Robo Cylinder Data Input Pendant RCA-P Operating Manual Ver. 4.
Table of Contents 1. Foreword.................................................................................................................................................... 1 2. Before You Begin ....................................................................................................................................... 1 3. Safety Precautions ..................................................................................................................................... 2 4.
1. Foreword Thank you very much for purchasing the Data Input Pendant (RCA-P) for the Robo Cylinder Controller. Without knowing beforehand how to correctly use or operate the Data Input 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.
3. Safety Precautions (1) Use a genuine product specified by us for wiring between the actuator and controller. (2) Stand clear of the operating range of the machine when it is in motion or is ready to operate. Surround the system with safety partitions if there is a possibility that people can enter the area where the machine is being used. (3) When assembling, adjusting, or performing maintenance on the machine, always disengage the power supply to the controller.
4. Warranty and Scope of Warranty The Data Input Pendant undergoes stringent testing before it is shipped from our factory. IAI provides the following warranty. 1. Warranty Period The warranty period shall be either the following period, whichever is reached first. - 18 months after our shipment - 12 months after delivery to the place designated by you 2.
5. Application Environment - In order to avoid breakdown, please do not apply any type of machinery impact onto the Data Input Pendant. - Always hold onto the entire Data 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.
6. Functions and Specifications of Data Input Pendant Through the communication between the controller, the RC Data Input 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. It cannot be used for any operation related to axis movement.
6-2 External View External Dimensions 6
6-3 Description of Each Part LCD Display Key Arrow Keys Key Minus Key Return Key Numeric Key 7
(1) LCD Display This is a liquid crystal display with a maximum of horizontal: 16 characters per column, and vertical: 2 columns per row. This displays edit and teaching contents of various set values. (2) Arrow Key - This is used for selection of the mode, the contents of data and changing position No. (3) Key - Execution of Data Input Pendant configuration or axis reconnection. By pressing this key for more than 2.
7. Connection With the Controller 7-1 Connection with the Data Input Pendant (1) Connect the Data Input 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. (In a case of ERC, there is no Port Switch, please power off the unit.) PORT switch PORT IN connector (2) After connecting, turn the controller PORT Switch ON.
8. Operation The Data Input Pendant operation has the following overall tree structure. The menus in this tree structure differ according to the controller type/version or Data Input Pendant version. For details, refer to the Instruction Manual of each controller. The following indicates the case of ERC.
*2 *1 3 Position Type (PIO:1) 8 Position Type (PIO:0) 16 Position Type (PIO:2) Monitor Return (1) (2) (3) (4) (5) (6) (7) (8) (9) (10) (11) (12) User Parameter Return User Adjustment (1) (2) (3) (4) (5) (6) (7) (8) (9) (10) (11) (12) (13) (14) (15) (16) (17) (18) (19) (1) (2) Position Error No. Position Error No. Position Error No. Servo ON Servo ON Servo ON in ST0 in START in START in ST1 in ST2 in_STP in Position No. in_STP in_HOME in Position No.
8-1 Initial Screen During Power - UP When power is connected to the controller and the controller PORT switch is ON, power is supplied to the Data 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.
8-2 Controller Selection (when using multiple units) In case of multiple units connected serially via the 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.
8-3 Operation Mode Selection Mode Select Edit/Teach Monitor Error List User Parameter User Adjustment Mode Select * Edit/Teach A. 00 Mode Select * Monitor A. 00 Mode Select * Error List A. 00 Mode Select * User Parameter A. 00 Mode Select * User Adjustment A. 00 Display screen For the modes, select one 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.
8-4 Edit/Teaching 8-4-1 Edit/Teach Screen When “*Edit/Teach” is selected on the Mode Select screen, the Edit/Teach screen is displayed. The Edit/Teach screen has the 6 items as follows: Mode Select Edit/Teach MDI Monitor Add Error List Delete User Parameter Clear User Adjustment All Clear Direct Teach Edit/Teach * MDI A. 00 Edit/Teach * Add A. 00 Edit/Teach * Delete A. 00 Edit/Teach * Clear A. 00 Edit/Teach * All Clear A. 00 Edit/Teach * Direct Teach A.
