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Controller

Data Input Pendant (2006

)

IAI Industrieroboter GmbH

Ober der Röth 4, D-65824 Schwalbach am Taunus

Germany

Tel.:+49-6196-8895-0

Fax: 06196-889524-24

E-Mail: [email protected]

Internet: http://www.eu.IAI-GmbH.de

IAI America Inc.

2690 W. 237th Street, Torrance, CA 90505, USA

Tel.: +1-310-891-6015 Fax: +1-310-891-0815

IAI CORPORATION

645-1 Shimizu Hirose, Shizuoka 424-0102, Japan

Tel.: +81-543-64-5105 Fax: +81-543-64-5182

The information contained in this document is subject to change without notice for the purpose of product improvement.

2006

Содержание RCA-P

Страница 1: ...Robo Cylinder Data Input Pendant RCA P Operating Manual Ver 4 0 IAI Corporation ...

Страница 2: ...2 How to Disengage the Data Input Pendant 9 8 Operation 10 8 1 Initial Screen During Power UP 12 8 2 Controller Selection when using multiple units 13 8 3 Operation Mode Selection 14 8 4 Edit Teaching 15 8 4 1 Edit Teach Screen 15 8 4 2 Position Data Table 16 8 4 3 Data Input 19 8 4 5 Add Delete 24 8 4 5 Data Modification 29 8 5 Monitor 30 8 6 Error List 31 8 7 User Parameter 32 8 8 User Adjustmen...

Страница 3: ...fer to the appropriate sections as the need arises For the actuator and controller to be used be sure to refer to 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 Please read this manual carefully to operate the controller properly 2 You are n...

Страница 4: ...ly visible Also keep the power cable close to the operator so that another person cannot inadvertently switch on the power Alternatively lock the power plug or receptacle and direct the operator to hold the key or prepare a safety plug 4 When more than one person is working on the system agree on signals beforehand to ensure everyone s safety before beginning work In particular when doing work inv...

Страница 5: ...pressions that do not affect machinery performance Damage resulting from improper handling or use Damage resulting from user error or failure to perform proper maintenance Damage resulting from the use of any part other than our genuine parts Any alterations not authorized by IAI or its representatives Damage caused by fire and other natural disasters or accidents The warranty pertains to the purc...

Страница 6: ...a Input Pendant Body so that the Data Input Pendant Cable does not get pulled by unwanted cables Caution This Data Input Pendant is designed exclusively for the IAI RC Controller and should not be used to connect with other devices Caution Regarding controller connection please turn the controller front side port switch OFF before connecting to the controller 4 ...

Страница 7: ...a common data move point data etc that is stored inside the controller It cannot be used for any operation related to axis movement LCD Horizontal 16 characters Vertical 2 lines 6 1 Specifications Item Specification Ambient Temperature Humidity Temperature 0 40 C Humidity 85 RH or less RH relative humidity Operating Environment Free of corrosive gas especially no excessive dust Weight 380g Cable L...

Страница 8: ...6 2 External View External Dimensions 6 ...

Страница 9: ...6 3 Description of Each Part LCD Display Key Arrow Keys Key Minus Key Return Key Numeric Key 7 ...

Страница 10: ...ing When an error occurs a message for this error will appear at the very bottom of the display screen Use this key to clear the error and to clear this message 4 ESC Key Return to the display of a previous screen The Data Input Pendant operation has a several layer nested structure Using this key can return the user to one layer above previous screen When you don t understand the operation undo t...

Страница 11: ... PORT IN connector 2 After connecting turn the controller PORT Switch ON 7 2 How to Disengage the Data Input Pendant Hold down the BEGIN END Key which is located in the upper of the key pad Select Complete to finish Afterwards turn the controller front SW side to OFF and remove the Data input pendant connector Operation 1 Hold down the BEGIN END Key for more than 2 5 seconds 2 Use the Arrow Key to...

Страница 12: ...n Return Return Mode Select Axis Select 1 Position 2 Speed 3 ACC DEC 4 Push Power 5 Positioning 6 Rated speed only MAX 7 ABS INC Edit Teach Operation Start End 2 Add 3 Delete 4 Clear 5 All Clear 6 Direct Teach End You will be able to change to the Operation Start End screen from any other screen by using BEGIN END key Please press BEGIN END key for more than 2 5 seconds Incorporate Monitor 1 The m...

Страница 13: ... Servo gain 12 Current stop 13 Home current 14 Temporary stop not effect 15 Baud rate 16 PTIM 17 Offset 18 PIO pattern 19 Move instruction type Position Error No Servo ON in START in Position No in_STP in_HOME out PEND out HEND out ZONE out_ALM CTL Ver User Parameter Monitor 1 2 3 4 5 6 7 8 9 10 11 12 16 Position Type PIO 2 Position Error No Servo ON in START in Position No in_STP in_PEND out HEND...

Страница 14: ...ata Input Pendant and operation starts Upon power on the LCD display screen hereinafter called the screen displays the Data Input Pendant software version as follows Confirming connection IAI RC DU V 1 66 Once the controller connection has been completed the screen automatically moves to the Mode Select screen in a defined period of time 12 ...

