IAI CON-T, Operating Manual

Page 1: ...Teaching Pendant Operating Manual First edition IAI America Inc ...

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Page 3: ...ote When the controller is set by connecting the Teaching Pendant to the PCON ACON controller without an AUTO MANU switch the conditions shown below occur When the controller is set by connecting the Teaching Pendant to the gateway unit SIO converter the conditions shown below occur If the Teaching Pendant is disconnected while the setting of Teach 1 or Teach 2 remains I O will become invalid and ...

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Page 5: ...CS 1 V1 00 E Con 1 V1 00 RCP2 1 V1 00 PCON V1 00 ACON V1 00 SCON V1 00 1 This Teaching Pendant also supports the RCP RCS E Con and RCP2 controllers Check the model to connect and the version of the Teaching Pendant If any unsupported model is connected unexpected movement may occur PCON ACON or SCON cannot be used by linking to any model of those shown in 1 ...

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Page 7: ...l Screen and TP Operation Mode Screen During Power UP 15 8 2 Controller Selection when using multiple units 17 8 3 Operation Mode Selection 18 8 4 Edit Teaching 19 8 4 1 PCON ACON or SCON 19 8 4 2 RCP RCS E Con or RCP2 21 8 5 Position Data Table Contents 23 8 5 1 Position Data Table Contents for PCON ACON and SCON 23 8 5 2 Position Data Table Contents for RCP RCS E Con and RCP2 29 8 5 3 Data New I...

Page 8: ... Axis Number Setting 75 8 9 2 Software Reset 76 8 9 3 Error List Clear 77 8 10 TP Operation Mode 78 8 11 End 80 9 Message Area 81 9 1 Warning Label Error Code No 000h 07Fh 81 9 2 Teaching Pendant Message Level Error 82 9 3 Controller Error 82 Appendix 83 Parameter Shipment Initialization Method 83 Teaching Pendant Error Messages 84 ...

Page 9: ... the Instruction Manuals attached to the products Caution Do not edit position data while the actuator is operating by PLC etc Also do not edit any position number not actually operated 2 Before You Begin 1 Be sure to read this Instruction Manual for proper use of this product 2 Part or all of this Instruction Manual may not be used or reproduced without permission 3 For any handling and operating...

Page 10: ...read location In addition give special consideration to prevent third parties from turning on the power carelessly by hauling in the power cord to the operator Alternatively lock the power plug or receptacle and direct the operator to keep the key or prepare a safety plug 4 When more than one operator works advance work by determining the signal method and checking each other s safety Especially f...

Page 11: ...s a cable Defects resulting from sensory phenomena such as generated noise that have no functional effects Defects resulting from mishandling or improper use Defects resulting from an inadequacy or error in maintenance and inspection Defects resulting from the use of any part other than our genuine parts Defects resulting from a modification not approved by us or our dealers Defects resulting from...

Page 12: ...ng Pendant Body so that the Teaching Pendant Cable does not get pulled by unwanted cables Caution This Teaching Pendant is designed exclusively for IAI RC Controllers PCON ACON SCON RCP RCS E Con and RCP2 and should not be used to connect with other devices Turn the controller front side PORT switch OFF before connecting to controller equipped with a PORT switch ...

Page 13: ...ameter data position data etc that is stored inside the controller as well as to execute teaching without using the PC Interface Software Utilizing a large liquid crystal display kit the display will show each description simultaneously for easy operation 6 1 Specifications Item Specification Ambient Temperature Humidity Temperature 0 40 C Humidity 85 RH or less RH relative humidity Operating Envi...

Page 14: ...6 6 2 External View External Dimensions ...

Page 15: ...ply to the motor will be cut off normally closed b contact For information on the emergency stop signal line and its status refer to the RC Robo Cylinder Operating Manual To reset the emergency stop status turn the operating portion of this switch in the arrow direction 1 LCD 23 Jog key 4 EDIT mode select key 10 ESC key 11 PAGE UP PAGE DOWN key 15 ITEM BACK FWD key 2 EMERGENCY STOP 3 TP operation ...

