Teaching Pendant CON-T, CON-TG Instruction Manual Sixth Edition
Please Read Before Use Thank you for purchasing our product. This Instruction Manual describes all necessary information items to operate this product safely such as the operation procedure, structure and maintenance procedure. Before the operation, read this manual carefully and fully understand it to operate this product safely. The enclosed CD/DVD in this product package includes the Instruction Manual for this product.
CAUTION Disconnection of the Teaching Pendant from the PCON / ACON / SCON Controller / ERC2 * After disconnecting the Teaching Pendant from the PCON / ACON / SCON controller / ERC2 with the AUTO/MANU switch, always turn the AUTO/MANU switch to AUTO. * For the PCON / ACON controller / ERC2 without AUTO/MANU switch, always set the TP Operation Mode to “MONIT 2” before disconnecting the Teaching Pendant from the controller. (Refer to “6.10 TP Operation Mode.
CAUTION Precautions in Teaching Pendant Connection When the controller’s power input “+” terminal is grounded, the applicable teaching pendant model cannot be connected. When it is connected, the normal power is not supplied and it might cause the breakdown of the teaching pendant.
Support Models The following are the versions to which we have started support: Table 1 List 1 of Support Models CON-T Supported/Unsupported CON-TG Supported/Unsupported Support Started Version RCP *1 ż × V1.00 RCS *1 ż × V1.00 E-Con *1 ż × V1.00 Model No. RCP2 *1 ż × V1.00 ERC *2 *2 V1.00 ERC2 *2 *2 V1.00 PCON ż ż V1.00 ACON ż ż V1.00 SCON-C ż ż V1.00 SCON-CA ż ż V1.10 PCON-CA ż ż V1.13 ERC3 (CON Mode (CN)) ż ż V1.
Table of Contents Safety Guide.................................................................................................................1 ..........................................................................................9 1. Safety Precautions 2. Warranty ..............................................................................................................10 2.1 Warranty Period .......................................................................................................
6.5.6 Move ………………………………………………………………………………………… 63 6.5.7 Servo ON/OFF 6.5.8 Pulse Train (PCON-PL/PO, ACON-PL/PO, SCON: …………………………………………………………………………… 70 Pulse Train Mode) Based Jogging ……………………… 71 6.6 Monitor ...............................................................................................................................73 6.7 Error List .............................................................................................................................80 6.
Safety Guide “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product. Safety Precautions for Our Products The common safety precautions for the use of any of our robots in each operation. No.
No. Operation Description Description 2 Transportation Ɣ :KHQ FDUU\LQJ D KHDY\ REMHFW GR WKH ZRUN ZLWK WZR RU PRUH SHUVRQV RU utilize equipment such as crane. Ɣ :KHQ WKH ZRUN LV FDUULHG RXW ZLWK RU PRUH SHUVRQV PDNH LW FOHDU ZKR LV to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
No. 4 Operation Description Installation and Start Description (2) Cable Wiring Ɣ 8VH RXU FRPSDQ\¶V JHQXLQH FDEOHV IRU FRQQHFWLQJ EHWZHHQ WKH DFWXDWRU and controller, and for the teaching tool. Ɣ 'R QRW VFUDWFK RQ WKH FDEOH 'R QRW EHQG LW IRUFLEO\ 'R QRW SXOO LW 'R QRW coil it around. Do not insert it. Do not put any heavy thing on it. Failure to GR VR PD\ FDXVH D ¿UH HOHFWULF VKRFN RU PDOIXQFWLRQ GXH WR OHDNDJH RU continuity error.
No. Operation Description Description 4 Installation and Start (4) Safety Measures Ɣ :KHQ WKH ZRUN LV FDUULHG RXW ZLWK RU PRUH SHUVRQV PDNH LW FOHDU ZKR LV to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Ɣ :KHQ WKH SURGXFW LV XQGHU RSHUDWLRQ RU LQ WKH UHDG\ PRGH WDNH WKH VDIHW\ measures (such as the installation of safety and protection fence) so that nobody can enter the area within the robot’s movable range.
No. Operation Description 6 Trial Operation Ɣ :KHQ WKH ZRUN LV FDUULHG RXW ZLWK RU PRUH SHUVRQV PDNH LW FOHDU ZKR LV to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Ɣ $IWHU WKH WHDFKLQJ RU SURJUDPPLQJ RSHUDWLRQ SHUIRUP WKH FKHFN RSHUDWLRQ one step by one step and then shift to the automatic operation.