You can change the screens by using the arrow keys ( * MDI: ) and press the return key. Numerically inputs the position data directly from the ten numerical keys (input example: Page 20 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). * Clear: Resets the position data (input example: Page 27 in this manual).
The following are the descriptions of the setting items: (1) Position: The desired move location from home in millimeters. - Absolute Positioning: Moves the actuator to the desired location in reference to the home location. Inputting negative values is not possible. - Relative Positioning: Moves the actuator to the desired position in reference to the current position. Inputting negative values is possible.
(5) 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 position. - The default value will depend on the actuator type. (see diagram A). - The push mode uses the range value as the distance of the push.
8-4-3 Data Input There are two methods of inputting the position data. (1) MDI numeric input: Method of numerically inputting the position data directly from the ten numerical keys of the Data Input Pendant. (2) Direct Teach: Method of turning 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.
(1) MDI Numeric Input Position No. 0 Position No. 1 Position No. 2 Position No. 3 Absolute positioning mode Position 0mm Absolute positioning mode Position 50mm, Speed 100mm/s, ACC • DEC 0.1G Range 0.2mm, ACC MAX 1 Absolute push mode Position 80mm, Speed 100mm/s, ACC • DEC 0.1G Push 40%, Range 5mm Incremental positioning mode Position 10mm, speed 20mm/s Data not assigned utilizes default value. The example here is based on initial status during shipment (when data is all clear).
MDI Speed No. 00 125 A. 00 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 Position A No. 01 A. 00 * Press the Key to advance position number to 1. Position number 1 A. 00 50 The screen will turn into the Input Screen for Position. No. 01 100 A.
Input using position number 2 MDI Position A No. 02 A. 00 * Press the Key to advance position number to 2. Position number 2 A. 00 80 The screen will turn into the Input Screen for Position. No. 02 100 A. 00 mm/s The screen will turn into the Input Screen for Speed. MDI ACC•DEC No. 02 0.1 A. 00 G The screen will turn into the Input Screen for ACC • MDI Push % No. 02 40 A. 00 % The screen will turn into the Input Screen for Push %. MDI Range No. 02 A.
(2) Direct Teach By this method, the slider or rod is moved by hand to place it at the desired position and the current position is incorporated into the position data table. In this example, data is input for position number 4 by Direct Teach. Mode Select * Edit/Teach A. 00 Edit/Teach * Direct Teach A. 00 Using the Key in the Mode Select Screen, select Edit/Teach and choose using the Return Key. Using the Key in the Edit/Teach Screen, select Direct Teach and choose using the Return Key.
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.
(1) Add: The Add operation procedure is explained below. A blank row is inserted into any position number. In this example, a blank row is inserted into position number 2. The position data table becomes as shown below. No. 0 1 2 3 Position 0.00 50.00 80.00 10.00 Speed 125 mm/s 100 mm/s 100 mm/s 20 mm/s ACC • DEC 0.20 G 0.10 G 0.10 G 0.20 G Push % 0% 0% 40% 0% Range 0.10mm 0.20mm 5.00mm 0.10mm ACC MAX 0 1 0 0 ABS/INC 0 0 0 1 No. 0 1 2 3 4 Position 0.00 50.00 * 80.00 10.
(2) Delete: The Delete operation procedure is explained below. The data of any position number is deleted. In this example, the data of position number 2 is deleted. The position data table becomes as shown below. No. 0 1 2 3 4 Position 0.00 50.00 * 80.00 10.00 Speed 125 mm/s 100 mm/s * mm/s 100 mm/s 20 mm/s ACC • DEC 0.20 G 0.10 G *G 0.10 G 0.20 G Push % 0% 0% *% 40% 0% Range 0.10mm 0.20mm * mm 5.00mm 0.10mm ACC MAX 0 1 * 0 0 ABS/INC 0 0 0 0 1 No. 0 1 2 3 Position 0.00 50.00 80.00 10.
(3) Clear: The Clear operation procedure is explained below. The data of any position number is cleared. In this example, the data of position number 1 is cleared. The position data table becomes as shown below. No. 0 1 2 3 Position 0.00 50.00 80.00 10.00 Speed 125 mm/s 100 mm/s 100 mm/s 20 mm/s ACC • DEC 0.20 G 0.10 G 0.10 G 0.20 G Push % 0% 0% 40% 0% Range 0.10mm 0.20mm 5.00mm 0.10mm ACC MAX 0 1 0 0 ABS/INC 0 0 0 1 No. 0 1 2 3 Position 0.00 * 80.00 10.
