaped motion becomes invalid. However, it will not be reflected in jogging/increment movement by PC or Teaching Pendant operation.

(Note) It cannot be set for the ERC2 or PCON controller. The parameter No. 56 is

reserved.

First-order delay filter

More gradual acceleration/deceleration curves are drawn than the linear acceleration/deceleration (trapezoid pattern). Use this in the applications by giving micro vibrations to work during acceleration/deceleration not desired.

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

position command first-order filtering). The setting unit is 0.1 msec and the setting range is between 0.0 and 100.0. If “0” is set, the first-lag filter will become invalid. However, it will not be reflected in jogging/increment movement by PC or Teaching Pendant operation.

(Note) It cannot be set for the ERC2 or PCON controller. The parameter No. 55 is

reserved.

(10) ABS/INC - Select either the absolute or incremental positioning.

0: Absolute positioning (ABS) 1: Incremental positioning (INC) The default value is absolute positioning (ABS).

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

SCON-C and the proximity switch type of PCON-CY and ACON-CY. If you specify relative coordinates, a position data error will occur.

Speed

Time

Speed

Time

(11) Cmnd Mode:

- This field is invalid.

(12) Stop Mode:

- It defines the power saving method on standby after completion of positioning to the

Full servo control method

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

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

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

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

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

software.

Auto servo OFF method

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

is automatically entered.

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

amount.)

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

ON and the actuator starts to move.

Movement command

The factory setting is 0.

target position set in the “Position” field of the position number.

0: Invalid power saving method * The default setting is 0 (invalid).

1: Auto servo OFF method. Delay time defined with the parameter No. 36

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

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

4: Full servo control method

Auto servo OFF

Servo status

Servo ON status

ctuator

movement

Target position

(Green LED flashing)

T: Delay time (sec) until the servo

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

8-4-3 Position Data Table Contents for RCP, RCS, E-Con, and ERC

The columns for the position data table are Position, Vel, Acc/Dcl, Push, Range, Acc only MAX,

and ABS/INS.

(1) No. Shows position data No.

(2) Position: The desired move location from home in millimeters.

- Absolute Positioning:

Moves the actuator to the desired location in reference to the home location. Inputting

negative values is not possible.

- Relative Positioning:

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 Positioning using (7) ABS/INC.

* By pressing the

ABS/INC Input Screen.

key once from the Position Input Screen will move the screen to

Caution: There are cases when the input value may be rounded off to the least common denominator

multiple of the controller.

(3) Vel - The speed when moving the actuator (mm/sec).

The default value will depend on the actuator type.

(4) Acc/Dcl - The acceleration/deceleration setting for the move to the corresponding position (in G’s).

The default value will depend on the actuator type.

(5) Push - Selects the positioning mode or push mode.

The default value is set as 0.

0: Positioning Mode (normal movement)

Besides 0: Push Mode (%)

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

push.

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

(6) Range - As for the range, depending on the setting in the push as either 0 or other than 0, this

function will vary. [mm]

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

(B) Push ≠ besides 0 (Push Mode)

- The push mode uses the range value as the distance of the push. [mm]

- When the push direction is towards home, a “minus” sign should be placed in the range

column.

Speed

(5) When push = 0

(2) Distance up to the position

Speed

(5) When push ≠ 0

(2) Distance up to the position

Transfer distance Transfer distance

(6) Range Value (6) Range Value

Diagram A Diagram B

(7) MAX Acceleration

- Selects either the assigned acceleration or the maximum acceleration. Inputs are either 1

or 0. The default value is set as 0.

0: Assigned acceleration

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

deceleration value.

1: Maximum acceleration

This will automatically utilize the maximum acceleration matched to the load.

Deceleration remains as the assigned value in (4).

(7) When acceleration only MAX = 0

Speed

(4) The value set in

acceleration/deceleration

(7) When acceleration only MAX = 1

The maximum acceleration

Speed

matches the load

(4) The value set in acceleration/deceleration

Transfer distance

(8) ABS/INC - Select either the absolute or incremental positioning.

0: Absolute positioning (ABS)

1: Incremental positioning (INC)

The default value is absolute positioning (ABS).

8-4-4 MDI Numeric Input

Method of numerically inputting the position data directly from the ten keys of the Easy Type

Teaching Pendant.

In this section, we will explain an example of the input procedure according to MDI (numeric input)

for PCON, ACON, SCON and ERC2.

Input the following content in Position Nos. 0 to 3.

Position No. 0

Absolute positioning mode Position 0mm

Absolute positioning mode

Position No. 1

Position 50mm, Vel 100mm/s, Acc/Dcl 0.1G Range 0.2mm, Acc MAX 1 Absolute push mode

Position No. 2

Position 80mm, Vel 100mm/s, Acc/Dcl 0.1G Push 40%, Range 5mm

Position No. 3

Incremental positioning mode Position 10mm, speed 20mm/s

Data not assigned utilizes default value. The example here is based on initial status during shipment (when

data is all clear).

You may input data from position data table similar to the table below.

Position Data Table

No. Position Vel Acc Dcl Push LoTh Range Zone + Zone -

0 0.00

1 50.00

2 80.00

3 10.00

125

mm/s

100

mm/s

100

mm/s

0.20 G 0.20 G 0 % 0 % 0.10 mm

0.10 G 0.10 G 0 % 0 % 0.20 mm

0.10 G 0.10 G 40 % 0 % 5.00 mm

0.20 G 0.20 G 0 % 0 % 0.10 mm

0.00 mm

Acc/Dcl

Mode

ABS/INC

0 0 0 0

0 1 0 0

Cmnd Mode

Stop

Mode

Input the data inside the thick lined frames (see above table). The default values will be used for the data

outside the thick-lined frame. By inputting the position data, the default value will be automatically input.

The default values (Vel, Acc/Dcl and LoTh) will vary according to actuator machine type (in this example:

RA4C Low speed type).

Slct Mode/M2 A. 00 * Edit

Using the keys in the Mode Select Screen,

select Edit/Teach and choose using the Return key.

Edit A. 00 * MDI

Using the

select MDI and choose using the Return key.

keys in the Edit/Teach Screen,

Input using position number 0.

MDI No. 000 A. 00 Position A *

MDI No. 000 A. 00 Position A 0.

The screen will turn into the Input Screen for Position.