No. Operation Description Description Ɣ :KHQ WKH ZRUN LV FDUULHG RXW ZLWK RU PRUH SHUVRQV PDNH LW FOHDU ZKR LV to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the Instruction Manual for each model. Level Degree of Danger and Damage Symbol Danger This indicates an imminently hazardous situation which, if the product is not handled correctly, will result in death or serious injury.
8
1. Safety Precautions 8VH D JHQXLQH SURGXFW VSHFL¿HG E\ XV IRU ZLULQJ EHWZHHQ WKH DFWXDWRU DQG WKH &RQWUROOHU (3) Before carrying out assembly and adjustment work or maintenance and inspection work of WKH PDFKLQH EH VXUH WR GLVFRQQHFW WKH SRZHU FRUG :KLOH ZRUNLQJ GLVSOD\ WKH SODWH VSHFL¿HG as such at an easy-to-read location. In addition, give special consideration to prevent third parties from turning on the power carelessly by hauling in the power cord to the operator.
2. 2.1 Warranty Warranty Period 2. Warranty One of the following periods, whichever is shorter: 2.2 ƒ PRQWKV DIWHU RXU VKLSPHQW ƒ PRQWKV DIWHU GHOLYHU\ WR WKH SODFH GHVLJQDWHG E\ \RX Scope of the Warranty Our products are covered by warranty when all of the following conditions are met. Faulty products covered by warranty will be replaced or repaired free of charge: (1) The breakdown or problem in question pertains to our product as delivered by us or our authorized dealer.
2.4 Limited Liability (1) We shall assume no liability for any special damage, consequential loss or passive loss such DV D ORVV RI H[SHFWHG SUR¿W DULVLQJ IURP RU LQ FRQQHFWLRQ ZLWK RXU SURGXFW (2) We shall not be liable for any program or control method created by the customer to operate 2.5 2. Warranty our product or for the result of such program or control method. Conditions of Conformance with Applicable Standards/ Regulations, Etc.
3. Application Environment 3. Application Environment - In order to avoid breakdown, please do not apply any type of machinery impact to the Teaching Pendant. - Always hold onto the entire Teaching Pendant Body so that the Teaching Pendant Cable does not get pulled by unwanted cables. Caution: : 12 This Teaching Pendant is designed exclusively for IAI RC Controllers (PCON, ACON, SCON, ERC2, RCP, RCS, E-Con and RCP2) and should not be used to connect with other devices.
)XQFWLRQV DQG 6SHFL¿FDWLRQV RI 7HDFKLQJ 3HQGDQW 4. CON-T Teaching Pendant was created exclusively for the PCON, ACON, SCON, RCP, RCS, E-Con and RCP2 Controllers, ERC2. CON-TG was created exclusively for the PCON, ACON, SCON, Controllers, ERC2. Software. For using the CON-TG teaching pendant, it is connected to the adaptor (RCB-LB-TG) for the teaching pendant, included to conform to the higher safety category. Refer to “5.3 Connection of CON-TG to the Controller”.
4. Functions and Specications of Teaching Pendant 4.
4.
Caution: : 4. Functions and Specications of Teaching Pendant : 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. For the ACON-CG, PCON-CG and RCP2-CG (cutout relay external type) 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.
(7) PARAMETER mode select key Moves to the “User Parameter” mode. This key is valid when the LED of the PARAMETER mode select key is lit. (8) ADJUST mode select key Moves to the “User Adjustment” mode. This key is valid when the LED of the ADJUST mode select key is lit. (9) TP operation mode select keys MONIT2 (Monitor 2 mode). The mode will move to the TP operation mode selected. After movement, the LED of the operation mode selected lit.
(14) BS key Backspace key. If you press this key during data input, the last input character will be cleared. (15) ITEM BACK/FWD key Changes items by incrementing or decrementing item No. on the Edit screen, Monitor screen or User Parameter screen. (16) Arrow keys 4. Functions and Specications of Teaching Pendant - Edit screen The cursor will move to each edit item in the screen. The screen will not be changed.
(23) JOG-/JOG+ key - JOG - : Negative direction jog movement -2* 3RVLWLYH GLUHFWLRQ MRJ PRYHPHQW (This key is valid in the Teach/Play mode with the servo ON status.) (24) (Return) key 7KLV NH\ LV XVHG IRU WKH FRQ¿UPDWLRQ RI GDWD LQSXW RU RSHUDWLRQ (25) Dead-man Switch (CON-TG) follows. 1st Stage Switch OFF 7KH FRQGLWLRQ ZKHUH ¿QJHU LV UHOHDVHG IURP WKH VZLWFK RU WKH force of pressing the switch is very weak.
