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Teaching Pendant

Operating Manual

First edition

IAI America Inc.

Summary of Contents for RCM-TD

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

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Page 3: ...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...

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Page 5: ...ON V2 00 SCON V2 00 1 This Teaching Pendant also supports the RCP RCS E Con RCP2 and ERC controllers Check the model to connect and the version of the Teaching Pendant If any unsupported model is conn...

Page 6: ...MEMO...

Page 7: ...lection when using multiple units 16 8 3 Operation Mode Selection 17 8 3 1 Positioner PCON PL PO ACON PL PO or SCON Mode Other than Pulse Train Mode 17 8 3 2 Pulse Train PCON PL PO ACON PL PO or SCON...

Page 8: ...umber setting 81 8 9 2 Software Reset 83 8 9 3 Error List Clear 85 8 10 TP Operation Mode 87 8 11 End 89 9 Message Area 90 9 1 Warning Label Error Code No 000h 07Fh 90 9 2 Teaching Pendant Message Lev...

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 Be...

Page 10: ...ead 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 rece...

Page 11: ...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 err...

Page 12: ...ndant 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 ERC2 RCP RCS E Con RCP2...

Page 13: ...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 In addition for qui...

Page 14: ...6 6 2 External View External Dimensions When drawing out the manual card...

Page 15: ...iquid crystal display with a range of 62 69 62 69mmm with a maximum of horizontal 21 characters per column and vertical 16 columns per row 1 Large LCD Display 8 key 9 Return key 10 DEADMAN SWITCH 6 ke...

Page 16: ...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 on...

Page 17: ...key will return the user to the previous screen Note When you don t understand the operation undo the operation by pressing the key 7 Minus key Switches between Relative Coordinates and Absolute Coord...

Page 18: ...his switch is a open a contact Caution If multiple controllers are connected using link cables the Deadman SW is enabled only for the axis of the controller which is connected to the Teaching Pendant...

Page 19: ...for more than 2 5 seconds 2 Use the Arrow key to select Complete Screen and then press the Return key 3 Turn the PORT switch OFF for the controller having this switch 4 Remove the Teaching Pendant co...

Page 20: ...or leaving the mode check whether to reset software Displayed only for PCON ACON SCON and ERC2 Increment All Clear Clear Displayed only when 2 or more axes are connected CTR ErrList Teach Play User Pa...

Page 21: ...when Reconnection is selected Return End Before changing the parameter or leaving the mode check whether to reset software Displayed only for PCON ACON SCON and ERC2 Displayed only when 2 or more axes...

Page 22: ...ndant 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 po...

Page 23: ...Teach 2 PIO Prh SftyVel Non 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 described i...

Page 24: ...case of RCP RCS E Con RCP2 or ERC Connected will be displayed By placing the cursor on the desired controller and pressing the Return key selection will occur The screen will then change to the Mode...

Page 25: ...Return key Caution The TP Operation Mode will be displayed only for PCON ACON SCON or ERC2 Category of Modes 1 Edit Teach Position Teach and Edit function for position table Refer to 8 4 and 8 5 2 Mon...

Page 26: ...witch and confirm it with the Return key Category of Modes 1 Jog Servo ON homing jogging increment movement Refer to 8 5 8 2 Monitor Controller status display Refer to 8 6 3 Error list Alarm content d...

Page 27: ...sub display area use the key to move the cursor Screen Display Descriptions The screen display is divided into the following 5 areas for use Title Display Area Displays the current mode and the selec...

Page 28: ...Zone Range LoTh Push Dcl Acc Vel Position Note When the cursors on the position data table main display area are flashing you can change the right and left areas by pressing the key and key simultaneo...

Page 29: ...een Display Descriptions The screen display is divided into the following 5 areas for use Title Display Area Displays the current mode and the selected controller axis number Main Display Area Display...

Page 30: ...s on the position data table main display area are flashing you can change the right and left areas by pressing the key and key simultaneously If you continue pressing the key for 2 sec or more the sc...

Page 31: ...ess 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 Warning Always specify absolute coordinates for...

Page 32: ...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 Dec in such a way as to prevent excessive impact or v...

Page 33: ...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 vari...