Using the Numeric keys, press 0 and the Return key.

MDI No. 000 A. 00 Vel 125

Input using position number 1

MDI No. 001 A. 00 Position A *

MDI No. 001 A. 00 Position A 50

MDI No. 001 A. 00 Vel 100

MDI No. 001 A. 00

cc 0.1 G

MDI No. 001 A. 00 Dcl 0.1

MDI No. 001 A. 00 Push % 0

MDI No. 001 A. 00 LoTh 0

MDI No. 001 A. 00 Ran

MDI No. 001 A. 00 Zone + 0.00

MDI No. 001 A. 00 Zone - 0.00

MDI No. 001 A. 00

e 0.2mm

cc/Dcl 0

mm/s

Position number 1

mm/s

MDI No. 001 A. 00

BS Æ 0 INC Æ 1 0

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

The screen will turn into the Input Screen for Position.

Use the Numeric keys to input 50 and then, press the

Return key.

The screen will turn into the Input Screen for Speed.

Use the Numeric keys to input 100 and then, press

the Return key.

The screen will turn into the Input Screen for Acc.

Use the Numeric keys to input 0.1 and then, press the

Return key.

The screen will turn into the Input Screen for Dcl. Use

the Numeric keys to input 0.1 and then, press the

Return key.

The screen will turn into the Input Screen for Push %.

The default value will be utilized as is, so press the

Return key.

The screen will turn into the Input Screen for Range.

The default value will be utilized as is, so press the

Return key.

The screen will turn into the Input Screen for Range.

Use the Numeric keys to input 0.2 and then, press the

Return key.

The screen will turn into the Input Screen for Zone +.

The default value will be utilized as is, so press the

Return key.

The screen will turn into the Input Screen for Zone -.

The default value will be utilized as is, so press the

Return key.

The screen will turn into the Input Screen for Acc •

Dcl. The default value will be utilized as is, so press

the Return key.

Input for position number 1 will end here.

Next, position number 2 input will be executed.

key to advance the position number to

Input using position number 2

MDI No. 002 A. 00 Position A *

MDI No. 002 A. 00 Position A 80

MDI No. 002 A. 00 Vel 100

MDI No. 002 A. 00

cc 0.1 G

MDI No. 002 A. 00 Dcl 0.1

MDI No. 002 A. 00 Push % 40

MDI No. 002 A. 00 LoTh 0

Position number 2

mm/s

Press the key to advance the position number to

The screen will turn into the Input Screen for Position.

Use the Numeric keys to input 80 and then, press the

Return key.

The screen will turn into the Input Screen for Speed.

Use the Numeric keys to input 100 and then, press

the Return key.

The screen will turn into the Input Screen for Acc.

Use the Numeric keys to input 0.1 and then, press the

Return key.

The screen will turn into the Input Screen for Dcl. Use

the Numeric keys to input 0.1 and then, press the

Return key.

The screen will turn into the Input Screen for Push %.

Use the Numeric keys to input 40 and then, press the

Return key.

The screen will turn into the Input Screen for Range.

Use the Numeric keys to input 5 and then, press the

Return key.

MDI No. 002 A. 00 Ran

e 5mm

MDI No. 002 A. 00 Zone + 0.00

The screen will turn into the Input Screen for

Positioning Width. Use the Numeric keys to input 5

and then, press the Return key.

Input for position number 2 will end here.

Next, position number 3 input will be executed.

Input using position number 3

MDI No. 003 A. 00 Position A *

Input using MDI

MDI No. 003 A. 00 Position A 10

MDI No. 003 A. 00

BS Æ 0 INC Æ 1 1

MDI No. 003 A. 00 Position I 10.00

MDI No. 003 A. 00 Vel 20

INC (Relative positioning)

Position number 3

mm/s

Press the key to advance the position number to

The screen will turn into the Input Screen for Position.

Use the Numeric keys to input 10 and then, press the

Return key.

Press the key to change screen into ABS/INC

Display Screen. Use the Numeric keys to input 1 and

then, press the Return key.

The screen will turn into the Input Screen for Position.

Press the

The screen will turn into the Input Screen for Speed.

Use the Numeric keys to input 20 and then, press the

Return key.

Input for MDI will end here.

key, then position “I” is displayed.

8-4-5 Clear • All Clear

In this section, we will give specific examples of how to clear data in the position table.

(1) Clear: Resets the assigned position data.

(2) All Clear: Resets all of 16 position data.

(1) Clear:

The Clear operation procedure is explained below. The data of any position number is cleared.

In this example, the data of position number 1 is cleared.

The position data table becomes as shown below.

No. Position Vel Acc Dcl Push LoTh Range Zone + Zone -

0 0.00

1 50.00

2 80.00

3 10.00

125

mm/s

100

mm/s

100

mm/s

0.20 G 0.20 G 0 % 0 % 0.10 mm

0.10 G 0.10 G 0 % 0 % 0.20 mm

0.10 G 0.10 G 40 % 0 % 5.00 mm

0.20 G 0.20 G 0 % 0 % 0.10 mm

0.00 mm

Acc/Dcl

Mode

ABS/INC

0 0 0 0

0 1 0 0

Cmnd Mode

No. Position Vel Acc Dcl Push LoTh Range Zone + Zone -

0 0.00

1 * * mm/s * G * G * % * % * mm * mm * mm * * * *

2 80.00

3 10.00

125

mm/s

100

mm/s

0.20 G 0.20 G 0 % 0 % 0.10 mm

0.10 G 0.10 G 40 % 0 % 5.00 mm

0.20 G 0.20 G 0 % 0 % 0.10 mm

0.00 mm

Acc/Dcl

Mode

ABS/INC

0 0 0 0

0 1 0 0

Cmnd Mode

Slct Mode/M2 A. 00 * Edit

In the Mode Select Screen, using the

keys, select Edit and then, press the Return key.

Edit A. 00 * Clear

Position number 1

Clear? No. 001 A. 00

50.00 Y Æ 1 N Æ 0

Position data for position number 1

Edit A. 00 * Clear

In the Teach/Play screen, using the

select Clear and then, press the Return key.

Using the

keys, change the position number

into 1. Pressing 1 on the Numeric keys 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.

Slct Mode/M2 A. 00 * Edit

Press the key once to return the screen to the

Mode Select Screen.

