Robo Cylinder Controller Teaching Pendant RCA-E Operating Manual EMERGENCY STOP Intelligent Actuator, Inc.
This publication was written to assist you in better understanding this part of your IA system. If you require further assistance, please contact IA Technical Support. For Central and East Coast Time Zones, please call our Itasca, IL office at 1-800-944-0333 or FAX630467-9912. For Mountain and Pacific Time Zones, please call our Torrance, CA office at 1-800-736-1712 or FAX 310-891-0815; Monday thru Friday from 8:30 AM to 5:00PM. Intelligent Actuator, Inc. U.S. Headquarters 2690 W.
Table of Contents 1. Foreword ............................................................................................................................................................................ 1 2. Before You Begin .............................................................................................................................................................. 2 3. Safety Precautions ...................................................................................................
1. Foreword Thank you very much for purchasing the Easy Type Teaching Pendant (RCA-E) for the Robo Cylinder Controller. Without knowing beforehand how to correctly use or operate the Teaching Pendant, not only will the user be unable to take full advantage of all the functions built into this product but the user might also inadvertently cause damage to the Controller or shorten its life.
2. Before You Begin ! A word of Caution (1) Please read this manual carefully to operate the controller properly. (2) You are not allowed to reproduce this manual or any portion thereof without permission. (3) We cannot accept any responsibility for possible damage resulting from the use of this manual. (4) We reserve the right to change the information contained in this manual without prior notice.
3. Safety Precautions Please read the following carefully in order to gain an understanding of safety precautions. This product was developed as components for driving automated equipment and is not designed to produce greater torquing or speed than is necessary. However, strictly observe the following items to prevent any accidents from occurring: 1. As a rule, any handling or operating methods not described in this manual should be viewed as things that should not be attempted.
4. Warranty and Scope of Warranty The Easy Type Teaching Pendant undergoes stringent testing before it is shipped from our factory. IAI provides the following warranty. (1) Warranty Period The warranty period is 12 months from the date the unit is shipped to the customer. (2) Scope of Warranty If within the period specified above, a breakdown occurs while operating the controller under normal conditions and is clearly the responsibility of the manufacturer, IAI will repair the unit at no cost.
5. Application Environment • In order to avoid breakdown, please do not apply any type of machinery impact onto 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: This Teaching Pendant is designed exclusively for the IAI RC Controller, and should not be used to connect with other devices.
6. Teaching Pendant Functions and Specifications This Teaching Pendant was created exclusively for the RC Controller. Through the communication between the controller, the RC Teaching Pendant is designed to function as the Display Operation Unit to edit or display the data (common data, move point data, etc.,) that is stored inside the controller, as well as to execute teaching without using the PC Interface Software.
6. Teaching Pendant Functions and Specifications 6-2 External Dimensions 145 EMERGENCY STOP 72 P. 7 26 6 21 23.
6. Teaching Pendant Functions and Specifications (1) LCD Display 6-3 Parts (2) EMERGENCY STOP Key (5) Arrow Keys EMERGENCY STOP (4) BEGIN/END Key (3) ESC Key (7)Numeric Key 0N ~ 9 (6) Minus Key (7 )Return Key P.
6. Teaching Pendant Functions and Specifications (1) LCD Display This is a liquid crystal display with a maximum of horizontal: 21 characters per column, and vertical: 16 columns per row. (2) EMERGENCY STOP (Emergency Stop Push Button Switch) This switch connects serially with the controller emergency stop signal line. Once pushed down, this switch will be in an emergency stop status and the power supply to the motor will be cut off (normally, closed: b contact).
7. Connection with the Controller 7-1 Connection with the Teaching Pendant (1) Connect the Teaching Pendant Cable to the “PORT IN” connector which is located on the front of the controller. Always turn OFF the controller Port Switch first before connecting. RDY M.BK RUN Port Switch ALM SIO ENC PORT ON OFF PORT IN PIO RLS BK PORT IN Connector NOM EMG 24V SW N FG (2) 7-2 After connecting, turn the controller PORT Switch ON .
8. Operation The Teaching Pendant operation is composed of the following structure. You will need to press the ESC Key each time you wish to return to the previous screen.