Page 16: ...ontroller and commands of the actuator movement system SftyVel Non Enables movement at the speed registered in position data MONIT1 The LED is lit in the Monitor 1 mode PIO Prh Enables monitoring only Writing of position data parameters etc in the controller and commands of the actuator movement system are disabled SftyVel Efct Keeps the maximum speed at the safety speed set for the parameter rega...

Page 17: ...ter returning to the upper layer with the ESC key Input data cancel during data input operation If you press this key during data input operation the input data will be canceled Stop switch during movement or continuous movement Once this switch is pushed down during movement or continuous movement operation will decelerate and stop immediately 11 PAGE UP PAGE DOWN key Changes screens by increment...

Page 18: ...or decrementing the axis No among connection axes with the or key 17 SHIFT key This key is not used since it is for a future function enhancement 18 Ten keys These keys are used for numeric input 19 STOP key Once this key is pushed down during movement or continuous movement operation will decelerate and stop immediately This key is valid in the Teach Play mode 20 SERVO key Changes the servo ON OF...

Page 19: ...y JOG Negative direction jog movement JOG Positive direction jog movement This key is valid in the Teach Play mode with the servo ON status 24 Return key This key is used for the confirmation of data input or operation ...

Page 20: ...onds 2 Press the ten keys to select 1 End 3 Turn the PORT switch OFF for the controller having this switch 4 Remove the Teaching Pendant connector Caution In the case of PCON ACON or SCON an instantaneous stop will be made when the Teaching Pendant is disconnected However this is not an error Caution In the case of the PCON or ACON controller not having the AUTO MANU switch set the TP Operation Mo...

Page 21: ...et up Communication when Reconnection is selected Return End Before changing the parameter or leaving the mode with the ESC key check whether to reset software PCON ACON SCON RCP2 Displayed only for PCON ACON and SCON Inching All Clear Clear Displayed only when 2 or more axes are connected Teach Play User Parameter Available only for PCON ACON and SCON TP Operation Mode Mode Select Mode Select Whe...

Page 22: ...o Set up Communication when 2 Reconnection is selected Return 1 End Before changing the parameter or leaving the mode check whether to reset software Displayed only for PCON ACON and SCON Displayed only when 2 or more axes are connected User Parameter TP Operation Mode Return When the servo is OFF Servo OFF Check Soft Reset When the servo is ON User Adjustment TP operation mode Homing Axis No Sett...

Page 23: ...endant and operation starts In the case of a controller with a PORT switch power will be supplied to the Teaching Pendant and operation will start once power is supplied to the Teaching Pendant Upon power on the LCD display screen hereinafter called the screen displays the Teaching Pendant software version as follows Fig 8 1 Initial Screen During Power UP ...

Page 24: ...ACH2 The LED is lit in the Teach 2 mode PIO Prh Enables writing of position data parameters etc in the controller and commands of the actuator movement system SftyVel Non Enables movement at the speed registered in position data MONIT1 The LED is lit in the Monitor 1 mode PIO Prh Enables monitoring only Writing of position data parameters etc in the controller and commands of the actuator movement...

Page 25: ...he screen will change to the Mode Select screen The controller can connect up to 16 units However the PCON ACON or SCON group controllers cannot be used by linking to the RCP RCS E Con or RCP2 controllers Fig 8 3 Axis Selection Screen 1 Protocol type display M Modbus T proprietary protocol 2 Axis No display 3 Connection axis display In the case of PCON ACON or SCON the series name and type name of...

Page 26: ...the Pulse Train mode Display and Edit function for positioner table Refer to 8 4 and 8 5 Pulse Train PCON PL PO ACON PL PO and SCON Pulse Train Mode Jog Operation Inching Operation Refer to 8 5 8 2 MONIT Controller status display Refer to 8 6 3 ERROR LIST Alarm content detailed display Refer to 8 7 4 PARAM Setting of axis zone signal output range and axis attributes Refer to 8 8 5 ADJ Executing ho...