5. 5.1 (1) Connection With the Controller Connection with the Teaching Pendant Connect the Teaching Pendant Cable to the Main Communication Port connector which is located on the front of the controller. Always turn the PORT switch OFF ¿UVW before connecting a controller having this switch. For the locations of the Main Communication Port connector and PORT switch, refer to the 5. Connection With the Controller operating manual for the controller you use. (2) 5.
5.3 Connection between CON-TG and the Controller Controller Adaptor for the Teaching Pendant Controller Adaptor Connection Cable Model Safety Circuit 5. Connection With the Controller Teaching Pendant Dummy Plug Caution: When the teaching pendant CON-TG is not to be connected, make sure to insert the dummy plug DP-4 into the adaptor for the teaching pendant.
When the CON-TG teaching pendant is used as the teaching pendant with the dead-man switch, connect it to the controller as shown in the following diagram. Controller Adaptor for the Teaching Pendant Connector on the EMG side Controller Adaptor Connection Cable Model 5.
6. Operation: Mode Flow Chart (1) Positioner (PCON-PL/PO, ACON-PL/PO and SCON: Mode other than the Pulse Train Mode) The total picture of operations performed with the Teaching Pendant has the tree structure as shown below. To return to the previous screen, press the ESC key. Power-ON Set-up Communication TP Operation Mode * Displayed only for PCON, ACON and SCON.
(2) Pulse Train (PCON-PL/PO, ACON-PL/PO and SCON: Pulse Train Mode) The total picture of operations performed with the Teaching Pendant has the tree structure as shown below. To return to the previous screen, press the ESC key. Power-ON Set-up Communication TP Operation Mode * Displayed only for PCON, ACON and SCON. 6. Operation: Mode Flow Chart Return Select Axis Return Jog/Inching Mode Select * Displayed only when 2 or more axes are connected Jog * When the servo is OFF 2.
6.1 Initial Screen and TP Operation Mode Screen During Power - UP When Teaching Pendant is connected to the controller, power is supplied to the Teaching Pendant and operation starts. In the case of a controller with a PORT switch, power will be supplied to the Teaching Pendant and operation will start once power is supplied to the Teaching Pendant. Upon power-on, the LCD display screen (hereinafte r called the “screen”) displays the Teaching Pendant software version as follows: 6.
In the case of the PCON, ACON, SCON controller or ERC2 the screen will automatically move to the TP Operation Mode selection screen once checking of the connection is completed. In the case of the RCP, RCS, E-Con or RCP2 controller, the screen will automatically move to the Select Axis screen if multiple units are connected. Select and press one of the or , , keys. The screen will move the controller selection (Axis Select) screen. TP Operation Mode Selection Screen 6.
6.2 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 6.3 entitled Operational Mode Selection of this manual). If the jig No.
6.3 Operation Mode Selection Protocol type display Board type display Screen Display Name Selected controller axis number Listing of modes Mode Selection Screen For the modes, select one of the 5 options as it appears on the above screen. 6. Operation: Mode Flow Chart To select it, press one of the , , , or keys. The screen will move to the screen of the selected mode. However, it cannot move to any mode with the key LED out.
6.4 Edit/Teaching 6.4.1 PCON, ACON, SCON or ERC2 When the “*EDIT” mode is selected, the Edit/Teach select screen will be displayed. Edit/Teach Select Screen key is pressed to select MDI, the contents of the position data table 6. Operation: Mode Flow Chart When the stored in the controller will be displayed. A: Absolute coordinate specification (ABS) I : Relative coordinate specification (INC) Position No. Editing axis No. Position and Velocity Data Screen Specification of Position No.
30 Press it several times or return key Press it several times or return key Press it several times or return key Press it several times or return key Press it several times or return key Press it several times or return key or return key Press it several times or return key Press it several times the key again after the cursor has reached 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.
6.4.2 RCP, RCS, E-Con or RCP2 When the “*EDIT” mode is selected, the Edit/Teach select screen will be displayed. Edit/Teach Select Screen When the key is pressed to select MDI, the contents of the position data table stored in the controller will be displayed. 6. Operation: Mode Flow Chart A: Absolute coordinate specification (ABS) I : Relative coordinate specification (INC) Position No. Editing axis No. Position and Velocity Data Screen Specification of Position No. When the position No.
The position data table screen is divided and displayed as below. When the or 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. 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. 6.