8. Operation 8-1 Initial Screen During Power - UP Once power is connected to the RC Controller and the controller PORT Switch is ON, power will be supplied to the teaching pendant and operation will begin. Once the power is installed, the LCD Display screen will display the latest teaching pendant software version number. Confirming connection IAI RC ST V. 1. 00 Initial Screen during power installation During this time, RS485 serial connections between controllers will occur.
8. Operation 8-2 Controller Selection (when using multiple units) In case of multiple units connected serially via the RS485 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 8.3 entitled Operational Mode Selection of this manual). The content explained here will be based on operation of the selected axis (controller). In addition, the controller can connect up to 16 units.
8. Operation 8-3 Operation Mode Selection Mode Select Edit Teach/Play Mode Select * Edit A. 00 Mode Select * Teach/Play A. 00 Mode Select * Monitor A. 00 Mode Select * Error List A. 00 Monitor Error List User Parameter User Adjustment Mode Select A. 00 * User Parameter Mode Select A. 00 * User Adjustment Display screen Operation Mode Selection Screen For the modes, select one of the 6 options as it appears on the above screen.
8. Operation 8-4 Edit/Teaching 8-4-1 Edit Screen When “*Edit • Teach (Position) mode is selected, the content of the position data table saved in the RC controller wiill be displayed. Mode Select Edit Mdi Teach/Play Add Monitor Delete Error List Clear User Parameter All Clear User Adjustment Mode Select * MDI A. 00 Mode Select * Add A. 00 Mode Select * Delete A. 00 Mode Select * Clear A. 00 Mode Select * All Clear A. 00 P.
8. Operation The position table main display area is divided into 4 screens and is displayed as below. You can change the screens by using the arrow keys ( ). * MDINumerically inputs the position data directly from the ten key (input example: Page 21 in this manual). * Add Adds the position data into the assigned position data number (input example: Page 25 in this manual). * Delete Deletes position data (input example: Page 26 in this manual).
8. Operation 8-4-2 Position Data Table Content The columns for the position table are Position, Speed, Acc/Dec, Push %, Range, ACC MAX and ABS/INC displayed in 7 screens. 1. Position • The desired move location from home in millimeters. Absolute Coordinate Assign: Moves the actuator to the desired location in reference to the home location. Inputting negative values is not possible. Relative Coordinate Assign: Moves the actuator to the desired position in reference to the current position.
8. Operation 5. Speed Range • As for the range, depending on the setting in the push as either 0 or other than 0, this function will vary. (A) Push = 0 (Positioning Mode) • The positioning mode uses range value as a location to turn ON the position complete output prior to reaching the actual data. • The default range value is set as 0.1mm (see diagram A). (B) Push ≠ besides 0 (Push Mode) • The push mode uses the range value as the distance of the push.
8. Operation 8-4-3 The Relationship Between the Push Power During Stop and Current Restriction Value When executing the push mode, place the current restriction value as a “% of max” column into the “push” column of the position data table. Determine the current restriction (in %) using the tables below. The diagram below shows the relationship between the current restriction value and push power for each actuator type. S5 Type S6 Type Low Speed Type 20.0 25.0 20.
8. Operation SM Type & SMR Type Low Speed Type 60.0 55.0 35.0 50.0 SS Type & SSR Type Low Speed Type 30.0 45.0 25.0 Push power (kgf) Push power (kgf) 40.0 35.0 Medium Speed Type 30.0 25.0 20.0 High Speed Type 15.0 10.0 Medium Speed Type 20.0 15.0 10.0 High Speed Type 5.0 5.0 0.0 10% 20% 30% 40% 60% 50% 0.0 10% 20% 70% Current Restriction value Low Speed Type RSA Type 40% 50% 60% RMA Type 70% Low Speed Type 80.0 30.0 Medium Speed Type 25.0 20.0 70.
8. Operation 8-4-4 MDI Numeric Input MDI is a method which numerically inputs the position data directly from the numeric keys. In this section, we will explain the input procedure according to MDI (numeric input). Position No. 0 Absolute coordinate position mode Position 0mm Position No. 1 Absolute coordinate position mode Position 50mm, Speed 100mm/s, ACC•DEC 0.1G Range 0.2mm, ACC MAX 1 Position No. 2 Absolute coordinate push mode Position 80mm, Speed 100mm/s, ACC• DEC 0.