Page 34: ...t 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 patter...

Page 35: ...peration 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 accelera...

Page 36: ...dition 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...

Page 37: ...ween 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 SCON or ERC2 there are cases where the input...

Page 38: ...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...

Page 39: ...peed 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 i...

Page 40: ...y the arrow key or key 2 Match the cursor to the position The number can be anywhere Edit Teach Axis 1 Clr All No Return Teach Play Ten key Match Position Return Srv ON Pos 0 00 Data unregistered posi...

Page 41: ...ey to move the cursor in the sub display area 5 Press the Return key Edit Teach Axis 1 Direct Teach Servo OFF Jog Increment Home Move Continuous Srv ON Pos 0 00 Automatically executes home 6 Press the...

Page 42: ...Match Position Return Srv ON Pos 0 00 The cursor will move with the arrow key Any remaining data will be written over Data unregistered position data will display sign 3 Input here and press the Retur...

Page 43: ...ion etc will be input automatically In the left screen the initial value is set as 100mm sec 5 Input here and press the Return key again the cursor automatically moves If change is not needed press th...

Page 44: ...r to stop during numeric input press the key to cancel the input 8 Edit Teach Axis 1 Clr All No Return Teach Play Ten key Match Position Return Srv ON Pos 0 00 The cursor will automatically move to sp...

Page 45: ...0 The cursor will move with the arrow key Any remaining data will be written over Data unregistered position data will display sign 3 Input here and press the Return key again Edit Teach Axis 1 Clr Al...

Page 46: ...tomatically In the left screen the initial value is set as 100mm sec 5 Press the Return key Edit Teach Axis 1 Clr All No Return Teach Play Ten key Match Position Return Srv ON Pos 0 00 At the left the...

Page 47: ...when the cursor is located at Vel Edit Teach Axis 1 Acc and Dcl can be individually set Srv ON Pos 0 00 The screen will switch 9 Press the key when the cursor is located at Acc The cursor position wi...

Page 48: ...PTP else Push Push Range 0 Forward 0 Backward Srv ON Pos 0 00 For push control refer to the Controller Operating Manual 11 Input the maximum push range during push into the Range In this example input...

Page 49: ...sor will move with the arrow key Any remaining data will be written over Data unregistered position data will display sign 3 Input here and press the Return key again Edit Teach Axis 1 Clr All No Retu...

Page 50: ...rs for velocity acceleration deceleration etc will be input automatically In the left screen the initial value is set as 100mm sec 5 The cursor moves to the next No 1 position automatically Press the...

Page 51: ...turns the mode to the absolute coordinate mode 8 Input here and press the Return key Edit Teach Axis 1 Clr All No Return Teach Play Ten key Match Position Return Srv ON Pos 0 00 The relative repositio...

Page 52: ...the arrow key or key 2 Match the cursor to the position of the position number column you wish to input The mode will automatically turn into the ten key input mode Edit Teach Axis 1 Clr All No Retur...

Page 53: ...t Home Move Continuous Srv ON Pos 0 00 Use the key to move the cursor inside the sub display area 5 Manually move the slider and match to the desired position Press the Return key Edit Teach Axis 1 Di...

Page 54: ...match to the next desired position Press the Return key Edit Teach Axis 1 Direct Teach Servo OFF Return Acquire Srv OFF Pos 100 00 The position data number will automatically select the next number a...

Page 55: ...ch Axis 1 Clr All No Return Teach Play Ten key Match Position Return Srv ON Pos 0 00 The screen will return to the Edit Teach main screen At this time the servo control will turn ON 10 Press the key g...

Page 56: ...of PCON ACON SCON and ERC2 Example 2 point continuous loop Point A Point B speed 300mm sec Operation Screen Reference 1 Select Edit Teach and press the Return key The cursor will move by the arrow key...

Page 57: ...e sub display area 5 Select speed with the key Move the slider with the key and match it to the desired position Plus direction of display coordinates Minus direction of display coordinates Press the...

Page 58: ...7 Match to the next desired position Press the Return key Edit Teach Axis 1 Jog key Speed 1 2 3 4 5 Fast Return Acquire Srv ON Pos 100 00 The position data number will automatically select the next n...