Stop

Mode

Stop

Mode

keys,

(2) All Clear:

The data of all the position numbers is cleared.

The position data table becomes as shown below.

No. Position Vel Acc Dcl Push LoTh Range Zone + Zone -

0 0.00

1 50.00

2 80.00

3 10.00

125

mm/s

100

mm/s

100

mm/s

0.20 G 0.20 G 0 % 0 % 0.10 mm

0.10 G 0.10 G 0 % 0 % 0.20 mm

0.10 G 0.10 G 40 % 0 % 5.00 mm

0.20 G 0.20 G 0 % 0 % 0.10 mm

0.00 mm

Acc/Dcl

Mode

ABS/INC

0 0 0 0

0 1 0 0

Cmnd Mode

No. Position Vel Acc Dcl Push LoTh Range Zone + Zone -

0 * * mm/s * G * G * % * % * mm * mm * mm * * * *

1 * * mm/s * G * G * % * % * mm * mm * mm * * * *

2 * * mm/s * G * G * % * % * mm * mm * mm * * * *

Acc/Dcl

Mode

ABS/INC

Cmnd Mode

Stop

Mode

Stop

Mode

3 * * mm/s * G * G * % * % * mm * mm * mm * * * *

Slct Mode/M2 A. 00 * Edit

In the Mode Select Screen, using the

keys, select Edit and then, press the Return key.

Edit A. 00 *

ll Clear

All Clear? A. 00 Y Æ 1 N Æ 0

In the Teach/Play Screen, using the

select All Clear and then, press the Return key.

Pressing 1 on the Numeric keys will clear all data 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

ll Clear

Slct Mode A. 00 * Edit

Press the key once to return the screen to the

Mode Select Screen.

keys,

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 Teach/Play Screen.

Mode Select Edit

Other than pulse sequence modes of

PCON-PL/PO, ACON-PL/PO and SCON

Teach/Play A. 00 * Direct Teach

Teach/Play

Monitor

Error List

User Parameter

User Adjustment

TP Operation Mode

Direct Teach

Jog

Increment

Home

Move

Continuous

RCP, RCS, ECon, RCP2 and ERC are not displayed.

Pulse sequence modes of PCON-PL/PO,

ACON-PL/PO and SCON

Teach/Play A. 00 * Jog

Teach/Play A. 00 * Increment

Teach/Play A. 00 * Home

Teach/Play A. 00 * Move

Teach/Play A. 00 * Continuous

Teach/Play A. 00 * Increment

Teach/Play A. 00 * Home

8-5-2 Teach

Move the actuator and the current position can be incorporated into the position data table.

(1) Direct Teach: Turn the servo controller OFF, manually move the slider to match the desired

location, and read that location in the position table.

(2) Jog: Use the arrow keys to jog to the desired location, and read 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: 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 the MDI mode for all other data.

Specific examples will be provided to explain operation procedures.

(1) Direct Teach

Manually move the slider or rod to the desired position and the current position is incorporated into the

position data table.

In this example, data is input for position number 4 by Direct Teach.

Slct Mode/M2 A. 00 * Teach/Pla

Teach/Play A. 00 * Direct Teach

Direct Teach A. 00 Srv OFF 51.23F

Position number 4

Incorporate? No. 004 A. 00

Direct Teach A. 00 Srv OFF 51.23F

Slct Mode/M2 A. 00 * Teach/Pla

Displays the current position. * Although this is displayed even

when homing is incomplete, it is not an accurate value.

* Y Æ 1 N Æ 0

Displays the old position data. It is not the desired position determined in the previous screen.

Using the keys in the Mode Select

Screen, select Teach/Play and choose using the

Return key.

Using the

select Direct Teach and choose using the Return key.

The servo is turned OFF and the current position is

displayed. Under this condition, move the slider or

rod by hand and determine a desired position.

(In the case of the actuator with brake, release the

brake.)

fter determining the desired position, press the

Return key.

Change the position number to 4 using the

keys.

Press 1 on the numeric key.

(If the slider or rod moves before pressing 1,

determine a desired position again.)

To cancel the data, press 0.

In either case, the screen returns to the previous

screen.

Press the key twice to return the screen to the

Mode Select screen.

keys in the Teach/Play Screen,

Caution: Input any data (speed, acceleration/deceleration, etc.) other than position by MDI.

When the position data is first input by the method of Direct Teach after power-on or alarm

raising, it is required to have homed the actuator in advance.

The Easy Type Teaching Pendant has no function of homing the actuator.

Execute Direct Teach after completing homing by PLC in advance.

(2) Jog

Jog the slider or rod using the

into the position table.

In this example, data is input for position number 5 by Jog.

Slct Mode/M2 A. 00 * Teach/Pla

Teach/Play A. 00 * Jo

Jog A. 00 Vel V2 18.90N

Incorporate? No. 005 A. 00

Jog A. 00 Vel V2 18.90N

Position number 5

Displays the jog speed.

Displays the current location. * Although this is displayed

even when homing is incomplete, it is not an accurate value.

* Y Æ 1 N Æ 0

Displays the old position data. It is not the desired position determined in the previous screen.

keys to the desired position, and incorporate the current position

Using the keys in the Mode Select

Screen, select Teach/Play and choose using the

Return key.

Using the

select Direct Teach and choose using the Return key.

You may select the jog speed and current location

here. Use the key to select the Jog speed as

follows:

(Slow) V1 (1 mm/sec) V2 (10 mm/sec) V3 (30

mm/sec) V4 (50 mm/sec) V5 (100 mm/sec) (Fast)

Use the

the desired location.

: Positive direction

: Negative direction

fter determining the desired position, press the

Return key.

In the case of pulse sequence modes of

PCON-PL/PO, ACON-PL/PO and SCON, press the

key, then the Screen will change to pulse display.

Numeric values are displayed in integer numbers.

Change the position number to 5 using the

keys.

Press 1 on the numeric keys to incorporate the

current location.

Press 0 to cancel the data.

In either case, the screen returns to the previous

screen. You may use this screen to continue teaching

using Jog.

keys to move either the slider or rod to

keys in the Teach/Play Screen,

Teach/Play A. 00 * Jo

Slct Mode/M2 A. 00 * Teach/Pla

Press the key to return the screen to the

Teach/Play screen.