Page 27: ...ate specification ABS I Relative coordinate specification INC Fig 8 6 Position and Velocity Data Screen Specification of Position No When the position No is incremented or decremented with the or key the position data of the displayed position No will be displayed in order Alternatively move the cursor to the position No with the or key input a numeric value with the ten keys and press the return ...

Page 28: ... the screen will move Pressing the key again after the cursor has reached the top or bottom line will change the screen Press it several times Press it several times Press it several times Press it several times Press it several times Press it several times Press it several times Press it several times Press it several times Press it several times or return key or return key or return key or retur...

Page 29: ...cification ABS I Relative coordinate specification INC Fig 8 8 Position and Velocity Data Screen Specification of Position No When the position No is incremented or decremented with the or key the position data of the displayed position No will be displayed in order Alternatively move the cursor to the position No with the or key input a numeric value with the ten keys and press the return key The...

Page 30: ...ched the top or bottom line will change the screen In the same way when the return key is pressed the cursor in the screen will move Pressing the key again after the cursor has reached the top or bottom line will change the screen Press it several times Press it several times Press it several times Press it several times or return key or return key or return key or return key ...

Page 31: ...4 5 CY PIO pattern 1 SE SCON positioner PIO pattern 0 1 2 4 5 1 No Indicates the position data number Warning Always specify absolute coordinates for the 3 point type of PCON C CG ACON C CG and SCON C and the proximity switch type of PCON CY and ACON CY If you specify relative coordinates a position data error will occur In the above case if you specify Push push completion cannot be judged 2 Posi...

Page 32: ...on Enter appropriate values for Vel and Acc Dec in such a way as to prevent excessive impact or vibration from being applied to the actuator in consideration of the installation conditions and the shape of transferred work by referring to the List of Actuator Specifications in the Appendix Increasing such values largely relates to the transfer mass and the actuator characteristics vary depending o...

Page 33: ...N and the proximity switch type of PCON CY and ACON CY 3 point type and proximity switch type Push operation It defines the maximum push amount from the target position in the push operation Set the positioning width in such a way as to prevent positioning completion before the actuator contacts work by considering mechanical variations of work Since increasing the positioning width value hastens ...

Page 34: ...nt command to backward end Movement command to forward end Movement command to midpoint 9 Acc Dcl Mode It defines the acceleration deceleration characteristics The default value is 0 0 Trapezoid pattern 1 S shaped motion 2 First order delay filter Trapezoid pattern Set the acceleration and deceleration in the Acc and Dcl fields of the position table Setting example Home Zone output signal Backward...

Page 35: ...Pendant operation Note It cannot be set for the PCON controller The parameter No 56 is reserved First order delay filter More gradual acceleration deceleration curves are drawn than the linear acceleration deceleration trapezoid pattern Use this in the applications by giving micro vibrations to work during acceleration deceleration not desired Set the degree of the first order lag with the paramet...

Page 36: ...ndition 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 hold...

Page 37: ... between the current position and target position Any negative value can be input if coordinates are in the negative direction Caution In the case of PCON ACON or SCON there are cases where the input value to Push may be rounded off to the multiple of the minimum resolution of the controller during data acquisition from the controller 3 Vel Input the speed at which the actuator will be moved in mm...

Page 38: ... in the range column Diagram A Diagram B 7 Acc only MAX Selects either the assigned acceleration or the maximum acceleration Inputs are either 1 or 0 The default value is set as 0 0 Assigned acceleration The value placed in 4 will be used as the actual acceleration value and deceleration value 1 Maximum acceleration This will automatically utilize the maximum acceleration matched to the load Decel...

Page 39: ...aximum speed will be gained if the maximum speed is slower than the specified speed 4 Increment Use the arrow key to incrementally move and match the desired location and read that location current position into the position table For the input example see page 47 If you press the arrow key once the actuator will move by a specified pitch 0 03 0 10 0 50 mm If you continue pressing the arrow key th...