6.5 Position Data Table Contents 6.5.1 Position Data Table Contents for PCON, ACON, SCON, ERC2 The setting items of the position data table are No., Position, Vel, Acc/Dcl, Push, LoTh, Range, =RQH =RQH $FF'FO 0RGH &PQG 0RGH DQG 6WRS 0RGH 7KH\ DUH GLVSOD\HG LQ VFUHHQV 7KH LWHPV RI =RQH =RQH $FF'FO 0RGH DQG 6WRS 0RGH DUH HQDEOHG 21 RU GLVDEOHG 2)) according to the controller type. (V1.00 and earlier) For the version V1.10 or later, some items are changed and also added.
(3) Vel: Input the speed at which the actuator will be moved, in [mm/sec]. The initial value will depend on the actuator type. (Note) For SCON-CA, PCON-CA and ERC3, an alarm will be displayed if the set value is lower than the minimum velocity. (4) Acc/Dcc: Input the acceleration/deceleration at which the actuator will be moved, in [G]. Basically, use acceleration/deceleration within the catalog rated value range.
(6) LoTh: - In the case of the PCON-CF controller, the load output signal (PIO) will be output if the command torque exceeds the value (%) set to “LoTh.” Set the test range with “Zone+/-”. Use it to judge whether push has been performed normally. * For details, refer to the Operating Manual of PCON-CF Controller. (7) Range: - The “positioning operation” and “push operation” have different meanings.
(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] Position [mm] Zone+ [mm] 0 5.00 100.00 0.00 1 380.00 400.00 300.00 2 200.00 250.00 150.00 No. Zone[mm] Comment Backward end Forward end Midpoint Movement command to backward end 6.
S-shaped motion A curve, which is gradual at the beginning of acceleration but rises sharply halfway, is drawn. Use it in the applications for which you want to set the acceleration/deceleration high due to tact time requirement but desire a gradual curve at the beginning of movement or immediately before stop. Speed Time * Set the degree of the S-shaped motion with the parameter No. 56 [S-shaped and 100. (The above is the image graph when 100% setting is made.
(11) Stop Mode: - It defines the power saving method on standby after completion of positioning to the target position set in the “Position” field of the position number. 0: Invalid power saving method * The default setting is 0 (invalid). 1: Auto servo OFF method. Delay time defined with the parameter No. 36 2: Auto servo OFF method. Delay time defined with the parameter No. 37 3: Auto servo OFF method. Delay time defined with the parameter No.
(12) Gain Set (Displayed in Version V1.10 or later) (Note) Setting is available only on SCON-CA. 6 parameters necessary for Servo Gain Adjustment are gathered to make up 1 set. 4 types of settings are able to be registered and the servo gains can be switched over for each positioning operation.
6.5.2 Position Data Table Contents for RCP, RCS, E-Con and RCP2 The setting items of the position data table are No., Position, Vel, Acc/Dcl, Push, Range and Acc only MAX. They are displayed in 3 screens. (1) No. Indicates the position data number. To specify relative coordinates, move the cursor here and press the minus key. The “=” sign will appear between No. and Position. By pressing the minus key again, “=” disappears and the screen returns to absolute coordinates.
(6) Range: - Enter the positioning completion detection width in mm (distance to the target position) in the positioning mode. - The distance to the target position indicates that the value input here is the upstream distance prior to reaching the target position and the position complete signal is output when the actuator enters that upstream range. The default value will depend on the actuator type. (see diagram A) - Enter the maximum push amount (distance from the target position) in the push mode.
6.5.3 Data New Input The following 4 ways to input new position data exist: (1) Numeric Input (MDI) Numeric input the position data directly from the Teaching Pendant ten keys. (For the input example, see page 41.) (2) Direct Teach Turn the servo controller OFF, manually move the slider to match the desired location and read and command that location into the position table. (For the input example, see page 50.) 6.
1) Homing Perform temporary stop reset and servo ON input in advance. Alternatively, disable servo ON input and temporary stop reset with User Adjustment. (There is no servo ON input for RCP.) Caution: Operating instructions are described on the screens of PCON, ACON and SCON. Operation key. 2. Press the “Teach/Play.” key to select 3. Press the 4. Reference 6. Operation: Mode Flow Chart 1. Press the Screen key to select Jog.
2) Numeric Input Caution: Operating instructions are described on the screens of PCON, ACON, SCON, ERC2 Example 1: 2 point continuous loop move 30mm <-> 250mm, Speed 300mm/sec Operation 6. Operation: Mode Flow Chart 1. Press the 2. Press the Screen Reference key. key to select “MDI.” 3. 4. Set 0 into the position No. with the or key. For any unregistered data, the display will show “*” sign. Move the cursor to the “Pos” input position with the , , or 5. Input key.