Press the

Select screen.

key to return the screen to the Mode

(3) Increment

Increment the slider or rod using the

incorporated into the position data table.

In this example, data is input for position number 6 by Jog.

Slct Mode/M2 A. 00 * Teach/Pla

Teach/Play A. 00 * Increment

Jog A. 00 Distance 0.10 4.00N

Position number 6

Incorporate? No. 006 A. 00

Increment A. 00

Displays the increment distance.

Displays the current location. * Although this is displayed

even when homing is incomplete, it is not an accurate value.

* Y Æ 1 N Æ 0

Displays the old position data. It is not the desired position determined in the previous screen.

Distance 0.10 4.00N

keys to the desired position and the current position is

Using the keys in the Mode Select

Screen, select Teach/Play and choose using the

Return key.

Using the

select Increment and choose using the Return key.

You may select the jog speed and current location

here. Use the key to select the Jog speed as

follows:

(0.03 Æ 0.10 Æ 0.50)

Use the

the desired location.

: Positive direction

: Negative direction

* Jog move is possible by pressing the

for more than 2 seconds (beyond that, speed will

jump up after every second). In the case that 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.

After determining the desired position, press the

Return key.

Change the position number to 5 using the

keys.

Press 1 on the numeric keys to incorporate the

current location.

Press 0 to cancel the data.

In either case, the screen returns to the previous

screen. You may use this screen to continue teaching

using Jog.

keys to move either the slider or rod to

keys in the Teach/Play Screen,

keys

Teach/Play A. 00 * Increment

Slct Mode/M2 A. 00 * Teach/Pla

Press the key to return the screen to the

Teach/Play screen.

Press the

Select screen.

key to return the screen to the Mode

(4) Home

Executes home.

Slct Mode/M2 A. 00 * Teach/Pla

Teach/Play A. 00 * Home

Home A. 00 Return ke

Teach/Play A. 00 * Home

Æ Execute

Slct Mode/M2 A. 00 * Teach/Pla

Using the

select Jog and choose using the Return key.

Press the Return key to execute homing.

Press the

Teach/Play screen.

Press the

Select screen.

keys in the Teach/Play Screen,

key to return the screen to the

key to return the screen to the Mode

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 keys. This will be a move towards a position that was

registered in the position data table within the controller.

* In pulse sequence modes of PCON-PL/PO, ACON-PL/PO and SCON, move cannot be executed.

(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 the 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 Æ No. 3 Æ No. 1 Æ No.2 and so on).

Position (mm) Vel (mm/s) Acc/Dcl (G)

No.

0 * **

1 10.00 20.00 0.05

2 50.00 33.00 0.11

3 100.00 100.00 0.22

4 * * *

5 555.55 333.00 0.22

6 666.66 444.00 0.11

7 777.77 777.00 0.07

Specific examples will be provided to explain operation procedures.

Caution: For RCP, RCS, E-con, RCP2 and ERC, complete position output is not updated at speed

of 10% and 50% for both positioning mode and push mode.

The positioning complete output will not turn ON when push mode does not encounter a

force.

Upon installing power or after an alarm, if you try to move before homing, the RC will

home and then move to the assigned position number.

(1) Move

Consecutive operation from the assigned position data number in the position table to the consecutive

position data number.

In this example, move to the position number 2.

Slct Mode/M2 A. 00 * Teach/Pla

Teach/Play A. 00 * Move

Move A. 00 No. 002 Vel 10%

Using the keys in the Mode Select

Screen, select Teach/Play and choose using the

Return key.

Using the

keys in the Teach/Play Screen,

select Move and choose using the Return key.

Position number and move speed ratio will be displayed. Changes can be made in the move

Use The Keys to turn the moving position number into 2.

speed ratio using the

Note: Shown on the left is the case of Teach 2 Mode.

If Teach 1 mode, it will be displayed as “2 → 10 → 30 → 50 → 100 mm/s”.

key (10% 50% 100%).

The numeric value indicated inside the dotted box can be changed by pressing 0 on the Numeric keys. Press the Return key from either screen to move to the position number 2. In the case of homing incomplete status, after first homing, the actuator will move to position number 2.

Note: When PCON, ACON, SCON and ERC2 are

connected, the maximum speed becomes a safe speed lower than the speed set by the parameters if the MANU operation mode is set to the teach mode 1 (safety speed enable).

Position number

Move speed ratio

Move No. 006 A. 00 No. 002 10.25N

Current position will display for numeric values that have N at the end. N indicates servo ON.

Move A. 00 No. 002 50.00

Move A. 00 No. 003 Vel 10%

Upon move, the position number will automatically

turn into 3.

Here, press the Return key to move to position

number 3.

Move A. 00 No. 001 Vel 10%

Upon move, the position number will automatically

turn into 1.

(if the position table is the one indicated on Page 41

in this manual).

Teach/Play A. 00 * Move

Press the

key to return the screen to the

Teach/Play screen.

Slct Mode/M2 A. 00 * Teach/Pla

Press the

key to return the screen to the Mode

Select screen.

The old position data of the position No. 2 will display for numeric values that do not have N at the end. N indicates servo ON.

Position number

(2) Consecutive Move

1 step move from the current location to the assigned position number set in the position table.

In this example, move to the position number 2.

Slct Mode/M2 A. 00 * Teach/Pla

Teach/Play A. 00 * Continuous

Continuous A. 00 No. 002 Vel 10%

Continuous No. 006 A. 00 No. 002 10.25N

Current position will display for numeric values that have N at the end. N indicates servo ON.

Continuous A. 00 No. 002 50.00

The old position data of the position No. 2 will display for numeric values that do not have N at the end. N indicates servo ON.

Continuous A. 00 No. 003 Vel 10%

Position number

Move speed ratio

Position number

Using the keys in the Mode Select

Screen, select Teach/Play and choose using the

Return key.

Using the

select Continuous and choose using the Return key.

Position number and move speed ratio will be

displayed.

Use the

number into 2.

Changes can be made in the move speed ratio

using the

The numeric value indicated inside the dotted box

can be changed by pressing 0 on the Numeric

keys. Press the Return key from either screen to

move to the position number 2. In the case of

homing incomplete status, after first homing, the

actuator will move to position number 2.