Page 40: ... described on the screens of PCON ACON and SCON Operation Screen Reference 1 Press the key 2 Press the key to select MDI 3 Press the key to select Jog 4 If the SV OFF servo OFF status is displayed on the screen press the key The servo will automatically be turned ON SV ON servo ON will be displayed on the screen 5 Press the key Homing will automatically be performed 6 Press the key twice to return...

Page 41: ...ata the display will show sign 4 Move the cursor to the Pos input position with the or key 5 Input here and then press the Return key In order to stop during numeric input press the key to cancel the input Example With the left operation by pressing immediately after inputting the status will return to the display 6 During new position data registration the initial values set with the user paramet...

Page 42: ...reen of Position No 1 for Acc and Dcc 8 Change the screen to the screen for Pos and Vel with the key Move the cursor to Pos with the key 9 Move the cursor to the Pos input position with the or key Input here and then press the Return key In order to stop during numeric input press the key to cancel the input 10 The cursor will automatically move to the Vel input position ...

Page 43: ...tion Screen Reference 11 Input here and then press the Return key Press the key The cursor will automatically move to the next No 2 position The screen will change to the screen of Position No 2 for Acc and Dcc ...

Page 44: ...ove the cursor to the Pos input position with the or key 5 Input here and then press the Return key In order to stop during numeric input press the key to cancel the input Example With the left operation by pressing immediately after inputting the status will return to the display 6 During new position data registration the initial values set with the user parameters for Vel Acc Dcc etc will autom...

Page 45: ...reen of Position No 1 for Acc and Dcc 8 Change the display to the screen for Pos and Vel with the key Move the cursor to Pos with the key 9 Input here and then press the Return key 10 The cursor will automatically move to Vel 11 Change the display to the screen for Acc and Dcc with the key The screen will change 12 Change the display to the screen for Push LoTh and Range with the key The screen wi...

Page 46: ...ey Press the Return key again to move the cursor to Range For push control refer to the Controller Operating Manual 14 Input the maximum push range during push into the Range In this example input 5 mm Input and then press the Return key Press the key The screen will change to the screen of Position No 2 for Push LoTh and Range ...

Page 47: ...o the Pos input position with the or key 5 Input here and then press the Return key In order to stop during numeric input press the key to cancel the input Example With the left operation by pressing immediately after inputting the status will return to the display 6 During new position data registration the initial values set with the user parameters for Vel Acc Dcc etc will automatically be inpu...

Page 48: ...reen of Position No 1 for Acc and Dcc 8 Change the display to the screen for Pos and Vel with the key Move the cursor to Pos with the key 9 Input here and then press the Return key 10 The cursor will automatically move to Vel 11 Change the display to the screen for Acc and Dcc with the key The screen will change 12 Change the display to the screen for Push LoTh and Range with the key The screen wi...

Page 49: ...ange 14 Change to the screen for Acc Dcl Mode and Incremental with the key Move the cursor to Incremental with the key 15 Set to Incremental relative coordinate specification Input and then press the Return key Press the key The screen will change to the screen of Postion No 2 for Cmnd Mode and Stop Mode ...

Page 50: ...ructions are described on the screens of PCON ACON and SCON Example 2 point continuous loop Point A Point B speed 300mm sec Operation Screen Reference 1 Press the key 2 Press the key to select Teach Play 3 Press the key to select Jog Note Even if 2 Inching is selected the same direct teaching will be available 4 Press the key 5 Set the position No you want to input with the and key Press the key t...

Page 51: ... position No you want to input with the and key 7 Press the key to select Yes 8 Press the Return key As for Vel Acc Dcc etc the initial value set with the user parameter will automatically be input Note If scan is performed without executing homing the error message Homing Incomplete will be displayed Return to the screen of 6 above with the ESC key to put into the servo ON status and press the ke...

Page 52: ... No youu want to input with the or key 12 Manually move the slider and match to the desired position Press the Return key 13 Press the key to select Yes 14 Press the Return key 15 Press the key 16 The screen will return to the Teach Play select screen ...