Operation 7. Input Screen here, and then press the Return key. Press the Reference The screen will change to the screen of Position No. 1 for Acc and Dcc. key. (The cursor will automatically move to the next [No. 1].) 8. Change the screen to the screen for Pos and Vel with the key. 9. Move the cursor to the “Pos” input position with the , , Input or key. 6. Operation: Mode Flow Chart Move the cursor to “Pos” with the key.
Operation 11. Input Screen here, and then press the Return key. Press the key. (The cursor will automatically move to the next [No. 2] 6. Operation: Mode Flow Chart position.) 46 Reference The screen will change to the screen of Position No. 2 for Acc and Dcc.
Example 2: 2 point continuous loop move Operation 1. Press the key. 2. Press the key to select Push operation 10mm position <-> 80mm position (Push range 5mm) Screen Reference “MDI.” 4. Set 0 into the position No. with the or key. For any unregistered data, the display will show “*” sign. Move the cursor to the “Pos” input position with the , , or 5. Input key. here, and then press the Return key. In order to stop during numeric input, press the key to cancel the input.
Operation 7. Reference Press the Return key. At the left, the user parameter Press the is used as it is. key. (The cursor will automatically move to the next [No. 1] position.) 8. Screen The screen will change to the screen of Position No. 1 for Acc and Dcc. Change the display to the 6. Operation: Mode Flow Chart 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.
Operation 13. Input the current value during push. Screen Reference * For push control, refer to the Controller Operating Manual. In this example, input 30%. Input and then press the Return key. Press the Return key again to move the cursor to “Range.” 14. The screen will change to the during push into the Range. screen of Position No. 2 for In this example, input 5 mm. Input 6. Operation: Mode Flow Chart Input the maximum push range Push, LoTh and Range. and then press the Return key.
Example 3: Relative Coordinates pitch movement 30 mm ĺ 40 mm ĺ 50 mm…. Operation 1. Press the key. 2. Press the key to select Screen Reference “MDI.” 6. Operation: Mode Flow Chart 3. 4. Set 0 into the position No. with the or key. For any unregistered data, the display will show “*” sign. Move the cursor to the “Pos” input position with the , , or 5. Input key. here, and then press the Return key. In order to stop during numeric input, press the key to cancel the input.
Operation 7. Reference Press the Return key. At the left, the user parameter Press the is used as it is. key. (The cursor will automatically move to the next [No. 1] position.) 8. Screen The screen will change to the screen of Position No. 1 for Acc and Dcc. Change the display to the screen for Pos and Vel 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 The screen will change.
Operation 13. 14. Change to the screen for Zone + and Zone- with the key. Screen Reference The screen will change. Change to the screen for Acc 6. Operation: Mode Flow Chart Dcl Mode and Incremental with the key. Move the cursor to “Incremental” with the key. 15. Set to “Incremental” (relative The screen will change to the coordinate specification). screen of Postion No. 2 for Input Cmnd Mode and Stop Mode. and then press the Return key. Press the 52 key.
3) Direct Teach (Method: Manually moving the actuator, matching to the desired position and teaching that position into the position table) When direct teach operation is performed first after power-on, it is required to perform home return operation in advance. (Refer to page 40.) (Increment specification) Caution: Operating instructions are described on the screens of PCON, ACON, SCON, ERC2 Example: 2 point continuous loop Point A --> Point B, speed 300mm/sec Operation key. 2.
Operation 6. Screen Reference Manually move the slider and The controller status will be match to the desired position. displayed on the bottom row Press the Return key. of the screen. Servo Control: OFF Position: 100.00 You can change the position No.you want to input with the and 6. Operation: Mode Flow Chart 7. Press the key. 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.
Operation 11. Screen Reference Set the position No. youu want to input with the or key. 12. Manually move the slider and match to the desired position. Press the Return key. key to select 6. Operation: Mode Flow Chart 13. Press the “Yes.” 14. Press the Return key. 15. Press the 16. key. The screen will return to the Teach/Play select screen.
4) Jog Teach (Method: Tagging the actuator, matching to the desired position and teaching that position into the position table) However, only the maximum speed will be gained if the maximum speed is slower than the VSHFL¿HG speed. When jog operation is performed first after power-on, it is required to perform home return 6. Operation: Mode Flow Chart operation in advance. (Refer to page 40.
Operation 7. Screen Reference Set the position No. you want to input with the or key. Any remaining data will be Press the Return key. For any unregistered data, written over. the display will show “*” sign. 8. Press the key to select “Yes.” 9. As for Vel, Acc, Dcc, etc., the initial value set with the user parameter will automatically be input. 10. Press the 11. key. The screen will return to the Teach/Play select screen. 57 6. Operation: Mode Flow Chart Press the Return key.