8. Operation MDI Speed N o. 0 0 A. 00 1 2 5 mm/s The screen will turn into the Input Screen for Speed. The default value will be utilized as is. Since other data will use the default value, input for position number 0 will end here. Next, position number 1 input will be executed. Input using position number 1 MDI N o. 0 1 A. 00 Position A * Press the Key to advance position number to 1. Position number 1 MDI N o. 0 1 A. 00 Position A 50 MDI Speed N o. 0 1 A. 00 100 mm/s MDI N o. 0 1 A.
8. Operation MDI N o. 0 2 A. 00 Position A 80 MDI Speed The screen will turn into the Input Screen for Position. Use the Numeric Key to input 80 and then, press the Return Key. The screen will turn into the Input Screen for Speed. Use the Numeric Key to input 100 and then, press the Return Key. N o. 0 2 A. 00 100 mm/s MDI N o. 0 2 A. 00 ACC•DEC 0.1 G The screen will turn into the Input Screen for ACC • DEC. Use the Numeric Key to input 0.1 and then, press the Return Key. MDI N o. 0 2 A.
8. Operation 8-4-5 Add • Delete In this section, we will give specific examples 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. P.
8. Operation 1) Add: Method: Enter position data between existing position data Example: Insert an empty row into point number 2 No. Position Speed ACC/DEC Push % Range ACC MAX ABS/INC 0 0.00 125 mm/s 0.20G 0% 0.10 mm 0 0 1 50.00 100 mm/s 0.10G 0% 0.20 mm 1 0 2 80.00 100 mm/s 0.10G 40% 5.00 mm 0 0 3 10.00 20 mm/s 0.20G 0% 0.10 mm 0 1 No. Position Speed ACC/DEC Push % Range ACC MAX ABS/INC 0 0.00 125 mm/s 0.20G 0% 0.10 mm 0 0 1 50.00 100 mm/s 0.
8. Operation 2) Delete: Method: To delete a point in the point table Example: Delete the row of position data number 2. No. Position Speed ACC/DEC Push % Range ACC MAX ABS/INC 0 0.00 125 mm/s 0.20G 0% 0.10 mm 0 0 1 50.00 100 mm/s 0.10G 0% 0.20 mm 1 0 2 * * mm/s *G *% * mm * 0 3 80.00 100 mm/s 0.10G 40% 5.00 mm 0 0 4 10.00 20 mm/s 0.20G 0% 0.10 mm 0 1 No. Position Speed ACC/DEC Push % Range ACC MAX ABS/INC 0 0.00 125 mm/s 0.20G 0% 0.
8. Operation 3) Clear: Method: Clear the position data of assigned location Example: Clear the row of positon data number 1 No. Position Speed ACC/DEC Push % Range ACC MAX ABS/INC 0 0.00 125 mm/s 0.20G 0% 0.10 mm 0 0 1 50.00 100 mm/s 0.10G 0% 0.20 mm 1 0 2 80.00 100 mm/s 0.10G 40% 5.00 mm 0 0 3 10.00 20 mm/s 0.20G 0% 0.10 mm 0 1 No. Position Speed ACC/DEC Push % Range ACC MAX ABS/INC 0 0.00 125 mm/s 0.20G 0% 0.
8. Operation 1) All Clear: Operation: Clear all position data No. Position Speed ACC/DEC Push % Range ACC MAX ABS/INC 0 0.00 125 mm/s 0.20G 0% 0.10 mm 0 0 1 50.00 100 mm/s 0.10G 0% 0.20 mm 1 0 2 80.00 100 mm/s 0.10G 40% 5.00 mm 0 0 3 10.00 20 mm/s 0.20G 0% 0.10 mm 0 1 No.
8. Operation 8-5 Teach / Play 8-5-1 Teach Play Screen Selecting “Teach/Play” from the Mode Selection will display the Teach/Play Screen. You may execute Teach and Move the actuator using this screen. As the diagram below shows, there are six options available in the Teach/Play Screen. Mode Select Edit Direct Teach Teach/Play Jog Monitor Increment Error List Home All Clear User Parameter Continuous User Adjustment Teach / Play A. 00 * Direct Teach Teach / Play A.