Note: When PCON, ACON, SCON and ERC2 are

connected, the maximum speed becomes a safe

speed lower than the speed set by the parameters

if the MANU operation mode is set to the teach

mode 1 (safety speed enable).

During Consecutive Move, the position number will

display the position number it is currently moving

towards.

Press either the

to stop Consecutive Move.

Press the Return key to resume Consecutive Move

(the emergency stop button is in a released status).

Consecutive Move will be resumed towards the

position number currently displayed.

keys in the Teach/Play Screen,

keys to turn the moving position

key (10% 50% 100%).

key or emergency stop button

Teach/Play A. 00 * Continuous

Slct Mode/M2 A. 00 * Teach/Pla

Press the

Teach/Play screen.

Press the

Select screen.

key to return the screen to the

key to return the screen to the Mode

8-6 Data Modification

You may write over all of the position data. Similar to new input, the following 4 cases exist:

(1) Manual Input: Manually enter the position data directly from the teaching pendant key pad.

(2) Direct Teach: Turn the servo OFF, manually move the slider to the desired location, and read that

location into the position table.

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

position table.

(4) Increment: Use the arrow keys to incrementally move and read that location into the position table.

Caution during data modification:

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

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

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

* Once the position data is cleared, the previous data will not remain anywhere, therefore, when the next

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

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

input required data.

8-7 Monitor

The I/O status and current position of all controllers connected on the communications line will be

displayed.

The following is a display example of controller PCON-CY. Some of the screen may not be displayed

depending on the type of controller. Items displayed depend on the I/O pattern setting.

Slct Mode/M2 A. 00 * Monitor

In the Mode Select Screen, using the

keys, select Monitor and then, press the Return key.

Select the displayed item using the Return key or the

keys. Use the

keys to change the axis

number.

Displays the current position.

Monitor A. 00 Pos 0.00N

Displays the error code number.

Monitor A. 00 Error No. 000

Displays the ON/OFF status of servo.

Monitor A. 00 Servo ON

Displays the speed.

For the pulse modes of PCON-PL/PO, ACON-PL/PO

and SCON, the Screen can be changed to the pulse

(pls) display by pressing the

key.

Displays the current.

The Screen is changed to current ratio (%) display by

pressing the

key.

Monitor A. 00 Vel 00 mm

Monitor A. 00

Cur 50.0 mA

Displays the ST0 (retract move command) status.

Monitor A. 00 in 00 ST0 OFF

Displays the ST1 (advance move command) status.

Monitor A. 00 in 01 ST1 OFF

Displays the ST1 (intermediate point move

command) status.

Monitor A. 00 in 02 ST2 OFF

Displays the SON (servo ON command) status.

Monitor A. 00 in 03 SON OFF

Displays the LS0 (retract end position detection)

status.

Monitor A. 00 out 00 LS0 OFF

Displays the LS1 (advance end position detection)

status.

Monitor A. 00 out 01 LS1 ON

Monitor A. 00 out 02 LS2 OFF

Monitor A. 00 out 03 SV OFF

Monitor A. 00 out 04 HEND ON

Monitor A. 00 out 05 * ALM ON

Displays special input port hereinafter.

The display depends on the axis (controller) to be connected.

Monitor A. 00 in HMSW OFF

Monitor A. 00

Displays the LS3 (intermediate point end position

detection) status.

Displays the SV (operating preparation completion)

status.

Displays the HEND (homing completion) status.

Displays ON if homing is completed, and displays

OFF if not.

* Displays the ALM (alarm output) status.

Displays the HMSW (homing check sensor) status.

Displays the PORT switch status.

PORT SW ON

Displays ON when it is normal.

Monitor A. 00 Enable SW ON

Monitor A. 00 CTL Ver ae 030000

Slct Mode/M2 A. 00 * Monitor

Displays the Enable SW status.

Displays the software version of the controller.

The Screen returns to the mode select screen by

pressing the

key.

8-8 Error List

As long as the Teaching Pendant is connected, this display will show the content of the controller

error.

Slct Mode/M2 A. 00 * Err List

(1) Teaching pendant error list

Displays the error having occurred after the Easy Type Teaching Pendant connection (PORT ON).

Select the displayed item using the Return key or

Change the list number using the

Error list totaled 30 (List No. 0 – 29).

Teaching Pendant Error List

Err List List Page 0 Err No. 0E8

Err List List Page 0

, B disconnect

Err List List Page 0

xis No. 00

Err List List Page 0 1 Min

Slct Mode/M2 A. 00 * Err List

keys.

In the Mode Select Screen, using the

keys, select Error List and then, press the Return key.

keys.

Displays the error code number.

Displays the error name.

Displays axis number in which the error occurred.

Displays how many minutes ago the error occurred.

Press the key once to return to the Mode

Select Screen.

(2) Controller error list

(

)

Press any one of the ten keys 0－8 from the screen of the teaching pendant error list, then the error

that has occurred is displayed after power for the controller is turned ON. For a number of 10 or more,

press the

key and the ten keys of 0-5.

Note) The teaching pendant FLASH Ver. 1.63 and later make available the display function of the

controller error list.

For PCON, ACON, SCON and ERC2, the content of the alarm list will be kept even if the power

is turned OFF.

Displays the past 8 alarm level errors including the final (most recent) error that has occurred, and one

final detected warning level error.

The relationship between the ten keys and error to be displayed are as follows.

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

Ten key Ten key

0 Last detected alarm level error 0 Last detected alarm level error

1 Previously first detected alarm level error 1 Previously first detected alarm level error

2 Previously second detected alarm level error 2 Previously second detected alarm level error

3 Previously third detected alarm level error 3 Previously third detected alarm level error

4 Previously fourth detected alarm level error 4 Previously fourth detected alarm level error

5 Previously fifth detected alarm level error 5 Previously fifth detected alarm level error

6 Previously sixth detected alarm level error 6 Previously sixth detected alarm level error

7 Previously seventh detected alarm level error 7 Previously seventh detected alarm level error

8 Previously eighth detected alarm level error 8 Last detected warning level error

9 Previously ninth detected alarm level error

Previously tenth detected alarm level error

Previously eleventh detected alarm level error

Previously twelfth detected alarm level error

Previously thirteenth detected alarm level error

Previously fourteenth detected alarm level error

Previously fifteenth detected alarm level error

The displayed content can be selected with the

The list No. can be changed with the

keys.

keys or return key.