5) Inching (Method: Incremental movement using arrow key, matching to the desired position and teaching that position into the position table) If you press the JOG- and JOG+ key once, the actuator will move by a specified pitch. If you continue pressing the arrow key, the actuator will move by jogging at 1 mm/sec. The speed will increase every one second. Finer movement than jogging is possible. When inching movement is performed first after power-on, it is required to perform home return 6.
Operation 7. 8. Screen Reference Set the position No. you want to input with the or Any remaining data will be key. For any unregistered data, Press the Return key. the display will show “*” sign. Press the written over. key to select “Yes.” 9. As for Vel, Acc, Dcc, etc., the initial value set with the user parameter will automatically be input. 10. Press the 11. key. The screen will return to the Teach/Play select screen. 59 6. Operation: Mode Flow Chart Press the Return key.
'DWD 0RGL¿FDWLRQ You may write over all of the position data. Similar to new input, the following 4 cases exist: (1) Numeric Input (MDI): Manually enter the position data directly from Teaching Pendant ten keys. (2) Direct Teach: Turns the servo OFF, manually move the slider to the desired location and read that location (current position) into the position table.
1) Clear (Method: To clear the position data of assigned location) Caution: Operating instructions are described on the screens of PCON, ACON, SCON, ERC2 Example: Clear the row of position data number 2. Operation 1. Press the key. 2. Press the key to select Screen Reference 3. 6. Operation: Mode Flow Chart “Clear.” Set the position No. you want to clear with the or key. Press the Return key. 4. Press the key to select “Yes.” 5. 6. Press the Return key.
2) All Clear (Operation: To clear all position data) Caution: Operating instructions are described on the screens of PCON, ACON, SCON, ERC2 Operation 1. Press the key. 2. Press the key to select Screen Reference 6. Operation: Mode Flow Chart “All Clear.” 3. Press the key to select “Yes.” 4. 5. 62 Press the Return key. All position data will be cleared.
6.5.6 Move You may move towards a position registered in the position data table (1 step move) and continuously move through the continuous position data. In this section, the move will differ from jog and increment move used with the arrow key. This will be moved towards a position that was registered in the position data table within the controller. Use this move for test operation etc. (1) Move 1 step move from the current location to the assigned position number registered in the position table.
Specific examples will be provided to explain operation procedures. Caution: With regard to PCON, ACON, SCON, ERC2 complete positions will be output. The positioning complete output will not turn ON when push mode does not encounter a force. When move or Continuous is performed first after power-on, it is required to perform home return operation in advance. (Increment specification) 1) Move 6.
Operation 6. Screen or Select “Vel” with the key. Reference Speed is divided into 3 levels and can be selected using the or With the key. key, the speed will change in the incremental direction (10% 50% 100%). With the key, the speed will change in the decremental direction (100% 50% 10%). 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.
Operation 9. Press the Screen Reference key. 10. The screen will return to the Teach/Play select screen. Caution: When moving towards position in push mode. 6. Operation: Mode Flow Chart 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.
2) Continuous Move (Operation: Registered position data number assigned continuous move) Caution: Operating instructions are described on the screens of PCON, ACON, SCON, ERC2 Example: Current position ĺ Continuous move towards position numbers 1 to 3 Operation 1. Press the Reference key. key to select 6. Operation: Mode Flow Chart 2. Press the Screen “Teach/Play.” 3. Press the key to select “Cont.” 4. For any unregistered data, the display will show “*” sign. 5. Set the position No.
Operation 6. Screen or Select “Vel” with the key. Reference Speed is divided into 3 levels and can be selected using the or With the key. key, the speed will change in the incremental direction (10% With the 50% 100%). key, the speed will change in the decremental 6. Operation: Mode Flow Chart direction (100% 50% 10%).
Operation 9. 10. Screen Reference When operation stops, press the key. The screen will return to the Teach/Play select screen. 6.
6.5.7 Servo ON/OFF Servo ON/OFF can be performed. Caution: Operating instructions are described on the screens of PCON, ACON, SCON, ERC2 6. Operation: Mode Flow Chart Operation 1. Press the key. 2. Press the key to select Screen Reference “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.
6.5.8 Pulse Train (PCON-PL/PO, ACON-PL/PO, SCON: Pulse Train Mode) Based Jogging In the case of the PCON-PL/PO, ACON-PL/PO, or SCON controller (pulse train mode), if you select “Jog” on the Jog/Inching select screen, servo ON/OFF, homing, or jog operation can be performed. If you select “Inching,” inching operation can be performed. Press the key. key, jog operation can be performed. If you press the If you press the key, inching operation can be performed. The Jog screen will be displayed.