Page 59: ...Then press the key gain Edit Teach Axis 1 Clr All No Return Teach Play Ten key Match Position Return Srv ON Pos 100 00 The screen will return to the Edit Teach main screen 10 Press the key The screen...

Page 60: ...uctions are described on the screens of PCON ACON SCON and ERC2 Example 2 point continuous loop Point A Point B speed 300mm sec Operation Screen Reference 1 Select Edit Teach and press the Return key...

Page 61: ...key and match it to the desired position Plus direction of display coordinates Minus direction of display coordinates Press the Return key Edit Teach Axis 1 Increment Jog key Distance 0 03 0 10 0 05...

Page 62: ...red position Press the Return key Edit Teach Axis 1 Increment Jog key Distance 0 03 0 10 0 05 Return Acquire Srv ON Pos 10 00 The position data number will automatically select the next number auto in...

Page 63: ...Then press the key again Edit Teach Axis 1 Clr All No Return Teach Play Ten key Match Position Return Srv ON Pos 90 00 The screen will return to the Edit Teach main screen 10 Press the key The screen...

Page 64: ...tion 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 no...

Page 65: ...2 Match the cursor to the position of the position number column Edit Teach Axis 1 Clr All No Return Teach Play Ten key Match Position Return Srv ON Pos 0 00 Data unregistered position data will disp...

Page 66: ...play If you wish to delete move the cursor to Yes using the key and press the Return key Edit Teach Axis 1 Clear Position No 2 NO Yes Srv ON Pos 0 00 When the screen switches to this screen the cursor...

Page 67: ...n Edit Teach Axis 1 Clr All No Return Teach Play Ten key Match Position Return Srv ON Pos 0 00 The position can be anywhere 3 Press the Return key again Edit Teach Axis 1 Clr All No Return Teach Play...

Page 68: ...play If you wish to delete move the cursor to Yes using the key and press the Return key Edit Teach Axis 1 Clear all position data NO Yes Srv ON Pos 0 00 When the screen switches to this screen the cu...

Page 69: ...ber 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...

Page 70: ...ber column you wish to move Edit Teach Axis 1 Clr All No Return Teach Play Ten key Match Position Return Srv ON Pos 0 00 The cursor will move by the arrow key For any unregistered data the display wil...

Page 71: ...50 100 Return position Move Srv ON Pos 0 00 Speed is divided into 3 levels and can be selected using the key Move to the position No 2 position The cursor will automatically move to No 3 position Not...

Page 72: ...wice and return to the edit teach screen Edit Teach Axis 1 Clr All No Return Teach Play Ten key Match Position Return Srv ON Pos 300 00 The screen will return to the Edit Teaching main screen Caution...

Page 73: ...the position number column you wish to move first Edit Teach Axis 1 Clr All No Return Teach Play Ten key Match Position Return Srv ON Pos 0 00 The cursor will move by the arrow key For any unregistere...

Page 74: ...Continuous Srv ON Pos 0 00 Speed is divided into 3 levels and can be selected using the key Continuous operation stop Stop after moving to the position Continuous operation stop Immediately stop on t...

Page 75: ...ing main 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...

Page 76: ...here Edit Teach Axis 1 Clr All No Return Teach Play Ten key Match Position Return Srv OFF Pos 0 00 Data unregistered position data will display sign 3 Press the Return key Edit Teach Axis 1 Clr All No...

Page 77: ...de the sub display area 5 Press the Return key Edit Teach Axis 1 Direct Teach Servo OFF Jog Increment Home Move Continuous Srv ON Pos 0 00 Every time the Return key is pressed the servo will turn ON a...

Page 78: ...Jogging In the case of the PCON PL PO ACON PL PO or SCON controller pulse train mode if you select Jog servo ON OFF homing jogging or increment movement can be performed Select Jog on the Select Mode...

Page 79: ...press the key the cursor will move in the positive direction of the display coordinates If you press the key the cursor will move in the negative direction of the display coordinates 5 Increment Can p...

Page 80: ...ntrollers connected on the serial communication line Select Monitor on the Select Mode screen and press the Return key Use the key or key to move the cursor Note In the case of the PCON PL PO ACON PL...