Страница 15: ...will be based on operation of the selected axis controller In addition the controller can connect up to 16 units Using the Keys select the data inputting axis controller and determine with the Return Key Only the connecting axis will be displayed Axis Select Axis No 00 Axis Select Axis No 01 Axis number Axis Select Axis No 02 Caution If power is supplied with the PORT switch ON and power is presen...

Страница 16: ... of the 5 options as it appears on the above screen To select move the cursor to the mode desired and confirm using the Return Key Category of Modes 1 Edit Teach Edit and numeric input function for position data table 2 Monitor RC Controller status display 3 Error list Alarm content detailed display 4 User Parameter Setting of axis zone signal output range and axis 5 User Adjustment Setting for en...

Страница 17: ...s displayed The Edit Teach screen has the 6 items as follows Mode Select Edit Teach Monitor Error List User Parameter User Adjustment MDI Add Delete Clear All Clear Direct Teach Edit Teach A 00 All Clear Edit Teach A 00 Direct Teach Edit Teach A 00 Clear Edit Teach A 00 Delete Edit Teach A 00 Add Edit Teach A 00 MDI 15 ...

Страница 18: ...able When MDI is selected and determined the contents of the position data table are displayed The position data table can be changed among the forms of 3 positions No 0 No 2 8 Positions No 1 No 7 and 16 positions No 0 No 15 according to PIO pattern setting of the user parameter No Position Speed ACC DEC Push Range ACC MAX ABS INC 0 mm s G mm 0 1 mm s G mm 0 2 mm s G mm 0 3 mm s G mm 0 4 mm s G mm...

Страница 19: ...om the Position Input Screen will move the screen to ABS INC Input Screen Caution There are cases when the input value may be rounded off to the least common denominator multiple of the controller 2 Speed The speed when moving the actuator mm sec The default value will depend on the actuator type 3 Acc Dec The acceleration deceleration setting for the move to the corresponding position in G s The ...

Страница 20: ...ange Value 6 Range Value 6 MAX Acceleration 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 3 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 Deceleration rema...

Страница 21: ...ng off the servo placing the slider at the desired position by moving it by hand and teaching the position current position to the position data table Caution When the position data is first input by the method of Direct Teach after power on or alarm raising it is required to have homed the actuator in advance The Data Input Pendant has no function of homing the actuator Execute Direct Teach after...

Страница 22: ... 50 00 100 mm s 0 10 G 0 0 20mm 1 0 2 80 00 100 mm s 0 10 G 40 5 00mm 0 0 3 10 00 20 mm s 0 20 G 0 0 10mm 0 1 Input the data inside the thick line see above table The default values will be used for the data outside the thick lined frame By inputting the position data the default value will automatically input The default values Speed ACC DEC and Range will vary according to actuator machine type ...

Страница 23: ...nd then press the Return Key MDI No 01 A 00 ACC DEC 0 1 G The screen will turn into the Input Screen for ACC DEC Use the Numeric Keys to input 0 1 and then press the Return Key MDI No 01 A 00 Push 0 The screen will turn into the Input Screen for Push The default value will be utilized as is so press the Return Key MDI No 01 A 00 Range 0 2mm The screen will turn into the Input Screen for Range Use ...

Страница 24: ...m The screen will turn into the Input Screen for Range Use the Numeric Key to input 5 and then press the Return Key MDI No 02 A 00 ACC MAX 0 Input for position number 2 will end here Next position number 3 input will be executed Input using position number 3 Position number 3 MDI No 03 A 00 Position A Press the Key to advance position number to 3 The screen will turn into the Input Screen for Posi...

Страница 25: ... the actuator with brake release the brake After determining the desired position press the Return key Displays the old position data It is not the desired position determined in the previous screen Position number 4 Incorporate No 04 A 00 Y Æ 1 N Æ 0 Change the position number to 4 using keys Press 1 on the numeric key If the slider or rod moves before pressing 1 determine a desired position agai...

Страница 26: ...s of how to add delete and clear data in the position table 1 Add Adds the position data into the assigned position data number location 2 Delete Deletes assigned position data 3 Clear Resets the assigned position data 4 All Clear Resets all of 16 position data 24 ...

Страница 27: ... 10mm 0 0 1 50 00 100 mm s 0 10 G 0 0 20mm 1 0 2 mm s G mm 0 3 80 00 100 mm s 0 10 G 40 5 00mm 0 0 4 10 00 20 mm s 0 20 G 0 0 10mm 0 1 Mode Select A 00 Edit Teach In the Mode Select Screen using the Keys select Edit Teach and then press the Return Key Edit Teach A 00 Add In the Edit Teach screen using the Keys select Add and then press the Return Key Add No 2 A 00 80 00 Y Æ 1 N Æ 0 Using the Keys ...

