IAI RCM-P6AC, Instruction Manual

Page: 242 / 286

9.
Troubleshooting
Fieldbus Communication
230
RCP6S
9.2.2 Positioning and Speed of Poor Precision (incorrect operation)
Situation Possible cause Check/Treatment
Completion of operation
on the way to home
return
In the home return of our standard
specification, the actuator is first
pressed to the mechanical end, moved
oppositely, and subject to positioning
stop at the home position. Therefore,
the product may judge as the
mechanical end even though it is still on
the way when the load is large and
interfere with surrounding object.
1) A load exceeding its rating weight is
installed on the actuator.
2) It is touched to interference in the
way of the run.
3) Torsion stress is applied to guide
due to improper fixing method of the
actuator or uneven fastening of
bolts.
4) The sliding resistance of the
actuator itself is large.
1) Reduce the load.
2) Remove the interference.
3) Loosen the fixing bolts once and
check whether the slider can
move smoothly.
If the slider can move smoothly,
check if there is a deformation
on the attached surface, and
install the actuator again
following the instructions stated
in Instruction Manual.
4) Please contact IAI.
Shocks at start and/or
stop.
Acceleration/deceleration is set too
high.
Decrease the settings of
acceleration/deceleration.
Overshoot during
deceleration to stop.
The load inertia is large. Decrease the setting of
deceleration.
Positioning of poor
precision
Uneven speed during
movement
Acceleration/deceleration
not smooth (bad speed
response)
Trace of poor precision
[Refer to 8.3 Servo Adjustment.]
(Note1) Since RCP6S actuator is equipped with the battery-less absolute encoder, it is not necessary to
perform the home-return operation in ordinary situation.
Situation Possible cause Check/Treatment
Positioning at a position
different from that of
commanded position No.
Signal processing is incorrect.
1) Start signal CSTR is input too early
after position No. command. Or
position No. command and start
signal are input concurrently.
2) The correct position No. is not
specified due.
1) The stop position may be set for
another purpose. Input the start
signal after the controller fully
reads the position number.
[Refer to 3.7.2 to 3.7.4
Operation in each mode.]
2) Check the input signal on I/O
monitor on the teaching tool.
Complete signal PEND
is not output even
though positioning
process is completed.
Signal processing is incorrect.
1) Start signal CSTR is not turned OFF.
1) Make the start signal CSTR
turned OFF before completing
the positioning process by the
turn-off of positioning complete
signal PEND after starting
operation, and so on.
ME0349-4B