Page 81: ...return to the Current Rate display Refer to the following page 6 Displays the special input ports such as HMCK home check sensor 7 Displays the model and version of the connecting controller The left...

Page 82: ...74 Pulse Position Display PCON PL PO ACON PL PO SCON Pulse Train Mode Current Value mA Display 1 6 5...

Page 83: ...CON PL PO or SCON controller pulse train mode Edit Teach Position will be displayed as Jog An error occurring after the connection PORT ON of the Teaching Pendant will be displayed The figure at the l...

Page 84: ...or detected 9 times before 0 Alarm level error detected 10 times before 1 Alarm level error detected 11 times before 2 Alarm level error detected 12 times before 3 Alarm level error detected 13 times...

Page 85: ...eturn key To move the cursor use the key Restore the controller power after making parameter changes In the case of any model which supports the software reset restart function PCON ACON SCON ERC RCP2...

Page 86: ...78 Examples of PCON CY Controller...

Page 87: ...e servo is ON the screen will move to the servo OFF confirmation screen When restarting the controller select Yes and press the Return key Since the servo is automatically turned OFF it is not require...

Page 88: ...fter making parameter changes Alternatively reset software in the case of any model which supports the software reset function Although pressing the emergency switch or port switch ON OFF will rewrite...

Page 89: ...servo on input Execute homing Set the axis number of the controller PCON ACON ERC2 RCP RSI RCP RMI ERC etc Select User Adjustment on the Select Mode screen and press the Return key Use the key or key...

Page 90: ...y stop non effect 91 Input 91 into Adjust no and press the Return key After that turn off the controller power Servo ON input effect 92 Input 92 into Adjust no and press the Return key After that turn...

Page 91: ...he software reset function is supported by Ver 2 00 or later The compatible models are PCON ACON SCON RCP2 ERC and ERC2 Select User Adjustment on the Select Mode screen and press the Return key Use th...

Page 92: ...the servo is ON the screen will move to the servo OFF confirmation screen When restarting the controller select Yes and press the Return key Since the servo is automatically turned OFF it is not requi...

Page 93: ...red The error list clear function is supported by Ver 2 00 or later The compatible models are PCON ACON SCON and ERC2 Select User Adjustment on the Select Mode screen and press the Return key Use the...

Page 94: ...ing the error list select Yes and press the Return key When stopping error list clear select No and press the Return key The screen will return to the Select Mode screen regardless of whether you sele...

Page 95: ...en Select TP Operation Mode on the Select Mode screen and press the Return key Use the key or key to move the cursor Note In the case of PCON PL PO ACON PL PO or SCON controller pulse train mode Edit...

Page 96: ...actuator movement system SftyVel Non Enables movement at the speed described in the position data Monitor 1 PIO Prm SftyVel Ect PIO Prm Enables monitoring only Writing of position data parameters etc...

Page 97: ...er that is not directly connected to the Teaching Pendant please execute a reconnect Caution In the case of the PCON ACON or ERC2 controller with no AUTO MANU switch set the TP operation mode to Monit...

Page 98: ...rning is probably due to the following possibilities RS485 communication abnormality Teaching Pendant operational mistake a RS 485 communication related abnormality Indicates occurrence of any abnorma...

Page 99: ...perating 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 move...

Page 100: ...d to shipment parameters The compatible models are PCON ACON SCON and ERC2 Caution Please take note that if parameter shipment initialization is performed user set parameters will be changed to shipme...

Page 101: ...performing parameter shipment initialization select Yes and press the Return key When parameter shipment initialization is completed the screen will return to the Soft Reset screen When stopping para...

Page 102: ...When stopping software reset select No and press the Return key The screen will return to the Select Mode screen When the servo is ON the screen will move to the servo OFF confirmation screen When re...

Page 103: ...end over The final position in push operation exceeds the soft limit This has no negative effect if the actuator contacts the work If the actuator misses the work however the soft limit will be reach...

Page 104: ...ate 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...

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Page 106: ...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 R th 4 D 65824 Schwalbach am Taunus Germany TEL 06...

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IAI RCM-TD, Operating Manual

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