Page 53: ...dvance Refer to page 32 Increment specification Caution Operating instructions are described on the screens of PCON ACON and SCON Example 2 point continuous loop Point A Point B speed 300mm sec Operation Screen Reference 1 Press the key 2 Press the key to select Teach Play 3 Press the key to select Jog 4 Input the desired jog speed with the ten keys and press the Return key The input range is from...

Page 54: ...remaining data will be written over For any unregistered data the display will show sign 8 Press the key to select Yes 9 Press the Return key As for Vel Acc Dcc etc the initial value set with the user parameter will automatically be input 10 Press the key 11 The screen will return to the Teach Play select screen ...

Page 55: ...ement is performed first after power on it is required to perform home return operation in advance Refer to page 32 Increment specification Caution Operating instructions are described on the screens of PCON ACON and SCON Example 2 point continuous loop Point A Point B speed 300mm sec Operation Screen Reference 1 Press the key 2 Press the key to select Teach Play 3 Press the key to select Inching ...

Page 56: ...remaining data will be written over For any unregistered data the display will show sign 8 Press the key to select Yes 9 Press the Return key As for Vel Acc Dcc etc the initial value set with the user parameter will automatically be input 10 Press the key 11 The screen will return to the Teach Play select screen ...

Page 57: ... for manual input the data entered will erase the old data The position will be updated only when the Return key is pressed to read in the current location direct teach jog increment It does not influence speed and others Once the position data is cleared the previous data will no longer remain anywhere Therefore when the next position data is registered any data other than position will be defaul...

Page 58: ...f PCON ACON and SCON Example Clear the row of position data number 2 Operation Screen Reference 1 Press the key 2 Press the key to select Clear 3 Set the position No you want to clear with the or key Press the Return key 4 Press the key to select Yes 5 Press the Return key 6 The data of the specified position No will be cleared ...

Page 59: ...a Caution Operating instructions are described on the screens of PCON ACON and SCON Operation Screen Reference 1 Press the key 2 Press the key to select All Clear 3 Press the key to select Yes 4 Press the Return key 5 All position data will be cleared ...

Page 60: ... to the continuous position data number until an empty location is reached What is Continuous In the case of the position data similar to the table below when a Continuous command is executed from the position No the place where data exists continuously to the position before unregistered data will operate as one group Example Position No 2 Æ No 3 Æ No 1 Æ No 2 and so on Posi Vel Acc Dcc In the ca...

Page 61: ...rm home return operation in advance Refer to page 32 Increment specification 1 Move Operation Registered position data number assigned move Caution Operating instructions are described on the screens of PCON ACON and SCON Example Current position move towards position number 2 3 Operation Screen Reference 1 Press the key 2 Pres the key to select Teach Play 3 Press the key to select Move 4 For any ...

Page 62: ...r SCON is connected the maximum speed will be the safety speed set for the parameter if the MANU operation mode is set to the Teach mode 1 safety speed valid 7 If you press the key movement will be made to the location of the position No you set When the servo is not ON press the key to put into the servo ON status 8 When moving towards position of No 3 continuously Set 3 into the position No with...

Page 63: ...turn to the Teach Play select screen Caution When moving towards position in push mode After the actuator pushes the work and position complete output turns ON the actuator is in a state of continuously pressing the work Be extremely careful about handling at this time ...

Page 64: ...ens of PCON ACON and SCON Example Current position Continuous move towards position numbers 1 to 3 Operation Screen Reference 1 Press the key 2 Press the key to select Teach Play 3 Press the key to select Cont 4 For any unregistered data the display will show sign 5 Set the position No you want to move first with the or key Press the Return key ...

Page 65: ...the maximum speed will be the safety speed set for the parameter if the MANU operation mode is set to the Teach mode 1 safety speed effective 7 If you press the key continuous movement will start The screen display will change to the screen of the position No currently moving When the servo is not ON press the key to put into the servo ON status 8 When stopping continuous operation press the or ke...