8. Operation 8-5-2 Teach 1) Direct Teach: Turns the servo controller OFF, manually move the slider to match to the desired location, and reads that location in the position table. 2) Jog: Uses the arrow keys to jog to the desired location, and reads that location and reads that location into the position table. 3) Increment: Uses the arrow keys to incrementally move and read the desired location into the position table. 4) Home: Executes home.
8. Operation 1) Direct Teach Method: Manually move the actuator to the desired position, and teach that position into the position table. Example: Teach position number 4 using Direct Teach Mode Select * Edit A. 00 In the Mode Select Screen, using the Edit and then, press the Return Key. Edit * Direct Teach A. 00 In the Edit Screen, using the Keys, select Direct Teach and then, press the Return Key. Direct Teach Servo OFF A. 00 51. 23F Displays the current location.
8. Operation 2) Jog Method: Jog the actuator to the desired position, and teach that position into the position table. Example: Teach position number 5 using Jog Mode Select * Teach / Play A. 00 In the Mode Select Screen, using the Teach/Play and then, press the Return Key. Teach / Play * Jog A. 00 In the Edit Screen, using the Jog and then, press the Return Key. Jog Speed V2 A. 00 18. 90 N Displays the Jog speed. Displays the current location.
8. Operation 3) Increment Method: Increment movement using Keys to the desired position, and teach that position into the position table. Example: Teach position number 6 using increment. Mode Select * Teach / Play A. 00 In the Mode Select Screen, using the Teach/Play and then, press using the Return Key. Teach / Play * Increment A. 00 In the Edit Screen, using the and then, press the Return Key. Increment Distance 0. 10 A. 00 4. 00 N Displays the increment distance. Displays the current location.
8. Operation A. 00 Use the ESC Key to return the screen back to Mode Select Screen. Mode Select * Teach / Play A. 00 In the Teach/Play Screen, use the Home and then, press the Return Key. Teach / Play * Home A. 00 Mode Select * Teach / Play 4) Home Executes home. Homing Return Key Keys to select Press the Return Key to execute homing. A. 00 Execute Teach / Play * Home A. 00 Press the ESC Key to return to the Teach/Play Screen. Mode Select * Teach / Play A.
8. Operation 8-5-3 Move You may move towards a position registered in the position data table (1 step move) and consecutively move through the consecutive position data. In this section, the move will differ from jog and increment move used with the arrow key. This will be move towards a position that was registered in the position data table within the controller. 1. Move 1 step move from the current location to the assigned position number registered in the position table. 2.
8. Operation 1) Move Operation: Move to position in position table. Example: Move from current position to position number 2. Mode Select * Teach / Play A. 00 In the Mode Select Screen, using the Teach/Play and then, press the Return Key. Teach / Play * Move A. 00 In the Edit Screen, using the then, press the Return Key. Move No. 02 A. 00 10% Speed Keys, select Move and Position number and move speed ratio will be displayed. Changes can be made in the move speed ratio using the (10% 50% 100%).
8. Operation 2) Consecutive Move Operation: Continuously move through positions in the point table. Example: Consecutive move position number 0 through position number 2. Mode Select * Teach / Play A. 00 Teach / Play A. 00 * Consecutive Move A. 00 10% Consecutive Move No. 02 Speed In the Mode Select Screen, using the Teach/Play and then, press the Return Key. In the Edit Screen, using the Keys, select Consecutive Move, and press the Return Key.
8. Operation 8-6 Data Modification You may write over all of the position data. Similar to new input, there are the following 4 cases: 1) Manual Input Manually enter the position data directly from teaching pendant key pad. 2) Direct Teach Turns the servo OFF, manually move the slider to the desired location, and read that location into the position table. 3) Jog Use the arrow keys to jog to the desired location, and read that location into the position table.