(2) Inching operation The Inching 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. Inching distance Homing Servo ON/OFF Current position 6. Operation: Mode Flow Chart Current position: Indicates the current position. The unit can be changed between mm and pulse with the , , or key.
6.6 Monitor The I/O status and current position will be displayed for all the controllers connected on the serial communication line. Press the key. 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, to monitor can be changed. If you press the or key, the screen will change. To end monitoring, press the key.
On the axis status 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 version display 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 6. Operation: Mode Flow Chart port monitor screen.
Display description Displays the axis position in [mm]. In the case of the PCON-PL/PO, ACON-PL/PO or SCON controller (pulse train mode), key, the display will change to the pulse display. if you press the Displays the speed of the moving axis in [mm/sec]. 6. Operation: Mode Flow Chart In the case of the PCON-PL/PO, ACON-PL/PO or SCON controller (pulse train mode), key, the display will change to the pps display. if you press the Displays the servo ON/OFF status of the axis. Displays the error No.
If you press the key on the last screen of input ports, the special input port screen will be displayed. The special input port screen will display special input ports such as HMCK (home check sensor). If you press the or key, the axis to monitor can be changed. If you press the or key, the screen will change. key. 6. Operation: Mode Flow Chart To end monitoring, press the After this, the screen will change to the special input port or version display screen.
On the special input port monitor screen, if you press the key, the screen will change to the output port monitor screen. If you press the If you press the key, the screen will change to the version display screen. 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. 6.
[Maintenance Information] This mode displays the total number of actuator movement and distance. (Only SCON-CA, PCON-CA, ERC3 (CON Mode (CN)) and ERC3 PIO Converter can display this information.) -- Press Ɣ in the monitor screen. 㧹 㨍 㨕 㨚 㨠 㧚 㧵 㨚 㨒 㨛 㨀 㨛 㨠 㨍 㨘 㧹 㨛 㨢 㨑 㨐 # 㧯 㨛 㨡 㨚 㨠 6.
[Thresholds for Total Number of Movements and Total Travelled Distance] You can set thresholds for total number of movements and total travelled distance in the parameters VSHFL¿HG EHORZ WR FDXVH DQ DODUP WR JHQHUDWH ZKHQ HDFK WKUHVKROG LV H[FHHGHG Parameter No.
6.7 Error List Errors occurring after the connection of the Teaching Pendant and those occurring after a controller’s power-on will be displayed. Press the key. Errors occurring in the controller will be displayed. If you press the or key, the Error List screens can be changed. Alarm detailed code 6. Operation: Mode Flow Chart (In the case of “0,” - - - - will be displayed.) The Error List screens of PCON, ACON or SCON are comprised of 0 to 16.
6.8 User Parameters 6.8.1 User Parameters Parameters are displayed and edited. Press the key. Each parameter can be changed using the or key. When the cursor is located at “No.,”it is also possible to change to the desired user parameter by directly inputting a numeric value of theparameter When changinga parameter, move the cursor to the , , or parameter value with the key or Return key. Input a numeric value with the ten key and press the Return key. Press the key.
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 required to turn SON input OFF. Models which support the software reset (restart) are PCON, ACON, SCON, ERC2. For any model which does not support the software reset, restore the power to the controller.
Examples of PCON-CY Controller 6.
6.
From previous page 6.
6.
- 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 Approx. 0.3mm Approx. 0.3mm Effective area Approx. 0.1mm Approx. 0.1mm 6. Operation: Mode Flow Chart Jog Increment allowable range after homing Caution: Please restore the controller power after making parameter changes.
6.9 User Adjustment 6.9.1 Homing Operation, Axis Number Setting, Calibration and Time Setting • Execute homing. • Set the axis number of the controller (PCON, ACON, ERC2, RCP-RSI, RCP-RM1, etc.). • Perform the loadcell calibration (SCON-CA) • Move to the clock setting window to set the current time (SCON-CA, PCON-CA and ERC3 PIO Converter) • Move onto the maintenance information screen and establish the maintenance information settings.
For SCON-CA, PCON-CA and ERC3 PIO Converter, the current time setting can be set on the controller. [Time Setting] Press either or and “E” mark is shown. It is now ready for time data edit. (1) Press either or and the cursor switches in the following order: year month day hour minute second year. Press either or and the cursor switches in the back order: 6. Operation: Mode Flow Chart second minute hour day month year second. Move the cursor to where a change is desired.