Page 66: ...58 Operation Screen Reference 9 When operation stops press the key 10 The screen will return to the Teach Play select screen ...

Page 67: ...2 Press the key to select Teach Play 3 Press the key to select Cont 4 For any unregistered data the display will show sign 5 If you press the key in the servo ON status the status will change to the servo OFF 6 If you press the key in the servo OFF status the status will change to the servo ON Servo ON OFF can also be performed in the same way in 1 Jog 2 Inching or 4 Cont mode ...

Page 68: ...Jog screen will be displayed If you press the key the cursor will move in the positive direction of the displayed coordinates If you press the key the cursor will move in the negative direction of the displayed coordinates Current position Indicates the current position The unit can be changed between mm and pulse with the or key Servo ON OFF If you press the key the servo ON OFF status will be re...

Page 69: ...tes Current position Indicates the current position The unit can be changed between mm and pulse with the or key Servo ON OFF If you press the key the servo ON OFF status will be reversed Inching distance Input the desired inching distance with the ten keys and press the Return key The input range is from 0 01mm to 1 00mm set for the parameter Homing If you press the key homing will be performed C...

Page 70: ... special input port or version display screen The figure at the left shows an example of the PCON CY controller The display contents vary depending on the controller or controller s I O pattern For details refer to the operating manual of each controller If you press the or key the axis to monitor can be changed If you press the or key the screen will change To end monitoring press the key ...

Page 71: ...lay screen On the input port screen if you press the key the screen will change to the output port monitor screen If you press the key the screen will change to the axis status screen On the output port screen if you press the key the screen will change to the input port monitor screen If you press the key the screen will change to the special input port monitor screen ...

Page 72: ... speed of the moving axis in mm sec In the case of the PCON PL PO ACON PL PO or SCON controller pulse train mode if you press the key the display will change to the pps display Displays the servo ON OFF status of the axis Displays the error No when an error occurs Displays the percent rated current in In the case of the PCON ACON or SCON controller if you press the key the current value will be di...

Page 73: ...pecial input port screen will display special input ports such as HMCK home check sensor After this the screen will change to the special input port or version display screen If you press the or key the axis to monitor can be changed If you press the or key the screen will change To end monitoring press the key ...

Page 74: ...utput port monitor screen If you press the key the screen will change to the version display screen If you press the key on the last screen of special input ports the version display screen will be displayed If you press the or key the axis to monitor can be changed To end monitoring press the key ...

Page 75: ...m level errors including the last latest error and one last detected error of the warning level will be displayed Note The power ON log no error displays that the power has been applied to the controller No error has occurred Time displays the time elapsed from this power ON log no error If you press one of the or keys the mode will change to the mode of the pressed key Errors occurring in the con...

Page 76: ...g a numeric value of the parameter No with the ten key and pressing the Return key When changing a parameter move the cursor to the parameter value with the or key or Return key Input a numeric value with the ten key and press the Return key Press the key The screen will change to the next screen Press the key When 1 Yes is selected for Is the writing data written the screen will change to the Sof...

Page 77: ... PCON CY controller are provided The contents will vary depending on each controller Refer to the operating manual of each controller When the servo is ON the screen will change to the Servo OFF confirmation screen If you press the key and then press the Return key the controller will restart and the screen will change to the Mode Select screen Since servo is automatically turned OFF it is not req...

Page 78: ...70 Examples of PCON CY Controller On following page ...

Page 79: ...71 From previous page On following page ...

Page 80: ...72 From previous page On following page ...

Page 81: ...73 From previous page ...

Page 82: ... function Although pressing the emergency switch or port switch ON OFF will rewrite the parameter there may be ones that will not be changed Regarding parameter please refer to the Controller Operating Manual 8 8 2 Pause Servo ON Input Enable and Disable Setting 1 Pause Pause input can be enabled or disabled with user parameter No 15 0 Enb 1 Dsb 2 Servo ON input Servo ON input can be enabled or di...

