IAI RoboNet, Operation Manual

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Part 2 Startup Chapter
[2] Setup the necessary items
* Setting items may decrease depending on the versions of ROBONET Gateway Parameter Setting Tool and the
firmware.
(i) Enable Operation … It is allowed to select an appropriate controller control method when the enable function is
effective.
(enable function effective = the user setting switch (SW1) on the GateWayR unit is ON)
Selected Items Operation Details
Shutdown control (factory setting)
The actuator decelerates to a stop, the servo turns OFF, and then
the drive source is cut OFF.
Servo control The actuator decelerates to a stop, and then the servo turns OFF.
(ii) Latch the condition after servo OFF when ERR_T is occurred …
When ERR-T is occurred, the user is able to select whether all the controllers turn the servo
OFF, and the control commands are to be ineffective.
The factory setting is ineffective. (Firmware version 000E to)
Caution
Because there is a high risk of ERR-T occurrence at the unstable condition of the system start, start it with the control
signal “RTE” set to 1. (Refer to 3.7.2.)
Set “RTE” to 0 after confirming that the status signal “RUN” becomes 1.
(iii) Servo OFF when ERR_C is occurred …
When ERR-C is occurred, the user is able to select whether all the controllers should turn the
servo OFF.
The factory setting is effective. (Firmware version 000C to)
(iv) Speed setting unit (for direct numerical specification (positioning) mode only) …
The user is able to set the speed setting unit of the axes that are set to the direct numerical
specification (position) mode from either 1.0 mm/sec or 0.1 mm/sec.
The factory setting is 1.0 mm/sec. (Firmware version 000C to)
(i)
(ii)
(iii)
(iv)
(v)
: At the start of the system