Страница 28: ...00 mm s 0 10 G 0 0 20mm 1 0 2 80 00 100 mm s 0 10 G 40 5 00mm 0 0 3 10 00 20 mm s 0 20 G 0 0 10mm 0 1 Mode Select A 00 Edit Teach In the Mode Select Screen using the Keys select Edit Teach and then press the Return Key Edit Teach A 00 Delete In the Edit Teach screen using the Keys select Add and then press the Return Key Delete No 2 A 00 Y Æ 1 N Æ 0 Using the Keys change the position number into 2...

Страница 29: ... G 40 5 00mm 0 0 3 10 00 20 mm s 0 20 G 0 0 10mm 0 1 Mode Select A 00 Edit Teach In the Mode Select Screen using the Keys select Edit Teach and then press the Return Key Edit Teach A 00 Clear In the Edit Teach screen using the Keys select Add and then press the Return Key Using the Keys change the position number to 2 Pressing 1 on the Numeric Key will clear position number 1 and then the screen w...

Страница 30: ... s G mm 0 3 mm s G mm 0 Mode Select A 00 Edit Teach In the Mode Select Screen using the Keys select Edit Teach and then press the Return Key Edit Teach A 00 All Clear In the Edit Teach Screen using the Keys select All Clear and then press the Return Key Pressing 1 on the Numeric Key will clear all data and screen will return to the Edit Teach Screen To cancel press 0 then the All Clear A 00 Y Æ 1 ...

Страница 31: ...nput by the ten numerical keys will be modified As for Direct Teach the position data will be updated when the current position is read by the Return key There is no effect on any other items such as the speed Once the position data has been cleared the cleared data no longer remains anywhere Therefore when the position data is registered next time the Positioning Mode and the Absolute Positioning...

Страница 32: ...r A 00 Error No 000 Displays the ON OFF status of servo Monitor A 00 Servo ON Displays the ON OFF status of start input Monitor A 00 in Start OFF Displays the assigned position number Monitor A 00 in Pos No 00 Displays the ON OFF status of reset input RCS E Con Monitor A 00 in_RES ON Displays the ON OFF status of servo ON input RCS E Con Monitor A 00 in SON 00 Displays the ON OFF status of tempora...

Страница 33: ...Select A 00 Error List In the Mode Select Screen using the Keys select Edit Teach and then press the Return Key Select the displayed item using the Return key or key Error List List No 0 Error No 0E8 Displays the error code number Error List List No 0 A B Phase Disconnection Displays the error name Error List List No 0 Axis No 00 Displays the ON OFF status of servo Error List List No 0 1 Min Displ...

Страница 34: ... To change the value use the Numeric Key for input and then press the Return Key User Para A 00 Zone 150 30mm Displays the zone limit side User Para A 00 Zone 0 30mm Displays the zone limit side User Para A 00 Limit 150 30mm Displays the soft limit side User Para A 00 Limit 0 30mm Displays the soft limit side User Para A 00 Home CWO CCW1 1 Displays the assigned position number User Para A 00 Initi...

Страница 35: ...ve area Approximately 0 1mm Approximately 0 1mm Jog Increment allowable range after homing After changing the homing direction all saved position data will be cleared As needed please re enter the data Reversed homing direction may be done on the Rod Type Actuator Homing direction setting is reversed on the Folded Type SSR SMR Actuator 0 Correct 1 Reversed Caution After changing any parameter be s...

Страница 36: ...axis number setting Input axis number Input the axis number into the allocation number and then press the Return Key User Adjustment A 00 Alloc No 0 Input 2 User Adjustment A 00 Adjustment No 2 Input 2 into the adjustment number and then press the Return Key If this procedure is done on a non integrated controller you will get error number 61 Afterwards the controller must be turned OFF Disable se...

Страница 37: ...ou reconnect and wish to reopen Op Start End End DU Efct Op Start End Reconnection Op Start End End DU Non Confirming Connection IAI RC DU V 1 66 Turn the RC Controller PORT Switch to OFF Then remove the connector Select Axis Axis No 00 in a case of multiple axes connection Or Mode Select A 00 Edit Teach in a case of single axis connection Caution When multiple axes are connected with a controller...

Страница 38: ...he problem 2 Press down BEGIN END Key Warning is probably due to the following possibilities RS485 communication abnormality Data Input Pendant operational mistake a RS 485 communication related abnormality Indicates occurrence of any abnormality on the RS485 communication line Cause Influence by foreign noise or connections are not properly installed The Data Input Pendant and RC controller execu...

Страница 39: ...curs 9 3 Controller Error Alarms detected from the controller side are displayed They are serious errors resulting from an abnormality with the servo control or electric system Please carefully read the operating manual of the controller you use and take measures For details of the alarm codes and solutions as well refer to the same operating manual 37 ...

Страница 40: ...t http www eu IAI GmbH de IAI America Inc 2690 W 237th Street Torrance CA 90505 USA Tel 1 310 891 6015 Fax 1 310 891 0815 IAI CORPORATION 645 1 Shimizu Hirose Shizuoka 424 0102 Japan Tel 81 543 64 5105 Fax 81 543 64 5182 The information contained in this document is subject to change without notice for the purpose of product improvement Copyright 2006 IAI Corporation All rights reserved ...

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