Page 83: ...when there is no servo ON input do not input 92 into Adjust No either The controller will be inoperable due to no servo ON input If you input 1 into Adjust No and press the Return key homing will be performed Axis number setting Move the cursor to Adjust No with the key Input the axis number and press the Return key Input 2 into Adjust No and press the Return key In the case of the PCON C CG and o...

Page 84: ...key and press the Return key When not resetting software press the key and press the Return key The screen will return to the Mode Select screen When the servo is ON the screen will change to the Servo OFF confirmation screen Press the key and press the Return key Then the controller will restart and the screen will change to the Mode Select screen Since the servo is automatically turned OFF it is...

Page 85: ...to Adjust No and press the Return key The screen will change to the Error List Clr screen Press the key and press the Return key The error list will be cleared and the screen will return to the Mode Select screen When not clearing the error list press the key and press the Return key The screen will return to the Mode Select screen ...

Page 86: ...to change from among the and keys As an example when changing from the TEACH1 mode status to the TEACH2 mode press the key The screen will change to the TP Ope Mode Change data writing confirmation screen If you press the key and press the Return key the TP mode will change and the screen will change to the Mode Select screen The LED of TEACH2 which is the TP operation mode display LED will light ...

Page 87: ...f the actuator movement system SftyVel Non Enables movement at the speed registered in position data Monitor 1 The LED is lit in the MONIT1 mode PIO Prh Enables monitoring only Writing of position data parameters etc in the controller and commands of the actuator movement system are disabled SftyVel Efct Keeps the maximum speed at the safety speed set for the parameter regardless of position data ...

Page 88: ...l screen Caution When multiple axes are connected with a controller link cable after recycling power of a controller that is not directly connected to the Teaching Pendant please execute a reconnect Caution In the case of the PCON or ACON controller with no AUTO MANU switch set the TP operation mode to Monitor 2 before removing the Teaching Pendant Refer to 8 10 TP Operation Mode when the controll...

Page 89: ...arning is probably due to the following possibilities RS485 communication abnormality Teaching Pendant operational mistake a RS 485 communication related abnormality Indicates occurrence of any abnormality on the RS485 communication line Code No 05Ah 05Bh 05Dh 05Eh 07Fh Communication error detected by the controller Cause 1 Teaching Pendant is in conflict with other devices PLC or PC For example w...

Page 90: ...operating manual carefully for error compliance If any errors of the below code numbers occur it is required to perform the error reset of the controller press the key to reset it in the case of a movement release level error It is required to perform the reset of the controller software in the case of a cold start level error Refer to 8 9 2 With regard to the controllers not equipped with the sof...

Page 91: ...or power on the parameters will be effective Input for Adjust No and press the Return key The screen will change to the Parameter Init execution confirmation screen Press the key and press the Return key When not performing parameter initialization press the key and press the Return key The screen will return to the Mode Select screen The screen will change to the Software Reset screen Press the k...

Page 92: ...fer to the actuator specifications or parameter table and reenter a correct value 115 Homing Incomplete The current position was written when home return was not yet completed Execute home return again 117 No Move Data Target position is not set under the selected position number Enter the target position first 11E Pair Data Mismatch The values indicating the magnitude relationship of a pair of da...

Page 93: ...occurred as a result 20D During movement STP OFF This message indicates that the temporary stop signal STP was turned OFF by the PLC while the actuator was moving and the movement was disabled as a result 20E Soft limit over This message indicates that a soft limit was reached 210 HOME ON during operation This message indicates that a home return signal HOME became ON from PLC and duplicate moveme...

Page 94: ...cognized 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 control...

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Page 96: ...7 South Main St Suite F Marlboro NJ 07746 TEL 732 683 9101 FAX 732 683 9103 Home page www intelligentactuator com IAI Industrieroboter GmbH Ober der Röth 4 D 65824 Schwalbach am Taunus Germany TEL 06196 88950 FAX 06196 889524 The prices specifications dimensions and other information provided in this manual are subject to change without notice for purposes of product improvement Copyright 2007 Apr...