Controller error list

CTL Err List 0 A. 00 Err No. 0B1

Displays the error No.

CTL Err List 0 A. 00 Bank 31 Err

Point

Displays the error name.

The screen returns to the teaching pendant error list screen by pressing the

key.

(

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.

Slct Mode/M2 A. 00 * User Parm

Select the displayed item using the Return key or

keys for input and then, press the Return key. Turn on the power again or reset the software (only for

applicable models) after changing the parameters.

Parameter display screens for PCON-CY are shown below. The display depends on the type of controller.

For content to be displayed, refer to the Operating Manual of each controller.

User Parm 01 A. 00 + Zone 150.30

User Parm 02 A. 00

- Zone -0.30

User Parm 03 A. 00 + Lmt 150.30

User Parm 04 A. 00

- Lmt -0.30

User Parm 05 A. 00 Home

User Parm 06 A. 00 Push Com

User Parm 07 A. 00 Srv Gain No. 8

User Parm 08 A. 00 Init. Vel 100

User Parm 09 A. 00 Init.

User Parm 10 A. 00 LoTh 0.10

CWO CCW1) 1

255mm/s

cc 0.30G

mm/s

In the Mode Select Screen, using the

keys, select User Parameter and then, press the

Return key.

keys. To change the value, use the Numeric

Sets the zone limit +side.

Sets the zone limit -side.

Sets the soft limit + side.

Sets the soft limit - side.

Sets the homing direction

Sets the push stop determination time.

Sets servo gain number.

Sets the initial velocity value.

Sets the initial Acc･Dcl initial value.

Sets the initial positioning width value.

User Parm 12 A. 00 Hold Cur 5

User Parm 13 A. 00 Home Cur 10

User Parm 16 A. 00 Baud 38400

User Parm 17 A. 00 RTIM 5

User Parm 21 A. 00 SON Disable 1

User Parm 22 A. 00 OFST 0.20

User Parm 23 A. 00 + Zone 2 9999.99

bps

msec

Sets the current limit value when positioning stops.

Sets the current limit value when homing is carried

out.

Selects and sets the SIO communication speed.

Sets the slave station transmitter activation minimum

delay time.

Sets the servo ON input [0: enable/1: disable].

Sets the homing offset amount.

Sets the zone limit 2 + side.

User Parm 24 A. 00

- Zone 2 9999.99

User Parm 25 A. 00 PIO Ptn 0

User Parm 28 A. 00 Pole Sense Dir 0

User Parm 29 A. 00 Pole Sense 10

msec

User Parm 31 A. 00 Pro

Gain 103

User Parm 32 A. 00 Int Gain 3146

User Parm 33 A. 00 Tr

Filter 0

Sets the zone limit 2 − side.

Sets the PIO pattern.

Sets the excitation phase signal detection operation

initial move direction [0: reverse/1: normal].

Sets the excitation phase signal detection time.

Sets the speed loop proportional gain.

Sets the speed loop integral gain.

Sets the torque filter time constant.

User Parm 34 A. 00 Push Vel 2

mm/s

Sets the push speed.

User Parm 35 A. 00 Saft

Vel 250mm/s

User Parm 36 A. 00

uto Srv Off 0s

User Parm 37 A. 00

uto Srv Off 2 0s

User Parm 38 A. 00

uto Srv Off 3 0s

User Parm 39 A. 00 PEND Out

ut Typ 0

User Parm 42 A. 00 Enable Fnc Dis 1

User Parm 43 A. 00 Home Sensor Dis 0

Sets the safety speed.

Sets the auto servo OFF delay time 1.

Sets the auto servo OFF delay time 2.

Sets the auto servo OFF delay time 3.

Sets the positioning complete signal output method

[0: PEND/1: INP].

Sets the enable function [0: enable/1: disable].

Sets the home check sensor input character.

User Parm 45 A. 00 silent Interval 0

User Parm 46 A. 00 Vel Override 100

User Parm 53 A. 00

Mode Def 0

Sto

Sets the silent interval scaling factor.

Sets the speed override.

Sets the stop mode initial value.

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

effective area.

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

Soft limit + side: 80.3

Soft limit - side: -0.3

Soft Limit set in controller

pprox.

0.3mm

pprox.

0.1mm

Effective area

pprox.

0.1mm

Jog Increment allowable range after homing

pprox.

0.3mm

- For RCP, RCS, E-Con, RCP2 and ERC, if the homing direction is changed, all of the inputted 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.

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

8.10 Software reset after user parameters are changed

For software reset (re-start) function support model (PCON, ACON, ERC2, RCP2, ERC), the screen

moves to the software reset screen when the key is pressed after the user parameter is changed

or the user adjustment is set.

Soft Reset A. 00 * Reset? Y Æ 1 N Æ 0

Soft Reset A. 00 * Srv OFF? Y Æ 1 N Æ 0

Press 1 when resetting the software.

(Press 0 when interrupting to reset the software. The

screen returns to the mode select screen.)

The screen moves to the check screen of servo OFF

while servo is ON.

Press 1 when restarting. Since servo OFF is

automatically carried out, it is not necessary to turn

OFF the SON input.

(Press 0 when interrupting to reset the software.)

The screen returns to the mode select screen even if

either one of 1 or 2 is pressed.

Adj

8-11 User Adjustment

8.11.1 Pause, servo ON input enable and disable setting, homing operation, axis number setting

Sets enable or disable of homing and pause.

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

Slct Mode/M2 A. 00 * User Ad

Homing

User Adjust A. 00

Disable hold input:

User Adjust A. 00

Enable hold input:

User Adjust A. 00

Disable the servo ON input (only for E-Con, RCS Series)

User Adjust A. 00

Enable the servo ON input (only for E-Con, RCS Series)

User Adjust A. 00

ust

ust 1

ust 91

ust 90

ust 93

ust 92

Input 91

Input 90

Input 93

Input 92

In the Mode Select Screen, using the

keys, select User Adjustment and then, press the

Return key.

Input 1 into the adjustment number and then, press

the Return key to execute homing.

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.

Input 93 into the adjustment number and then, press

the Return key. Afterwards, the controller must be

turned OFF.

Input 92 into the adjustment number and then, press

the Return key. Afterwards, the controller must be

turned OFF.