(3) All Clear: The data of all the position numbers is cleared. The position data table becomes as shown below. No. 0 1 2 3 Position 0.00 50.00 80.00 10.00 Speed 125 mm/s 100 mm/s 100 mm/s 20 mm/s ACC • DEC 0.20 G 0.10 G 0.10 G 0.20 G Push % 0% 0% 40% 0% Range 0.10mm 0.20mm 5.00mm 0.10mm ACC MAX 0 1 0 0 ABS/INC 0 0 0 1 No.
8-4-5 Data Modification You may write over all of the position data. (1) MDI numeric input: Input the position data directly from the ten numerical keys. (2) Direct Teach: Turns the servo OFF, manually move the slider to the desired location, and read that location into the position table. During data modification, carry out operation carefully as shown below. * As for MDI numeric input, only the overwritten items input by the ten numerical keys will be modified.
8-5 Monitor The I/O status or current position is displayed. The displayed menu differs according to the controller type. In the case of RCP2/ERC, it also differs according to the PIO pattern. Mode Select * Monitor A. 00 In the Mode Select Screen, using the select Monitor and then, press the Return Key. Select the displayed item using the Return key or key. Use the Monitor Pos 30 Keys, A. 00 0.00N mm Keys to change the axis number. Displays the current position. Monitor Error No. 000 A.
Monitor out ZONE A. 00 ON Displays ON/OFF status of zone output. Monitor out_ALM A. 00 ON Displays ON/OFF status of alarm output. Mode Select * Monitor A. 00 Press the ESC Key once to return the screen back to Mode Select Screen. 8-6 Error List The screen displays the nature of the error having occurred after the Data Input Pendant connection. Mode Select * Error List A. 00 In the Mode Select Screen, using the Keys, select Edit/Teach and then, press the Return Key.
8-7 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 * User Parameter A. 00 In the Mode Select Screen, using the Keys, select User Parameter and then, press the Return Key.
User Para Servo Gain A. 00 6 Displays the number of the servo gain. User Para Hold Cur A. 00 24% Displays the positioning hold current. User Para Home Cur A. 00 50% Displays the home current limit value. User Para At ES, DB Efct A. 00 1 Displays whether the dynamic brake is effective or not effective at emergency stop time. 1: Effective, 0: Not effective (RCS, E-Con) - When soft limit is modified at the customer site, please set a value which extends 0.3mm outside of the effective area.
8-8 User Adjustment Setting is made for enabling or disabling temporary stop (hold) input and servo ON input. The axis number setting is made for the integrated RC controller. Mode Select * User Adjustment A. 00 In the Mode Select Screen, using the Keys, select User Adjustment and then, press the Return Key. Disable hold input: User Adjustment Adjustment No. A. 00 91 Input 91 Input 91 into the adjustment number and then, press the Return Key. Afterwards, the controller must be turned OFF.
8-9 End End is executed to save each setting or registration content of the Data Input Pendant. Before removing the Data Input Pendant from the RC controller, be sure to execute End. Operation: Press the BEGIN/END key for more than 2.5 seconds. In a case that data input ends, and the Data In a case that you reconnect and wish to Input Pendant needs to be removed reopen Op. Start / End * End DU = Efct Op. Start / End * Reconnection Op. Start / End * End DU = Non Confirming Connection IAI RC DU V. 1.
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 DIP* Message Yes Input error, guide message, etc. 200~2FF DIP* Movement Release Yes Movement continuation impossible 300~3FF DIP Cold Start Error No DIP Power install or reconnect are necessary.
9-2 Data Input Pendant Message Level Error When you try to input an incorrect value by a Data Input Pendant operational mistake, a message level error occurs. 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.
Manual No.: ME0106-4A (December 2011) Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan TEL +81-54-364-5105 FAX +81-54-364-2589 website: www.iai-robot.co.jp/ Technical Support available in USA, Europe and China Head Office: 2690 W.