6.9.2 Software Reset Software reset (controller restart) will be performed. The compatible models are PCON, ACON, SCON, RCP2, ERC2 Input into “Adjust No.” and press the Return key. The screen will change to the Software Reset screen. 6. Operation: Mode Flow Chart Press the 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.
6.9.3 Error List Clear All the contents of the error lists will be cleared. The compatible models are PCON, ACON, SCON, ERC2 Input into “Adjust No.” and press the Return key. The screen will change to the Error List Clr screen. to the Mode Select screen. key (When not clearing the error list, press the and press the Return key. The screen will return to the Mode Select screen.) 91 6. Operation: Mode Flow Chart key and press the Return key.
6.10 TP Operation Mode The operation mode will be set in the manual mode (MANU). The compatible models are PCON, ACON, SCON, ERC2. When changing the TP operation mode, press the key of the mode you want to change from , , and keys. among the 6. Operation: Mode Flow Chart 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.
Select the operation mode from the following 4 menu items: - Teach 1: The LED is lit in the TEACH1 mode. PIO Prh: Enables writing of position data, parameters, etc., in the controller and commands of the actuator movement system. SftyVel Efct: Keeps the maximum speed at the safety speed set for the parameter regardless of position data. - Teach 2: The LED is lit in the TEACH2 mode. PIO Prh: Enables writing of position data, parameters, etc., in the controller and commands of the actuator movement system.
6.11 End Before removing the Teaching Pendant from the RC controller, be sure to execute End. Operation: 1. Press the key for more than 2.5 seconds. The screen will change to the TP end screen. 2. Press the key to select “Complete.” 6. Operation: Mode Flow Chart The screen display will change to “Non” and the Teaching Pendant will be disconnected from the controller. In the case of any controller with a PORT switch, turn the controller PORT switch to OFF and remove the Teaching Pendant connector.
7. Message Area In the message screen, content during error and warning will be displayed. Code No. Error Label Error Reset Reference 000~07F Controller Warning Yes Controller rejects command 080-0FF Controller Error Note Error inside the controller 100~1FF TP Message Yes Input error, guide message, etc. 200~2FF TP Movement Release Yes Movement continuation impossible 300~3FF TP Cold Start Error No TP Power install or reconnect are necessary. TP: Teaching Pendant Note) Refer to “7.
7.2 Teaching Pendant Message Level Error Teaching Pendant Operational Mistake: When you attempt to input an incorrect value, the message label error will occur. Code No: 112h, 113h, 114h, 118h, 11Eh, 11Fh, etc. (keypad input value is incorrect.) 7.3 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.
Appendix * Appendix Parameter (Shipment) Initialization Method Parameters will be changed (initialized) to shipment parameters. The compatible models are PCON, ACON and SCON. Caution: Please take note that if parameter (shipment) initialization is performed, user-set parameters will be changed to shipment parameters. Input for “Adjust No.”and press the Return key. confirmation screen. key and press the Return key.
Appendix Teaching Pendant Error Messages As an example, if an input value is larger than the set range during MDI-mode position data input, the following error screen will be displayed: If you press the key, the screen will return from the error display screen to the previous screen. In this case, the screen will return to the MDI-mode position data input screen. The screen will return to the previous screen from the error display screen even using the key.
Appendix Code Message name Description 122 Allocate, multi-axes connect Address was assigned when multiple axes were connected. Assign each address only when one axis is connected. 133 Change to axis number prohibit In the case of the PCON-C/CG, ACON-C/CG, or SCON controller, the axis number is set with the rotary switch on the front panel. It cannot be set with the Teaching Pendant.
Appendix Code 30C Message name No Connect Error Description This message indicates that no controller axis number is recognized. Cause: [1] The controller is not operating properly. [2] Only the supplied communication cable (SGA/SGB) is disconnected. [3] If a SIO converteris 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.
Appendix &KDQJH +LVWRU\ Revision Date Revision Description Fourth edition Page 1 Safety Guide Added Contents changed in Safety Guide Caution notes added for when working with two or more persons Page 8 Contents changed in Warranty 3DJH $GGLWLRQ RI +RZ WR ,QSXW $ WR ) IRU +H[DGHFLPDO 1XPEHU Page 31 Contents of Position Table for Version V1.
Manual No.: ME0178-6A (June 2012) Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan TEL +81-54-364-5105 FAX +81-54-364-2589 website: www.iai-robot.co.jp/ Technical Support available in USA, Europe and China Head Office: 2690 W.