Setting the controller axis number

Adj

Sets the axis numbers of controllers (RCP, ERC, ERC2) and compact types (PCON-CY, SE, PL/PO,

ACON-CY, SE, PL/PO).

User Adjust A. 00 alloc. 0

User Adjust A. 00

ust 2

Caution: Do not input any numeric values other than 1, 2, 3, 4, 90 and 91, 92, 93 and 5119 into the

adjustment number.

Additionally, when setting the parameter No.25 (PIO pattern)= 0, 2 in the RCP controller

and RCP2 controller (when there is no servo ON input), also do not input 92 into the

adjustment number. Since there is no servo ON input, operation cannot be made.

Input axis number.

Input 2

The adjustment No. and allocation No. are changed

by pressing the Return key or

Input the axis number into the allocation number and

then, press the Return key.

Input 2 into the adjustment number and then, press

the Return key.

If axis No. is set to the controller with axis No. setting

switch, an error No. 061 occurs and the setting is

rejected.

fterwards, the controller must be turned OFF.

keys.

8.11.2 Software Reset

Adj

Resets the software (re-start up the controller).

* Version V2.00 or later make available the software reset function.

It is ready for models of PCON, ACON, SCON, RCP2, ERC and ERC2.

Slct Mode/M2 A. 00 * User Ad

User Adjust A. 00

ust 4

Soft Reset A. 00 * Reset? Y Æ 1 N Æ 0

Soft Reset A. 00 * Srv OFF? Y Æ 1 N Æ 0

Soft Reset A. 00 Please Wait. Y Æ 1 N Æ 0

ust

In the mode select screen, using the

select User Adjustment, and then press the Return

key.

Input 4 into the adjustment number, and press the

Return key.

When performing the software reset, press the

key.

(When interrupting the software reset, press the

key. The screen returns to the mode select screen.)

During servo on, if pressing the key, a message

“Srv OFF?” appears on the full screen.

(When interrupting the software reset, press the

key. The screen returns to the mode select screen.)

message “Please wait.” appears, and the software

reset is carried out.

fter carrying out, the screen returns to the mode

select screen.

keys,

8.11.3 Error List Clear

Adj

Clears all of the contents of error lists in the controller.

* Version V2.00 and later make available the error list clear function.

This is available for models of PCON, ACON, SCON, and RCP2.

Slct Mode/M2 A. 00 * User

User Adjust A. 00

ust 3

Soft Reset A. 00 * Reset? Y Æ 1 N Æ 0

ust

In the mode select screen, using the

select User Adjustment, and then press the Return

key.

Input 3 into the adjustment number, and press the

Return key.

Press the key.

The error list is cleared.

(When interrupting error list clear, press the

The Screen returns to the mode select screen even

by pressing either the

key or key.

keys,

key.)

8.12 TP Operation Mode

(

Sets operation mode in the manual mode (MANU).

Models of PCON, ACON, SCON, ERC2 are available for this mode.

Slct Mode/M2 A. 00 * TP O

TP Op Mode A. 00 Slct

The TP operation mode is selected from the following four menus using the

- Teach 1

PIO not allowed: It is allowed to write position data and parameters, etc., in the controller and

With safety speed: The maximum speed is the safety speed set on the parameter regardless of the

- Teach 2

PIO not allowed: It is allowed to write position data and parameters, etc., in the controller and

Without safety speed: It is allowed to move at a speed registered on the position data.

- Monitor 1

PIO allowed: Only monitoring is allowed. It is not allowed to write position data and parameters,

With safety speed: The maximum speed is the safety speed set on the parameter regardless of the

- Monitor 2

PIO allowed: Only monitoring is allowed. It is not allowed to write position data and parameters,

Without safety speed: It is allowed to move at a speed as commanded from the PLC.

Mode

Å, Æ): Teach 1

commands for actuator operation system.

position data.

commands for actuator operation system.

etc., in the controller.

command from the PLC.

etc., in the controller.

In the mode select screen, using the

select User Adjustment, and then press the Return

key.

keys.

keys,

8-13 End

End is executed to save each setting or registration content of the Easy Type Teaching Pendant.

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

Operation:

Press the

In a case that data input ends, and the Easy

Type Teaching Pendant needs to be removed

key for more than 2.5 seconds.

In a case that you reopen the connection from

the initial screen

Op. Start / End * End ST = Efct

Op. Start / End * End ST = Non

Turn the RC Controller PORT Switch to OFF.

Then, remove the connector.

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

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

reconnect.

Op. Start / End * Reconnection

Confirming Connection IAI RC ST V. 2.00

Select Axis * Axis No. 00

(in a case of multiple axes connection)

OP Op Mode A. 00 * Select (Å, Æ): Teach 1

(in a case of single axis connection)

Caution: Disconnect the PCON, ACON, ERC2 controllers which are not equipped with the

AUTO/MANU switch after setting the TP operation mode to the “Monitor 2.” (Refer to 8.12 TP

Operation Mode.)

In the case of ERC2, and when the controller is set with the teaching pendant connected with

the gateway unit, SIO converter

• I/O is disabled and control cannot be carried out from the PLC if they are disconnected

while the “Teach 1” and “Teach 2” are being set.

• The maximum speed becomes a safe speed set on the parameter regardless of command

from the PLC if they are disconnected while the “Monitor 1” are being set.

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 Error inside the controller

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

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

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

* TB in the table mean Easy Type teaching pendant.

* Refer to the “9.3 Controller Error.”

* For an error which can be reset, the error is reset by pressing the

And all of the error lists in the controller are cleared by the error list clear on the user adjustment. (Refer

to 8.11.3.)

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

Warning message is cleared by recovery procedure as follows:

Release operation:

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

2. Press down

Warning is probably due to the following possibilities:

- RS485 communication abnormality

- Easy Type Teaching Pendant operational mistake

a) RS 485 communication related abnormality

Indicates occurrence of any abnormality on the RS485 communication line.

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

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 Easy Type Teaching Pendant and RC controller execute packet

communication (move instruction, data transfer, etc.) at all times. At this time,

when data changes due to noise, the RC controller will determine that it is

incorrect data and will reject the data.

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

separately set the signal cable and power line.

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

See to it that the Easy Type Teaching Pendant will not conflict with the PIO

signal.

key.

key on the key sheet.