8. Operation 8-7 Monitor The RC Controller I/O status and current location will be displayed. The status for multiple axes will be displayed on the screen, and by using the Keys, you can switch between the axes. Mode Select * Monitor A. 00 In the Mode Select Screen, using the select Monitor then, press the Return Key. Keys, Use either the Keys or Return Key to select the display content. Use the Keys to change the axis number. (Display example of controller RCA-S) Monitor Pos A. 00 0.
8. Operation 8-8 Error List As long as the Teaching Pendant is connected, this display will show the content of the controller error. With the Keys, you may scroll through the error log. The error will clear when the axis reconnects. Mode Select * Error List A. 00 In the Mode Select Screen, using the Keys, select Error List then, press using the Return Key. Use either the Keys or Return Key to select the display content. Use the Keys to change the axis number. Error List Error No. List No.
8. Operation 8-9 User Parameter The User parameter assigns zone and soft limit ranges, actuator attributes and home direction. Zone and soft limit are set within ±9999.99 (input unit: mm). Home and servo parameters are determined by the actuator. Each setting for initial setting value parameters is the registered default value for position data during teaching. Mode Select A. 00 * User Parameter In the Mode Select Screen, using the select User Paramter then, press the Return Key.
8. Operation User Para Servo Gain A. 00 6 User Para Hold Cur A. 00 24% User Para Home Cur A. 00 50% Displays the number of the servo gain. Displays the positioning hold current. Displays the home current limit value. • 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 Approximately 0.
8. Operation 8-10 User Adjustment Execute home move and axis number setting of integrated RC Controller. Please enter setting for disabled or enable emergency stop input. Mode Select A. 00 * User Adjustment In the Mode Select Screen, using the select Error List and then, press the Return Key. Keys, Home: User Adjustment A. 00 Adjustment No. 1 Input 1 into the adjustment number and then, press Return Key to execute home. Disable hold input: User Adjustment A. 00 Adjustment No.
8. Operation 8-11 End Execute end in order to record each setting and save the content of the teaching pendant. Please execute this end whenever disabling the Teach Port of the RC controller. Operation: 1. 2. Press the BEGIN/END for more than 2.5 seconds. Move the cursor to “End,” and press the return key. Afterwards, to remove, turn the controller port switch to OFF, then remove the Teach Pendant connector.
9. 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 Yes Error inside the controller 100~1FF TB* Message Yes Input error, guide message, etc. 200~2FF TB* Movement Release Yes Movement continuation impossible 300~3FF TV Cold Start Error No TB Power install or reconnect are not necessary.
9. Message Area 9-3 Controller Error An alarm detected from the controller side can be displayed. This is a serious error due to abnormality related to servo control and electricity. Please read though the RC Controller operating manual carefully for error compliance.
9. Message Area Code Error Description Common Solutions 0B8 Communication Error 1 0B9 Communication Error 2 Please check the following: • Payload is within specification. • If external power source works well - check motor encoder cable. 0BB ORG - Search C Error Abnormal Z phase. 0BC ORG - Search A, B Error Abnormal A and B Phase 0BD Speed prior to ORG Search Error During homing, already moving over the rated speed. 0BE Homing Time Out Error Check the motor and encoder cables.
9. Message Area Code Error Description Common Solutions 10C Motorola S Address Error Abnormal Update program file (during update) 10D Motorola S File Name Error Abnormal update program file (during update) 10E Timing Limit (W) (S) Please check the TB-CPU Board Flash ROM Address setting DIP-SW (during update). 10F Timing Limit (E) (S) Please check the TB-CPU Board Flash ROM Address setting DIP-SW (during update).
9. Message Area Code Error Description Common Solutions 182 Home Change All Clear (No error). 201 Emergency Stop (No error). 20A During movement, Servo OFF Servo turned OFF during movement. 20C During movement, CSTR-ON Start turned ON during movement. 20D ILK-OFF during movement STP turned OFF during movement. 301 Over Run Error (M) Please check for noise. Inspect all serial ports and cables involved. 302 Framing Error (M) Inspect all serial ports and cables that are involved.
Intelligent Actuator, Inc. 2690 W. 237th Street Torrance, CA 90505 800-736-1712 / 310-891-0815 (Fax) www.intelligentactuator.com Publication Date: December 2000 Publication No.