9-2 Easy Type Teaching Pendant Message Level Error

Easy Type Teaching Pendant Operational Mistake:

When you attempt to input an incorrect value, the message label error will occur.

Code No: 112h, 113h, 114h, 118h, 11Eh, 11Fh, etc. (Keypad input value is incorrect.)

9-3 Controller Error

An alarm detected from the controller side can be displayed. This is a serious error due to an

abnormality related to servo control and electricity. Please read through the RC Controller operating

manual carefully for error compliance.

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

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

For details of error code, refer to the Operating Manuals of the controller which you use.

* Appendix

Adj

Parameter (factory-installed) initializing method

Parameter is changed to the factory-installed parameter. (Initialization)

Models of PCON, ACON, SCON, ERC2 are available for this method.

Caution: Note that the parameter set by the user is changed to the factory-installed parameter if the

parameter (factory-installed) is initialized.

Appendix

Slct Mode/M2 A. 00 * User Ad

User Adjust A. 00

ust 5119

Ship Para A. 00 * Reset? Y Æ 1 N Æ 0

Soft Reset A. 00 * Reset? Y Æ 1 N Æ 0

ust

In the mode select screen, using the

set the user adjustment, and then press the Return

key.

Input 5119 into the adjustment number, and press the

Return key.

When initializing the parameter (factory-installed),

press the

When initialization of the parameter (factory-installed)

is completed, the screen moves to the software reset

screen. (When interrupting, press the

screen returns to the mode select screen.)

When executing software reset, press the key.

(When interrupting the software reset, press the

key. The screen returns to the mode select screen.)

key.

key. The

keys,

(Note) Unless the software was reset, the parameters were rewritten to factory-installed

parameters, however, operation is not performed with factory-installed parameters.

The parameters are enabled after the next reset or after power is turned on.

Appendix

Soft Reset A. 00 * Srv OFF? Y Æ 1 N Æ 0

Soft Reset A. 00 * Please Wait.

(Note) Unless the software was reset, the parameters were rewritten to factory-installed

parameters, however, operation is not performed with factory-installed parameters.

The parameters are enabled after the next reset or after power is turned on.

When servo is turned ON, you are asked whether

servo off is carried out or not on all screens by

pressing the

(When interrupting the software reset, press the

key. The screen returns to the mode select screen.)

message “data being obtained” appears, the

software is reset, and operation is performed with

parameters set at shipment from factory.

fter executing, the screen returns to the mode select

screen.

key.

Appendix

Teaching pendant error table

Listed on the table are teaching pendant specific error.

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

Code Message name Description

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

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

correct value.

113

Input Under Error

114

Input Over Error

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

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

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

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

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

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

133 Jig No. change not allowed For PCON-C/CG, ACON-C/CG, SCON controllers, the axis number is set with the rotary

180

Change to axis number OK

181

Controller initialize OK

182

Home Change All Clear

183

IO function has been changed

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

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

203 Motor voltage drop In controller of “shut-off relay external type,” motor drive power is shut off due to opening

204 ABS battery voltage drop Battery voltage drops when power is turned on.

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

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

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

Execute home return again.

Enter the target position first.

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

the drive system and resolution of the encoder. This message indicates that the entered target value is smaller than the minimum movement. (Example) If the lead length is 20mm, the encoder’s resolution is 800 pulses and

accordingly the minimum movement becomes 20 ÷ 800 = 0.025 mm/pulse. In this case, this message will be displayed if 0.02mm is entered as the target position.

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

Assign each address only when one axis is connected.

switch on the front panel. The axis number cannot be set on the teaching pendant.

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

This is displayed on RCP, RCS, E-Con, RCP2, and ERC.

This is displayed on PCON, ACON, SCON, and ERC2.

between MPI terminal and MPO terminal. (Note) If this error occurs while closing between MPI terminal and MPO terminal, the

controller is considered to be in failure.

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

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

Appendix

Code Message name Description

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

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

20E Soft limit over Soft limit is reached.

210 During movement, HOME-ON During movement operation, homing signal (HOME) from PLC side is turned ON, and

movement command is duplicated.

211 During movement, JOG-ON During movement operation, jog movement signal (JOG) from PLC side is turned ON,

and movement command is duplicated.

220 During AUTO, write not

allowed

221 During monitor mode, write

not allowed

222 During AUTO, movement not

allowed

223 During monitor mode,

movement not allowed

301

Over Run Error (M)

302

Framing Error (M)

304

SCI R-QUE OV (M)

305

SCI S-QUE OV (M)

306

Termi R-BF OV (M)

308

Response Time Out (M)

30A

Packet R-QUE

30B

Packet S-QUE OV

307

Memory Command Reject

309

Termi Light Address Error

30C No Connect Error This message indicates that no controller axis number is recognized.

Parameter writing operation was performed in AUTO mode of PCON-C/CG, ACON-C/CG, SCON controllers.

Position data, parameter write operation was performed in monitor mode.

Actuator movement operation was performed in AUTO mode of PCON-C/CG, ACON-C/CG, SCON controllers.

Actuator movement operation was performed in monitor mode.

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

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

communication.

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

installation of equipment, etc.

[2] Change the slave numbers to avoid duplication. If the message is still displayed after taking the above actions, please contact IAI.

This message indicates that the command was refused in the serial communication with the controller. This message indicates that an indeterminate WRITE address error occurred in the serial communication with the controller. These conditions do not occur in normal operation. Should they occur, record the entire error list before cutting off the power for use in the cause investigation. Also, contact IAI.

Cause: [1] The controller is not operating properly.

[2] Only the supplied communication cable (SGA/SGB) is disconnected.

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

is not connected.

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

connectors are linked.

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

controller is faulty.

[2] If a spare teaching pendant is available, replace the current pendant with

the spare unit, or with a PC, and see if the message disappears.

[3] Supply power after connecting the link cable between the converter and

controller.

[4] Make sure the ADRS switch settings are not duplicated. If the message is still displayed after taking the above actions, please contact IAI.

Manual No.: ME0174-2A(December 2009)

The prices, specifications, dimensions and other information provided in this manual are subject to change without notice for purposes of product improvement. Copyright 2009. Dec. IAI Corporation. All rights reserved.

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IAI America RCM-E User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual