Touch Panel Teaching CON-PTA, CON-PDA, CON-PGA Operation Manual Eighth Edition IAI America, Inc.
Please Read Before Use Thank you for purchasing our product. This Operation Manual explains the handling methods, structure and maintenance of this product, among others, providing the information you need to know to use the product safely. Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of the product. The CD or DVD that comes with the product contains Operation Manuals for IAI products.
Table of Contents Safety Guide ..................................................................................................................................1 Handling Precautions.....................................................................................................................8 Product Check ...............................................................................................................................9 Supported Models...................................................
. Operation of SEP Related Controllers ................................................................................105 7. Operation of MEC Related Controllers ...............................................................................176 8. Error Display .......................................................................................................................234 9. Appendix ..........................................................................................................
10. Warranty .............................................................................................................................237 10.1 10.2 10.3 10.4 10.5 10.6 Warranty Period....................................................................................................................... 237 Scope of Warranty ................................................................................................................... 237 Honoring the Warranty.........................................
Safety Guide “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product. Safety Precautions for Our Products The common safety precautions for the use of any of our robots in each operation. No.
No. 2 2 Operation Description Transportation 3 Storage and Preservation 4 Installation and Start Description Ɣ When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
No. 4 Operation Description Installation and Start Description (2) Cable Wiring Ɣ Use our company’s genuine cables for connecting between the actuator and controller, and for the teaching tool. Ɣ Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil it around. Do not insert it. Do not put any heavy thing on it. Failure to do so may cause a fire, electric shock or malfunction due to leakage or continuity error.
No. 4 5 4 Operation Description Installation and Start Teaching Description (4) Safety Measures Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Ɣ When the product is under operation or in the ready mode, take the safety measures (such as the installation of safety and protection fence) so that nobody can enter the area within the robot’s movable range.
No. 6 7 Operation Description Trial Operation Automatic Operation Description Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Ɣ After the teaching or programming operation, perform the check operation one step by one step and then shift to the automatic operation.
No. 8 9 6 Operation Description Maintenance and Inspection 10 Modification and Dismantle Disposal 11 Other Description Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Ɣ Perform the work out of the safety protection fence, if possible.
Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the Operation Manual for each model. Level Degree of Danger and Damage Symbol This indicates an imminently hazardous situation which, if the Danger product is not handled correctly, will result in death or serious injury.
Handling Precautions x In this touch panel teaching, the language to be displayed can be changed. Refer to the following for how to change it. x CON related controllers 5.1 Displayed Language Change x SEP related controllers 6.1 Displayed Language Change x MEC related controllers 7.1 Displayed Language Change x Be careful not to apply mechanical shocks on this touch-panel teaching pendant CON-PTA/CON-PDA/CONPGA. Failure may occur.
Product Check This product, if adopting a standard configuration, consists of the parts listed below. 1. Component (excluding options) No. Product name 1 Teaching pendant Model number Refer to "How to Read Model Nameplate" and "How to Read Model Number." Remarks Accessories 2 Touch pen 3 First step guide 4 Operation manual (CD/DVD) 5 Safety guide Built into teaching pendant 2. Operation manual related to this product, stored in the CD/DVD No.
4. How to Read Model Number CON – PTA – C – ENG CON-PTA: Standard type CON-PDA: With deadman type CON-PGA: With safety category 4 type
1. Basic Specification Item Screen Font Power consumption Specifications TFT Color LCD Type Japanese Bitmap Font Gothic Fonts supplied by LIM Corporation Ltd. are used. 3.
1.
2. Explanation of Each Part [7] SD memory card slot [2] EMERGENCY STOP (pushbutton switch for emergency stop) 2. Explanation of Each Part [3] Touch pen [1] Touch panel [4] Wall-mounting hook [6] Deadman switch CON-PDA, PGA) [1] operation display screen [5] Strap securing part Touch-panel operation display screen The screen consists of a TFT Color LCD Type and a touch panel. Various settings that have been edited or taught are displayed.
Strap securing part This part is used to attach a strap (optional). [6] Deadman switch (CON-PDA, PGA) The deadman switch has three conditions corresponding to three levels. The meaning of ON/OFF in each condition is explained below. 2. Explanation of Each Part [5] Level 1 Switch OFF The hand is off the switch, or the switch is pressed with a very small force. Level 2 Switch ON The switch is pressed with an appropriate force. Level 3 Switch OFF The switch is pressed with a strong force.
3. Connection and Disconnection to/from Controller The touch-panel teaching pendant CON-PTA can be connected or disconnected without turning off the controller power first. If an alarm occurs, the CON-PTA can be connected while the controller power is still supplied, to check the details of the alarm. 3.
4. Connection of CON-PGA and Controller Controller Teaching pendant adapter RCB-LB-TG 4. Connection of CON-PGA and Controller Controller-adapter connection cable Model number: CB-CONLB Safety circuit (relay, safety relay) Teaching pendant CON-PGA Dummy plug DP-4 Caution: While the teaching pendant CON-PGA is not connected, be sure to connect the dummy plug DP-4 to the teaching pendant adapter.
5. Operation of CON Related Controllers CON related controllers: ERC2, ERC3, ACON, PCON, SCON-C, SCON-CA, RACON, RPCON and MSCON 5.1 Displayed Language Change The language can be changed by following the steps below. For the operations after the language change, please refer to the operation manual written in each language. Touch [Menu2] in Menu1. Touch [EnvironmentSet] in Menu2. Touch [Japanese]. Touch [Write]. Touch [⧷⺆]. Touch [ᦠ߈ㄟߺ]. 5.
5.2 Operating Menu Operating menu when the touch-panel teaching pendant CON-PTA is connected to a CON controller is shown. Operation Menu 1 Operation Window Sub Menu 5. Operation of CON Related Controllers Data display of input and output I/O, velocity, etc. Display of conditions of input and output I/O, velocity, etc.
Operation Menu 2 Sub Menu Operation Window Select/change connected axis controller Controller reboot Parameter Initializing Setting of Controller Axis Numbers Environment of Language Setting, Touch Sound Setting, etc.
5.3 Initial Screen 5. Operation of CON Related Controllers Upon connection to the controller, power is supplied to the touch-panel teaching pendant and processing starts. When the power is turned on, the IAI logo is displayed for approx. 1 second on the operation display screen (hereinafter referred to as " operation screen") of the touch-panel teaching pendant, after which version information is displayed. If multiple units are connected, the axis selection screen appears.
5.4 Changing Operating Axis If multiple controllers are connected to the communication line, the axis selection screen appears. This screen also appears when [Change Axis] is touched on the Menu 2 screen. If only one controller is connected, you need not select an axis. Select and touch the axis you want to connect the touch-panel teaching pendant to. 5. Operation of CON Related Controllers This screen appears when the enable function parameter of the controller, other than CON-PTA, is set to [Disable].
5.5 Menu Selection Menu 1 Menu 2 Menu 2 5. Operation of CON Related Controllers Menu 1 Two menu selection screens, Menu 1 and Menu 2, are available. Touching [Menu2] on the Menu 1 screen changes the display to the Menu 2 screen. Touching [Menu1] on the Menu 2 screen changes the display to the Menu 1 screen. The Menu 1 screen and Menu 2 screen provide seven menu items, respectively. Select and touch one of these items. The screen changes to the one corresponding to the menu item you have touched.
5.6 Monitor The I/O statuses, current position and other information of the controller connected to the serial communication line are displayed. Touch [Monitor] on the Menu 1 screen. 5. Operation of CON Related Controllers If the TP operation mode is not Monitor Mode 1 or 2, the following message screen appears. Touch [Yes] to change to Monitor Mode 1 or 2. If not, touch [No]. (Note) The safety speed does not change. If the current mode is Teaching Mode 1, it changes to Monitor Mode 1.
The main monitor screen appears. Models other than SCON-CA, PCON-CA, ERC3 and MSCON 5. Operation of CON Related Controllers Touching [IO Mon] changes the display to one showing only I/Os. Touching [Data Mon] changes the display to one showing only the current position, etc. Touching Axis No. switches to the axis selection screen. PCON-CA, ERC3 and MSCON Touching [IO Mon] changes the display to show only I/Os. Touching [Maintenance] changes the display to show maintenance information.
SCON-CA Touching [IO Mon] changes the display to show only I/Os. Touching [Maintenance] changes the display to show maintenance information. Touching [Data Mon] changes the display to show data such as the current position and control voltage. Touching [LC Mon] changes the display to show data such as the current position and force feedback.
Models other than SCON-CA, PCON-CA, ERC3 and MSCON IO monitor screen Touching [Mon Main] switches to the main monitor display. Touching [Data Mon] changes the display to one showing only the current position, etc. 5. Operation of CON Related Controllers Touching Axis No. switches to the axis selection screen. x Input x Output The status of each input port is shown. ON is lit. OFF is unlit. The status of each output port is shown. ON is lit. OFF is unlit.
PCON-CA and ERC3 IO monitor screen Touching [Mon Main] switches to the main monitor display Touching [Data Mon] changes the display to show data such as the current position and control voltage. Touching [Axis No.] switches the screen to one where you can select an axis. PCON-CA and ERC3 Data monitor screen 5. Operation of CON Related Controllers x Input x Output The status of each input port is shown. ON is lit. OFF is unlit. The status of each output port is shown. ON is lit. OFF is unlit.
SCON-CA IO monitor screen 5. Operation of CON Related Controllers Touching [Mon Main] switches to the main monitor display Touching [Data Mon] changes the display to show data such as the current position and control voltage. Touching [LC Mon] changes the display to show data such as the current position and force feedback. Touching [Axis No.] switches the screen to one where you can select an axis. x Input x Output The status of each input port is shown. ON is lit. OFF is unlit.
SCON-CA LC monitor screen Touching [Mon Main] switches to the main monitor display Touching [IO Mon] changes the display to one showing only I/Os. Touching [Data Mon] changes the display to show data such as the current position and control voltage. x Position x Velocity x Pulse count x Current Rate x Current x x x x Alarm Code Servo Home Calibration x Force feedback The current position is shown. The speed is shown. The pulse count is shown. Touching [Pulse Count] displays the pulse count.
MSCON IO monitor screen Touching [Mon Main] switches to the main monitor display Touching [Data Mon] changes the display to show data such as the current position and control voltage. 5. Operation of CON Related Controllers Touching [Axis No.] switches the screen to one where you can select an axis. x Input x Output MSCON Data monitor screen The status of each input port is shown. ON is lit. OFF is unlit. The status of each output port is shown. ON is lit. OFF is unlit.
SCON-CA, PCON-CA, ERC3 and MSCON Maintenance information screen Touch [Info Edit] to show the password setting screen. The display is switched to the edit window of the maintenance information. 5. Operation of CON Related Controllers PCON-CFA x Total number of movements The cumulative total number of actuator movements is shown. x Total travelled distance The cumulative total distance travelled by the actuator is shown. x FAN Total Driving Time Shows the total driving time of the fan on the controller.
(1) Editing maintenance information SCON-CA, PCON-CA, ERC3, MSCON 5. Operation of CON Related Controllers Touching [Moved Count Edit] or [Run Dist. Edit] displays the numeric keys screen. Enter a desired value and touch [ENT], and the current setting will change to the value you have entered. Touching [Set] display returns you to the previous maintenance information screen. PCON-CFA Touching [Info Mon.
Time setting on the controller can be done at the SCON-CA, PCON-CA, ERC3 PIO Converter and MSCON. [How to Set Time] Touching [Time] displays the time setting screen. Touch the value of year, month, day, hours, minutes or seconds you want to change. The numeric key pad appears. Enter a desired value, and then press [ENT]. Touch [Set]. The time of the SCON-CA, PCON-CA, MSCON controller ERC3 PIO Converter is changed. Touching [Back] can go back to the controller time setting screen.
5.7 Position Editing Set/edit the target position, speed, acceleration, deceleration and other data related to positions. You can move the axis by jogging or inching. 5. Operation of CON Related Controllers Touch [Edit Position] on the Menu 1 screen. If a position password is set, the password setting screen appears. Enter the position password. The default password is "0000." A position data table appears. Touch Specify No.
5.7.1 Position Data Position data table screen 5. Operation of CON Related Controllers Data display screen showing the selected position number The items set in the position data table include target position, speed, acceleration, deceleration, push, positioning band, incremental, zone+, zone-, threshold, acceleration/deceleration mode, stop mode and command mode.
(1) No. The position data number is shown. 5. Operation of CON Related Controllers Warning: Be sure to specify absolute coordinates on PCON-C/CG/CF, PCON-CA, ACON-C/CG, SCON-C, SCON-CA, ROBONET, ERC3 PIO Converter, MSCON (Remote I/O mode) controllers of solenoid valve mode 2, or PCON-CY and ACON-CY controllers of solenoid valve mode 1. If incremental coordinates are specified on these controllers, a position data error occurs.
(5) Push Select "Positioning operation" or "Push-motion operation." The factory setting is 0. 0 : Normal positioning operation Other than 0: A current limiting value is indicated, meaning that this is a push-motion operation. Caution: With PCON, ACON, SCON-C, SCON-CA, ERC2, ERC3, ROBONET and MSCON controllers, the value entered in the "Push" field may be rounded to a multiple of the controller's minimum resolution.
Warning: Be sure to specify absolute coordinates on PCON-C/CG/CF, PCON-CA, ACON-C/CG, SCON-C, SCON-CA, ROBONET, ERC3 PIO Converter and MSCON (Remote I/O mode) controllers of solenoid valve mode 2, or PCON-CY and ACON-CY controllers of solenoid valve mode 1. If incremental coordinates are specified on these controllers, a position data error occurs. Movement command to backward end Backward end (8) Zone +/Define, for the standard type, the zone in which the zone output signal turns ON.
(10) Acceleration/deceleration mode Define the acceleration/deceleration pattern. The factory setting is 0. 0: Trapezoid pattern 1: S-motion 2: Primary delay filter Trapezoid pattern Speed Acceleration Time Set the acceleration and deceleration in the "Acc" and "Dcl" fields of the position table. S-motion The acceleration curve rises gradually at first and then suddenly shoots up in the middle.
(11) Stop mode Define the power-saving mode to be used while the actuator is standing by after completion of positioning to the target position set in the "Position" field of the applicable position number. 0: Disable power-saving mode * The factory setting is 0 (Disable). 1: Auto servo OFF mode, with the delay time defined by parameter No. 36 2: Auto servo OFF mode, with the delay time defined by parameter No. 37 3: Auto servo OFF mode, with the delay time defined by parameter No.
5.7.2 Entering New Data You can enter new position data in one of four ways. (1) Numerical input --(2) Direct teaching ----- (4) Inching --- Warning: To enter position data after the power is turned on, or enter position data beforehand using the method of (2), (3) or (4), you must perform home return first. (Increment specification) Before home return is completed, jogging/inching is possible only to the mechanical end. Operate the actuator by visually checking for potential interference. 41 5.
(1) Basic operation [Data entry on the position data table screen] You can set the target position, speed, acceleration and deceleration in the position data table. 5. Operation of CON Related Controllers Touch [n] and [p] to display the table showing the desired position data number. Or, touch [Specify No] and set the desired position data number to display the table. Touch. Touch a value in the target position or other field of the desired position data number.
[Data entry on the data display screen of the selected position number] All items can be set on the data display screen of the selected position number. Touch. Touch a value in the target position or other desired field. When the numeric keypad appears, key in the desired value and touch [ENT], and the value will be entered. 5. Operation of CON Related Controllers Touch [n] or [p] to change to the screen of the previous or next position number.
5. Operation of CON Related Controllers [Jog operation] You can acquire position data via jogging operation. Operation on the jog screen x [Jog-], [Jog+]: The axis jogs while each button is touched. [Jog-] moves the axis in the negative direction, while [Jog+] moves the axis in the positive direction. x [SV ON]: Touching [SV ON] while the servo is off turns on the axis servo and { becomes lit. Touching [SV OFF] while the servo is on turns off the axis servo and { becomes unlit.
[Inching operation] You can acquire position data via inching operation. Position acquisition operation Touch [Teach]. A confirmation screen appears. You can touch [n] or [p] to change the position number. Touching [Yes] acquires the current position. 45 5. Operation of CON Related Controllers Operation on the inching screen x [Inching-], [Inching+]: Touching each button once moves the axis by inching.
(2) Examples of position setting operations Respective operation s are explained by giving specific examples. 1) Home return 5. Operation of CON Related Controllers No. 1 Operation Touch [Trial operation]. 2 Touch [Jog_Inching]. 3 Check the screen and if the servo is off, touch [SV ON]. 4 Touch [HOME]. 5 Touch [Menu1]. 6 The display returns to the Menu 1 screen. 46 Screen Remarks { indicating a servo ON status on the screen becomes lit.
2) Numerical input Example 1 No. 1 Move back and forth between the two points of 30 mm and 250 mm at a speed of 300 mm/sec. Operation Touch [Edit Position]. Screen Remarks If the password is not "0000," the password screen appears. Input a password. 3 The position data table screen appears. 4 Touch [n] and [p] to display the table showing the position number you want to set. Position data fields in which no data is registered yet contain an "*" (asterisk).
5. Operation of CON Related Controllers No. 7 Oeration Next, touch the velocity of position No. 0. 8 When the numerical keypad appears, touch [3], [0], [0] and then touch [ENT]. 9 Next, touch the target position of position No. 1. Screen Remarks To reenter the value, touch [ESC]. When the numerical keypad appears, touch [2], [5], [0] and then touch [ENT].
No. 13 Operation Touch [Menu1]. Screen Remarks 14 5.
Example 2 5. Operation of CON Related Controllers No. 1 Move back and forth between the two positions of 10 mm and 80 mm via push-motion operation (push width: 5 mm). Operation Touch [Edit Position]. Screen Remarks 2 If the password is not "0000," the password screen appears. Input a password. 3 The position data table screen appears. 4 Touch [n] and [p] to display the table showing the position number you want to set.
No. 7 Operation Next, touch the target position of position No. 1. Screen Remarks To reenter the value, touch [ESC]. When the numeric keypad appears, touch [8], [0] and then touch [ENT]. 8 9 Next, touch No. "001" of position No. 1. 10 Touch the value in the Push. When the numerical keypad appears, touch [3], [0] and then touch [ENT]. 11 Touch the value for the positioning band. 5.
5. Operation of CON Related Controllers No.
Example 3 No. 1 Move from 30 mm to 40 mm and to 50 mm by pitch feed based on incremental coordinate specification. Operation Touch [Edit Position]. Screen Remarks If the password is not "0000," the password screen appears. Input a password. 3 The position data table screen appears. 4 Touch [n] and [p] to display the table showing the position number you want to set. Position data fields in which no data is registered yet contain an "*" (asterisk).
No. 7 Operation Next, touch the target position of position No. 1. Screen Remarks To reenter the value, touch [ESC]. When the numerical keypad appears, touch [1], [0] and then touch [ENT]. 5. Operation of CON Related Controllers 8 9 Next, touch No. [001] of position No. 1. 10 Touch the value for the Increment. When the numerical keypad appears, touch [1] and then touch [ENT]. 11 12 54 Touch [Menu1].
3) Direct teaching (move the slider to the target position and then acquire the achieved position (current position) into the position data table and specify that position) To perform direct teaching immediately after turning on the power, home return must be performed first. (Refer to page 37.) (Incremental specification) No. 1 Operation Touch [Edit Position]. If the password is not "0000," the password screen appears. Input a password. 3 The position data table screen appears.
5. Operation of CON Related Controllers No. 7 Operation Manually move the slider to the target position. If the servo is currently on, touch [SV OFF] to turn off the servo. 8 Touch [Teach]. 9 Touch [Yes]. 10 11 56 Touch [Menu1]. Screen Remarks The default values set by user parameters are automatically entered for the velocity, acceleration, deceleration, etc. (Note) If a position is acquired before home return, the error message "Home return not yet complete" appears.
4) Jogging, Use [Jog+] or [Jog-] to jog the actuator to the target position, and then acquire the achieved position (current position) into the position data table and specify that position. Note that if the maximum speed is smaller than the specified speed, the speed is clamped at the maximum speed. To perform jog operation immediately after turning on the power, home return must be performed first. (Refer to page 37.) (Incremental specification) No. 1 Operation Touch [Edit Position].
No. 7 Operation Touch [Chg Vel] to select a desired jog speed. Screen Remarks 5. Operation of CON Related Controllers Touch [Jog-] and [Jog+] to move the axis to the target position. 8 Touch [Teach]. 9 Touch [Yes]. 10 11 58 Touch [Menu1]. The default values set by user parameters are automatically entered for the velocity, acceleration, deceleration, etc. (Note) If a position is acquired before home return, the error message "Home return not yet complete" appears.
5) Inching, Use [Inching+] or [Inching-] to inch the actuator to the target position, and then acquire the achieved position (current position) into the position data table and specify that position. To perform inching operation immediately after turning on the power, home return must be performed first. (Refer to page 37.) (Incremental specification) No. 1 Operation Touch [Edit Position]. If the password is not "0000," the password screen appears. Input a password.
No. 7 5. Operation of CON Related Controllers 8 Operation Touch [Inching]. Screen Remarks Touch [Chg Dis] to select a desired jog speed. Touch [Inching-] and [Inching+] to move the axis to the target position. 9 Touch [Teach]. 10 Touch [Yes]. 11 12 60 Touch [Menu1]. The default values set by user parameters are automatically entered for the velocity, acceleration, deceleration, etc. (Note) If a position is acquired before home return, the error message "Home return not yet complete" appears.
5.7.3 Changing Position Data You can change all position data by overwriting the current values. Accordingly, four cases are considered just like when data is entered anew. (1) Numerical input --(2) Direct teaching ----- (4) Inching --- Take note of the following points when performing a data change operation: * In the case of numerical input, only the items overwritten from the numeric keypad will change.
5.7.4 Clearing Position Data, Clearing All Position Data (1) Clearing position data Position data of the selected position number can be cleared. The position becomes unregistered and an "*" (asterisk) is shown in the fields. 1) Clear (Operation to return a desired position data number to an unregistered condition.) Example Clear data of position data No. 1. 5. Operation of CON Related Controllers No. 1 Operation Touch [Edit Position]. 2 If the password is not "0000," the password screen appears.
No. 7 8 Operation Touch [Yes]. Touch [Menu1]. Screen Remarks Touching [No] cancels the clear. The position number data is cleared. 5. Operation of CON Related Controllers An "*" (asterisk) is shown in the fields.
2) All clear (operation to clear all position data) 5. Operation of CON Related Controllers No. 1 Operation Touch [Edit Position]. Screen Remarks 2 If the password is not "0000," the password screen appears. Input a password. The default password is "0000." 3 The position data table screen appears. 4 Touch [All Clear]. 5 Touch [Yes]. Touching [No] cancels the clear. 6 Touch [Menu1]. All position number data is cleared. An "*" (asterisk) is shown in the fields.
Remarks Screen Operation No. 7 5.
5.8 Parameter Editing Parameters are displayed and edited. 5. Operation of CON Related Controllers Touch [Edit Parameter] on the Menu 1 screen. If a system password is set, the password setting screen appears. Input a system password. The default password is "5119." You can set a password on the setting screen. A user parameter table is displayed. * 66 The types of parameters vary from one controller to another. Refer to the operation Manual for each controller.
(1) Basic operation In this example, soft limit+ is set. Touch Soft limit+, and the numeric keypad will appear. Enter a value and then touch [ENT] on the numeric keypad. Touching [Menu1] opens a confirmation screen with a message asking if you want to restart the controller. Touch [Yes]. Touch [No] to return to the user parameter screen without restarting the controller or reflecting the parameter you have set. To reflect the parameter you have set, you must restart the controller.
5.9 Trial operation You can perform jogging/inching operations, move to a position or continuously to multiple positions registered in the position table, or move to a position by specifying the position directly. 5. Operation of CON Related Controllers Touch [Trial Operation] on the Menu 1 screen. The movement menu screen appears. Select and touch [Jog_Inching] or other item you want to operate.
(1) Jog_Inching Perform jog/inching operation. (2) Position Move Move to a position or continuously to multiple positions registered in the position table. x Move The actuator moves, in a single step, from the current position to the position corresponding to an arbitrary position data number registered in the position table. * What is continuous movement? Assume that the following position table has been set. If a continuous movement command is issued from position No.
5.9.1 Jog/Inching Operation 5. Operation of CON Related Controllers [Jog operation] You can perform jog operation. operation on the jog screen x [Jog-], [Jog+] :The axis jogs while each button is touched. [Jog-] moves the axis in the negative direction, while [Jog+] moves the axis in the positive direction. 70 x [SV ON] :Touching [SV ON] while the servo is off turns on the axis servo and { becomes lit. Touching [SV OFF] while the servo is on turns off the axis servo and { becomes unlit.
[Inching Operation] You can perform inching operation. x [SV ON] :Touching [SV ON] while the servo is off turns on the axis servo and { becomes lit. Touching [SV OFF] when the servo is on turns off the axis servo and { becomes unlit. x [HOME] :Touching [HOME] while home return is not yet completed causes the axis to return home and { becomes lit. x [Chg Dis] :The inching distance changes in the order of 0.01, 0.10, 0.50, 1.00 and 5.00 mm every time [Chg Dis] is touched.
5.9.2 Position Movement Operation 5. Operation of CON Related Controllers Move to a position or continuously to multiple positions registered in the position table. 72 x [SV ON] :Touching [SV ON] while the servo is off turns on the axis servo and { becomes lit. Touching [SV OFF] while the servo is on turns off the axis servo and { becomes unlit. x [HOME] :Touching [HOME] while home return is not yet completed causes the axis to return home and { becomes lit.
5.9.3 Direct Movement Operation A position is specified directly to move the axis. :Touching [SV ON] while the servo is off turns on the axis servo and { becomes lit. Touching [SV OFF] while the servo is on turns off the axis servo and { becomes unlit. x [HOME] :Touching [HOME] while home return is not yet completed causes the axis to return home and { becomes lit. x [Target Pos] :Touching [Target Pos] displays the numeric keypad. Enter a desired target position and then touch [ENT].
5.9.4 I/O test PIO input signals can be monitored. You can also touch OUT00 to OUT15 to forcibly turn ON/OFF the corresponding output signals. 5. Operation of CON Related Controllers Touching [Menu 1] switches the screen to [Menu 1].
5.10 TP Operation Mode An operation mode is set if the manual (MANU) mode is selected. Touch [TP Op Mode] on the Menu 2 screen. 5. Operation of CON Related Controllers The TP operation mode screen appears. Select and touch [Teach1] or other desired mode. Select a manual operation mode from the menu containing the following four items: x Teach1 (SftyVel Efct/PIO Prohibit) PIO Prohibit :You can write position data, parameters, etc., to the controller and issue actuator operation commands.
5.11 Alarm List A list of alarms that may generate after the controller power is turned on is shown. [For alarm details, refer to 8, "Error Display."] 5. Operation of CON Related Controllers Touch [Alarm List] on the Menu 1 screen. The controller's alarm list appears. The alarm list consists of pages 0 to 15. Model other than SCON-CA, PCON-CA, ERC3 PIO Converter and MSCON Touching [p] displays the next page. Touching [n] displays the previous page. Touching Erase clears all alarm details.
SCON-CA, PCON-CA, ERC3 PIO Converter and MSCON Touch [n]/[p] to move through the list. Touching [Clear] clears all alarms. 77 5. Operation of CON Related Controllers (Note) “PowerUP No Error” indicates that the controller power was turned off. The occurrence time corresponds to the time each error occurred.
5.12 Controller Restart The controller is restarted. 5. Operation of CON Related Controllers Touch [Soft Reset] on the Menu 2 screen. Touch [Yes]. Touch [No] to return to the Menu 2 screen without restarting the controller. Touch [Yes]. Touch [No] to return to the Menu 1 screen without restarting the controller. The controller is restarted.
5.13 User Adjustment You can perform home return, etc. Touch [User Adjust] on the Menu 2 screen. 5. Operation of CON Related Controllers If a system password is set, the password setting screen appears. Input a system password. The default password is "5119." You can set a password on the setting screen. The user adjustment screen appears. Touch [Adjust No.] and the numeric key pad opens. Set [Adjust No.] and touch [Execute.] [Adjust No.] x 1: Home return Home return can be performed.
5.14 Parameter Initialization The parameters are reset to their factory default settings (initialized). 5. Operation of CON Related Controllers Caution: Once the parameters are initialized (to their factory default settings), all parameters the user has set will return to the values set at the factory. Exercise caution. Touch [Init Parameter] on the Menu 2 screen. If a system password is set, the password setting screen appears. Touching Password displays the numerical keypad.
Touch [Yes]. Touch [No] to return to the Menu 1 screen without restarting the controller. 5. Operation of CON Related Controllers The controller is restarted. Caution: If the controller is not restarted, the parameters that have been rewritten to their factory settings do not translate to the factory-set operations. The factory settings will become effective once the controller is restarted or power is reconnected.
5.15 Axis Number Setting The axis number of the controller is set. 5. Operation of CON Related Controllers Touch [Axis No. Set] on the Menu 2 screen. If a system password is set, the password setting screen appears. Input a system password. The default password is "5119." You can set a password on the setting screen. The axis number setting screen appears. Touching [Axis No.] displays the numerical keypad. Set a desired axis number and then touch [ENT]. Touch [Execute].
5.16 Information Display Version and other information of the controller are set. Touch [Information] on the Menu 1 screen. 5. Operation of CON Related Controllers The information screen appears.
5.17 Environment Setting You can change or display the language, sound, light off time, change system password, change pos edit password and time setting. 5. Operation of CON Related Controllers Touch [EnvironmentSet] on the Menu 2 screen. The environment setting screen appears. [Language] You can select a desired language to change to that language. Display for Japanese/English/EU languages setting change (Option model code: ENG) Select and touch [Japanese], etc. Touch [Write].
[Dim Display Time] Touching [Dim Display Time] displays the numerical keypad. Enter a desired time after which the screen light turns off when no operation has been performed, and then touch [ENT]. Touch [Write]. (Note) If writing is not conducted, the values will go back to those before making a change when moving to another window. 5. Operation of CON Related Controllers [Change System Password] You can change the system password. Touch [Change System Password].
[Change Pos Edit Password] Touch [Change Pos Edit Password]. 5. Operation of CON Related Controllers If the system password function is enabled, you must enter the password currently set. Input a password. Touch [ENT]. The default password is "5119." You can set a password on the setting screen. Enter the new password to change to. Touch [ENT]. Touch [Change]. Touch [OK].
[Display] Adjustment of contrast and brightness of the screen, position tuning for touch panel and LCD screen check can be performed. Touch [Display]. 5. Operation of CON Related Controllers Display menu Window is displayed. Select Display Setting menu. Touch [Menu] and the display returns to EnvironmetSet screen. zChange the Contrast/Brightness Touch [Contrast/Brightness] Contrast adjustment Touch [–] and [+] under Contrast to adjust the contrast of the screen.
5. Operation of CON Related Controllers zTouch calibration A calibration for the position detection of the touch panel is performed. Touch [Touch Calibration]. Touch [] in the order of 1, 2, 3 and 4. Touch [Menu] and the display returns to Display menu screen.
5. Operation of CON Related Controllers zLCD Check LCD display can be checked in the order of Color Pattern, White Only and Black Only. Touch [LCD check]. Color Pattern is displayed Touch any point on the screen. White Only is displayed Touch any point on the screen. Black Only is displayed Touch any point on the screen. The display returns to Display menu screen.
5. Operation of CON Related Controllers [Time Setting] You can set the time for CON-PTA/PDA/PGA or SCON-CA, PCON-CA, ERC3 PIO Converter and MSCON. 1) Time setting for CON-PTA/PDA/PGA. Touch [Time]. The time of teaching CON-PTA/PDA/PGA is displayed. Touch [Time Edit]. Touch the value of year, month, day, hour, minute or second that is required to be changed. Numeric keys are displayed Input a value and touch [ENT] . Touch [Set]. The time of the CON-PTA/PDA/PGA is changed.
2) Time setting for SCON-CA, PCON-CA, ERC3 PIO Converter and MSCON. Touch [Time]. The time of teaching CON-PTA/PDA/PGA is displayed. Touch [Time Edit]. You don't need to change the time in the case of setting the time of the teaching to the controller. Touch the value of year, month, day, hour, minute or second that is required to be changed. Numeric keys are displayed Input a value and touch [ENT] . Touch [Set to controller].
5. Operation of CON Related Controllers 5.18 Data Backup Data is transferred between the Secure Digital memory card in the touch panel teaching pendant and the controller. (Note) Type of Stored Data This includes the position data, parameters and alarm list. It is not applicable to the backup data storable in the RC PC software.
5.18.1 Data Backup of the Controller 93 5. Operation of CON Related Controllers The data in the controller is transferred to the Secure Digital memory card for backup. Touch [Backup Data] on the Menu 1 screen. A window for data transfer appears. Touch [Backup]. Select the data type for the backup such as [Position Data] and touch it. Touch [Transfer]. Touch [Yes].
5. Operation of CON Related Controllers The screen below appears if the same name is not found. Touch [Yes]. If [No] is touched, the screen goes back to the previous one to indicate the backup file name in which the numeric keys were shown. The screen below appears if the same name is not found. Touch [Yes]. If [No] is touched, the screen goes back to the previous one to indicate the backup file name in which the numeric keys were shown.
5.18.2 Restore to Controller 95 5. Operation of CON Related Controllers Data in the Secure Digital card is transferred to the controller. Touch [Backup Data] on the Menu 1 screen. A window for data transfer appears. Touch [Restore]. Select the data type to transfer to the controller, such as [Position Data], and touch it. Touch [Transfer].
5. Operation of CON Related Controllers Touch [Yes]. If [No] is touched, the screen goes back to the previous one for the restore file select. Data transfer screen will be shown. A message to tell the data transfer is complete pops up and the data transfer process to the controller is finished.
5.19 Smart Tuning Function With the Smart Tuning Function, the following 2 operations can be performed.
5.19.1 Setting Operation for Max. Acceleration/Deceleration for Indicated Transported Load and Velocity 1) Basic Information Settings Set the model code, lead stroke and the posture of the applicable actuator in “Setting of Actuator Applicable for Velocity and Acceleration/Deceleration Settings” window. 5. Operation of CON Related Controllers Touch [Actuator set]. Touch [Basic Info Setting]. Touch ٕ and ً to select the applicable series, model type, lead (mm).
2) Setting of Carrier Load Set the carrier load. Touch [Load Setting]. 5. Operation of CON Related Controllers Touch the number input areas for Transported Load No.0 to No.3. The numeric keys will appear. Set the transported loads. Touch [OK]. The screen goes back to Basic Information Setting and Transported Load Setting window. Touch [Menu] to return to Position Edit window.
3) Way to Handle Smart Tuning Function Set the velocity and carrier load number to the set position number. Select “Automatically Tune Acceleration from Transported Load and Velocity” from the ways for tuning. 5. Operation of CON Related Controllers Select the position to have Smart Tuning Function and touch it. Set the velocity. Select one from 0 (Transported Load No. 0) to 3 (Transported Load No. 3) and set to the transported load.
5.19.2 Operation to Automatically Set Velocity and Acceleration Speed from Moving Distance 1) Basic Information Settings Set the model code, lead stroke and the posture of the applicable actuator in “Setting of Actuator Applicable for Velocity and Acceleration/Deceleration Settings” window. 5. Operation of CON Related Controllers Touch [Actuator set]. Touch [Basic Info Setting]. Touch ٕ and ً to select the applicable series, model type, lead (mm). For the stroke, numeric keys will appear if touch it.
2) Setting of Carrier Load Set the carrier load. 5. Operation of CON Related Controllers Touch [Load Setting]. Touch the number input areas for Transported Load No.0 to No.3. The numeric keys will appear. Set the transported loads. Touch [OK]. The screen goes back to Basic Information Setting and Transported Load Setting window. Touch [Menu] to return to Position Edit window.
3) Way to Handle Smart Tuning Function Set the distance and carrier load number to the set position number. Select “Automatically Tune Acceleration from Transported Load and Velocity” from the ways for tuning. Select the position to have Smart Tuning Function and touch it. Set the necessary items except for acceleration and deceleration such as target position. Touch [C/T optimization]. Touch [Auto-configure Acc and Vel depend load and distance]. 103 5.
There are two ways to set up the moving distance. (Position Select) Select Position Select. Touch the value on the start position and the numeric key will be shown. Set the Start Pos. 5. Operation of CON Related Controllers Touch the value on the end position and the numeric key will be shown. Set the End Pos. (Note) For the end position, the position number to have Smart Tuning Function is shown. The end position can be changed.
6. Operation of SEP Related Controllers SEP related controllers: ASEP, PSEP, DSEP, MSEP 6.1 Transition of Operating States The language can be changed by following the steps below. For the operations after the language change, please refer to the operation manual written in each language. Model㧦CON-PTA-C CON- PTA-C-ENG Display change from English to Japanese Touch [EnvironmentSet]. Touch [Japanese]. 6. Operation of SEP Related Controllers Touch [Initial Set] in SEP Menu. Touch [Write].
6.2 Operating Menu Transition of operating states when the touch-panel teaching pendant CON-PTA is connected to a SEP controller is shown. Operation 6. Operation of SEP Related Controllers Display of conditions of input and output I/O, velocity, etc. Information displays for operation patterns, version, etc. SEP Menu Select/change connected axis controller Edit of position data display Sub Menu Operation Window Data display of input and output I/O, velocity, etc.
SEP Menu Operation Operation mode (single solenoid, double solenoid, etc.) settings for operation patterns Initial Setting Sub Menu Operation Window Password setting 5119 (at delivery) I/O Setting Password Setting Operation mode (single solenoid, double solenoid, etc.) settings for operation patterns Operation Mode Setting Window (Note 1) Password setting Parameter settings are necessary when having I/O settings and parameter settings.
6.3 Initial Screen 6. Operation of SEP Related Controllers Upon connection to the controller, power is supplied to the touch-panel teaching pendant and processing starts. When the power is turned on, the IAI logo is displayed for approx. 1 second on the operation display screen (here in after referred to as "operation screen") of the touch-panel teaching pendant, after which version information is displayed. If multiple units are connected, the axis selection screen appears.
6.4 Initial Setting When the power is turned on for the first time after the delivery of the controller, the initial setting screen will appear. x x Select [Yes], and the display will change to the I/O setting screen where you can set the operation pattern (PIO pattern). Select a desired operation pattern and, depending on the selected operation pattern, also set the single-solenoid, double-solenoid or other operation mode.
6.5 Changing Operating Axis If multiple controllers are connected to the communication line, the axis selection screen appears. This screen also appears when [Change Operate Axis] is touched on the menu screen. If only one controller is connected, you need not select an axis. 6. Operation of SEP Related Controllers Select and touch the axis you want to connect the touch-panel teaching pendant to. Connection with the selected controller axis starts.
6.6 Menu Selection SEP menu Menu list x Monitor x Information x Alarm List x Change Axis x Pos. Edit x Backup Data x Initial Set Display the controller status. [Refer to 6.7, "Monitor."] Display the operation pattern, version and other information. [Refer to 6.8, "Information."] Display alarm details. [Refer to 6.9, "Alarm List."] Select the controller axis to connect the touch-panel teaching pendant to. [Refer to 6.5, "Changing Operating Axis."] Set the position, push power, push band, etc.
6.7 Monitor The current position, speed, electrical current and system I/O statuses of the controller are displayed. 6. Operation of SEP Related Controllers Touch [Monitor] on the SEP menu screen. The operation pattern is indicated. The I/O statuses of the axis are indicated. The display varies depending on the operation pattern. The servo status is indicated. The home return status is indicated. The axis position is indicated. The axis speed is indicated.
I/O display on monitor screen IN0 (input)/OUT0 (output) ST0 (move signal) LS0 (backward end position detection signal)/ PE0 (backward positioning complete signal)*2 ST0 (backward end movement signal) LS0 (backward end position detection signal)/ PE0 (backward positioning complete signal)*2 ST0 (backward end movement signal) LS0 (backward end position detection signal)/ PE0 (backward positioning complete signal)*2 ST0 (backward end movement signal) LS0 (backward end position detection signal)/ PE0 (backward
6.8 Information The operation pattern, version and other information is displayed. 6. Operation of SEP Related Controllers Touch [Information] on the SEP menu screen. The information selection screen appears. Touch the screen you want to display. Touch [Menu] to return to the SEP menu screen. [Current Setup] You can confirm the operation pattern, operation mode and other information currently set. [Version] You can check the version information, etc.
[Product] You can check the serial number and other manufacturing information. 6. Operation of SEP Related Controllers [Inquiry] You can check how to contact IAI.
6.9 Alarm List A list of alarms that may generate after the controller power is turned on is shown. [For alarm details, refer to 8, "Error Display."] 6. Operation of SEP Related Controllers Touch [Alarm List] on the SEP menu screen. The controller's alarm list appears. The error list consists of errors 0 to 15. Touching [p] displays the next page. Touching [n] displays the previous page. Touching [Erase] clears all alarm details.
6.10 Position Setting (Setting of Position-related Data, Jog/Inching Operation) Position-related data, such as position, push power and push band, are set. You can move the axis by jogging or inching. Touch [Pos. Edit] on the SEP menu screen. Enter a password value from the numeric keypad, and then touch [ENT]. You can set a password from "Position edit password" on the parameter edit screen. If the correct password has been entered, the display changes to the screen showing a position setting list.
Touching a desired position displays the screen for setting the target position/speed for the position you have touched. Set the position, speed, push power, push band, acceleration and deceleration. 6. Operation of SEP Related Controllers Touch [Menu] to return to the SEP menu screen. You can perform jog operation on this setting screen. [1] Position data Set position data with which to operate the actuator.
[4] Decelerate [G]--- Set the actuator deceleration. [G] (Reference) Acceleration is explained. The same concept applies to deceleration. 1 G = 9800 mm/s2: Acceleration at which the actuator can increase its speed up to 9800 mm/s per second. 0.3 G: Acceleration at which the actuator can increase its speed up to 2940 mm/s (9800 mm/s x 0.3) per second.
Position at which the load is contacted and completion of push-motion operation is deemed complete Push band Target position Load Start position of pushmotion operation 6. Operation of SEP Related Controllers Speed If CON method pressing in Fieldbus Type of MSEP Controllers is selected, the maximum pressing amount in the pressing operation from the target position is defined in Position Mode.
When Ecology is enabled, you can have the motor power (servo) turned off automatically [7] Ecology... upon elapse of a specified period to save power after completion of positioning. Set the applicable period beforehand using a parameter. Parameter No. Parameter name 10 Auto servo OFF delay time [sec] Initial value 1 Setting range 0 ~ 9999 [Auto servo OFF] The servo will turn off automatically upon elapse of a specified period after completion of positioning.
[Statuses of position detection output signals when the push function is not used] Even when the servo is turned off, as long as the actuator is positioned within the positioning band (parameter No. 1) the start point detection signal (LS0), end point detection signal (LS1) or intermediate point detection signal (LS2) will turn ON according to the applicable position, just like when a sensor is used.
[2] Basic operation Touch the value of the position or other setting item. When the numeric keypad appears, enter a desired value and then touch [ENT]. Touching [0], [1] or [2] switches to the corresponding setting screen for 0 (backward end position), 1 (forward end position) or 2 (intermediate position). (Note) For the position, set a value meeting the condition "Home d Backward end position d Intermediate position d Forward end position." 6.
[Jog operation] You can acquire position data via jogging operation. 6. Operation of SEP Related Controllers Operation on the jog screen x [Jog-], [Jog+] :The axis jogs while each button is touched. [Jog-] moves the axis in the negative direction, while [Jog+] moves the axis in the positive direction. x [SV ON] :Touching [SV ON] while the servo is off turns on the axis servo and { becomes lit. Touching [SV OFF] while the servo is on turns off the axis servo and { becomes unlit.
[Inching operation] You can acquire position data via inching operation. x [SV ON] :Touching [SV ON] while the servo is off turns on the axis servo and { becomes lit. Touching [SV OFF] when the servo is on turns off the axis servo and { becomes unlit. x [HOME] :Touching [HOME] while home return is not yet completed causes the axis to return home and { becomes lit. x [Chg Dis] :The inching distance changes in the order of 0.01, 0.10, 0.50, 1.00 and 5.00 mm every time [Chg Dis] is touched.
[3] Examples of position setting operations Respective operations are explained by giving specific examples. 1) Setting of position, speed, acceleration and deceleration An example of operation mode 0 (standard) is explained. Set positions to move the actuator back and forth between 10.0 mm and 100.0 mm. Forward end position: 100.0 mm, backward end position: 10.0 mm, back-and-forth speed: 50 mm/sec, back-and-forth acceleration: 0.3 G, back-and-forth deceleration: 0.3 G 6.
No. Operation 6 Touch the value in Velocity. The numeric keypad appears. Touch [5] and [0], and touch [ENT]. Screen Remarks Touch [Menu] to return to the position setting screen. 50.00 is shown in Velocity. Touch [Menu] to return to the position setting screen. 8 Touch the value in Accelerate. The numeric keypad appears. Touch [0], [.] and [3], and touch [ENT]. Touch [Menu] to return to the position setting screen. 9 0.30 is shown in Accelerate.
No. Operation 12 Touch [Menu]. 13 Set the position, acceleration and deceleration relating to the forward end position. Screen Remarks Touch [Menu] to return to the SEP menu screen. 6. Operation of SEP Related Controllers Touch [Forward Position]. 14 The display switches to the forward end screen. Touch [Menu] to return to the position setting screen. Set the position, acceleration and deceleration relating to the forward end position. 15 Touch the value in Position. The numeric keypad appears.
Operation Touch the value in Accelerate. The numeric keypad appears. Touch [0], [.] and [3], and touch [ENT]. 20 0.30 is shown in Accelerate. Touch [Menu] to return to the position setting screen. 21 Touch the value in Decelerate. The numeric keypad appears. Touch [0], [.] and [3], and touch [ENT]. Touch [Menu] to return to the position setting screen. 22 0.30 is shown in Decelerate. Touch [Menu] to return to the position setting screen. 23 Touch [Menu].
2) Direct teaching (Manually move the slider to the target position and then acquire the achieved position (current position) as the forward end position or backward end position) An example of operation mode 0 (standard movement between 2 points) is explained. How to acquire the current position, or 50.0 mm, as the backward end position is explained. 6. Operation of SEP Related Controllers No. 1 2 Operation On the SEP menu screen: Touch [Pos.Edit].
No. 7 Operation Touch [Yes]. Screen Remarks Touch [Menu]. 9 50.00 is shown in Position. It is now confirmed that the position data has been acquired. Touch [Menu] to return to the position setting screen. 10 Touch [Menu]. Touch [Menu] to return to the position setting screen. 11 6. Operation of SEP Related Controllers 8 Touch [Menu] to return to the SEP menu screen.
6. Operation of SEP Related Controllers 3) Jog (Use the arrow keys [Jog-] and [Jog+] to jog the actuator to the target position and then acquire the achieved position (current position) as the forward end position or backward end position). An example of operation mode 0 (standard movement between 2 points) is explained. How to acquire the current position, or 80.0 mm, as the backward end position is explained. No. 1 Operation Touch [Pos. Edit] on the SEP menu screen.
No. 7 Operation Use [Jog-] and [Jog+] to move the slider or rod to the target position of 80.0 mm. Screen Remarks Touch [Teach]. 9 Touch [Yes]. 10 Touch [Menu]. 11 80.00 is shown in Position. It is now confirmed that the position data has been acquired. Touch [Menu] to return to the position setting screen. 12 Touch [Menu]. Touch [Menu] to return to the position setting screen. 13 6. Operation of SEP Related Controllers 8 Touch [Menu] to return to the SEP menu screen.
4) Inching (Use the arrow keys [Inching-] and [Inching+] to inch the actuator to the target position and then acquire the achieved position (current position) as the forward end position or backward end position). An example of operation mode 0 (standard movement between 2 points) is explained. How to acquire the current position, or 30.0 mm, as the backward end position is explained. 6. Operation of SEP Related Controllers No. 1 2 Operation On the SEP menu screen: Touch [Pos.Edit].
No. 7 8 Operation Touch [Chg Dis] and set a desired inching distance. Screen Remarks Use [Inching-] and [Inching+] to move the slider or rod to the target position of 30.0 mm. 6. Operation of SEP Related Controllers 9 Touch [Teach]. 10 Touch [Yes]. 11 Touch [Menu]. 12 30.00 is shown in Position. It is now confirmed that the position data has been acquired. Touch [Menu] to return to the position setting screen. 13 Touch [Menu]. Touch [Menu] to return to the position setting screen.
6. Operation of SEP Related Controllers No. 14 136 Operation Screen Remarks Touch [Menu] to return to the SEP menu screen.
5) Setting of push-motion operation (push power, push band) An example of operation mode 0 (standard movement between 2 points) is explained. An example of push-motion operation at the backward end is explained. Push power: 50%, push band: 5.0 mm No. 1 If the password is other than "0000," the password input screen appears. Input a password. 3 Set the position, acceleration and deceleration relating to the backward end position. Screen Remarks 6.
No. 7 6. Operation of SEP Related Controllers 8 9 138 Operation 5.00 is shown in Push Band. Touch [Menu]. Screen Remarks Touch [Menu] to return to the position setting screen. Touch [Menu] to return to the position setting screen. Touch [Menu] to return to the SEP menu screen.
6) Setting of ecology function (automatic servo OFF function) An example of operation mode 0 (standard) is explained. How to turn off the servo automatically 5.0 seconds after stopping is explained. No. 1 Screen Remarks Set a desired automatic servo OFF delay time. 6. Operation of SEP Related Controllers 2 Operation On the SEP menu screen: Touch [Initial Set]. Touch [Parameter]. 3 Input a password. 4 Touch [Edit Parameter].
6. Operation of SEP Related Controllers No. 7 Operation 5 is shown. 8 Touch [Menu]. 9 Touch [Yes]. Screen Remarks Touch [No], and the new setting will not be reflected in the controller until the power is reconnected. 10 11 The controller is restarted and the SEP menu screen will appear. Touch [Pos.Edit]. 12 13 If the password is other than "0000," the password input screen appears. Input a password.
Operation Touch [ON]. Screen Remarks Touch [Menu] to return to the position setting screen. 15 Touch [Menu]. Touch [Menu] to return to the position setting screen. 16 Set the ecology function at the forward end position. Touch [Menu] to return to the SEP menu screen. 6. Operation of SEP Related Controllers No. 14 Touch [Forward Position]. 17 The display switches to the forward end screen. Touch [Menu] to return to the position setting screen.
6.11 I/O Setting (Setting of Operation Parameters, Etc.) You can select an operation pattern (PIO pattern) (0 to 5), set an operation mode (single solenoid, double solenoid), etc. 6. Operation of SEP Related Controllers Touch [Initial Set] on the SEP menu screen. Touch [I/O set] Touch [Menu] to return to the SEP menu screen. The password entry screen appears before the initial setting screen. Enter a password value from the numeric keypad, and then touch [ENT].
The screen corresponding to the selected operation pattern appears. Operation pattern 0 (standard movement between 2 points), operation pattern 1 (change travel speed), operation pattern 2 (change position data) Next 6. Operation of SEP Related Controllers Operation pattern 3 (movement by 2 inputs among 3 points), operation pattern 4 (movement by 3 inputs among 3 points) Next Operation pattern 5 (continuous back-and-forth operation) Next The items that can be set vary with each operation mode.
Setting item 6.
Operation pattern Equivalent air cylinder circuits are shown for your reference. Operation pattern PIO pattern 0 Single solenoid type (Standard movement between 2 points) Description The actuator can be moved between two points using the same control you normally use with an air cylinder. The target position (forward end, backward end) can be set. The travel speed and acceleration/deceleration can be specified. Push-motion operation can also be performed.
Operation pattern Equivalent air cylinder circuits are shown for your reference. Operation pattern 6. Operation of SEP Related Controllers PIO pattern 2 Single solenoid type (Movement between two points) (Position data change) PIO pattern 2 Double solenoid type (Movement between two points) (Position data change) Description The actuator can be moved between two points using the same control you normally use with an air cylinder.
[1] Types of I/O setting (setting of operation parameters, etc.) [Operation mode] Select either the single-solenoid operation mode or double-solenoid operation mode. [Intermediate move method] Select whether to move to the intermediate position with both ST0 and ST1 turned ON, or OFF, when operation pattern 3 is set. [Double solenoid type] Select either Level or Edge as the condition for turning the double solenoids ON when the double-solenoid type operation mode and operation pattern 4 are set.
[2] Basic operation The setting method is explained using an example of operation pattern 0. Touch [0] and touch [OK]. 6. Operation of SEP Related Controllers Touch [Menu] to return to the initial setting menu screen. Touch [Menu] to return to the initial setting menu screen. Select and touch either [Single] or [Double]. Hereafter, set one by one the items denoted by a O in the table of setting items (P. 126). When all items on this screen have been set, touch [Next].
When the setting is complete, touch [Complete]. Touch [Back] to return to the operation pattern selection screen. All settings you have made under the selected operation pattern become invalid. Touch [Yes]. Touch [Yes]. The controller is restarted. The controller operates according to the operation pattern settings you have made. The display returns to the SEP menu screen. Touch [No], and the controller will not operate according to the operation pattern settings you have made until restarted. 149 6.
[3] Examples of I/O setting operations Respective operations are explained by giving specific examples. 6. Operation of SEP Related Controllers Example of operation mode 0 (standard movement between 2 points) Set as follows: Operation mode Single solenoid Use of pause command (*STP) Not used Control Servo Control OUT2, OUT3 output signals OUT2 HEND, OUT3 *ALM Home AUTO (start home return upon power on) LS0 (backward end position detection), LS1 DO signal (forward end position detection) No.
No. Operation 6 Touch [Single]. The single-solenoid operation mode is selected. Screen Remarks Touch [Menu] to return to the initial setting menu screen. Touch [Control]. Servo control is selected. Touch [Menu] to return to the initial setting menu screen. 8 Touch [Not used]. Non-use of pause command (*STP) is selected. Touch [Menu] to return to the initial setting menu screen. 9 Touch [Next]. 10 Touch [AUTO]. AUTO home return is selected.
No. 13 Operation Touch [Complete]. Screen Remarks Touch [Back] to return to the operation pattern selection screen. 6. Operation of SEP Related Controllers Touch [Menu] to return to the initial setting menu screen. 14 Touch [Yes]. 15 Touch [Yes]. The controller does not operate according to the operation pattern settings you have made until restarted. 16 17 152 After the controller has restarted, the display switches to the SEP menu screen.
6.12 Parameters (Parameter Editing, Axis Number Setting, Parameter Initialization to Factory Default Settings, System Password) Parameters and axis number are set. You can change the system password or reset the parameters to their factory default settings. Touch [Initial Set] on the SEP menu screen. 6. Operation of SEP Related Controllers Touch [Parameter]. Enter a password value from the numeric keypad, and then touch [ENT]. The password is "5119" (default setting).
The screen corresponding to the selected menu item appears. 6. Operation of SEP Related Controllers x Edit Parameter: Set 20 types of parameters. x Axis No. Set: Set the axis number. x Init Parameter: You can reset the parameters to their factory settings (initialize the parameters). x Change System Password: You can change the password for parameter editing.
[1] Types of parameter editing For details on each parameter, refer to the operation manual for your ASEP/PSEP/DSEP controller or MSEP controller. (Default positioning band) Set the default positioning band. (Jog speed) Set the speed of jog operation. (Torque filter constant) Set the torque filter time constant that determines the filter time constant for torque commands in servo control.
(Stop mode) Displayed for PSEP, MSEP (for pulse motor) controllers Set whether to implement servo stop based on the full servo control method or complete stop without servo control when the actuator stops. (Note) When this parameter is changed, the new setting will not be reflected until the position data is written to the controller again. 6.
[2] Basic operation Set parameters. [Parameter] 6. Operation of SEP Related Controllers Touch [n] to return to the previous screen. Touch [p] to move to the next screen. Three screens are available, including one showing the default positioning band and others used to edit position data and password. Touch [Menu] to return to the parameter menu screen. An example of setting a soft limit is explained. Touch [n] and [p] on the displayed screen until the soft limit setting screen appears.
Touch [Yes]. The controller is restarted. The controller operates according to the operation pattern settings you have made. The display returns to the initial setting screen. 6. Operation of SEP Related Controllers Touch [No], and the controller will not operate according to the operation pattern parameters you have set until restarted.
[Axis No. Set] Set the axis number. Touch Axis No. When the numeric keypad appears, enter a desired value and then touch [ENT]. Touch [Execute]. In this example, 15 is set. Touch [Yes]. Touch [No] to return to the parameter menu screen without resetting the parameters to their factory default settings. Touch [Yes]. The controller is restarted. The controller operate according to the factory-set parameters. The display returns to the initial setting screen.
[Change System Password] Change the password for parameter editing. Touch New Password. When the numeric keypad appears, enter a desired value and then touch [ENT]. 6. Operation of SEP Related Controllers Touch [Change]. The system password changes. Touch [OK] to return to the parameter menu screen.
6.13 Test (I/O Tests, Operation Tests for Axis Movement) You can perform I/O tests and operation tests for axis movement. Touch [Initial Set] on the SEP menu screen. 6. Operation of SEP Related Controllers Touch [Test]. Touch [Menu] to return to the SEP menu screen. Select and touch either [I/O Test] or [TestPlay]. x I/O Test: PIO input signals can be monitored. Also, the output signals can be forcibly turned ON or OFF by touching OUT0, OUT1, OUT2 and OUT3.
6. Operation of SEP Related Controllers x Pos Test: Operation tests for axis movement can be performed. The screen corresponding to the selected operation pattern appears.
[1] Basic operation [I/O test] ON/OFF of input signals can be monitored. The output signals OUT0 to OUT3 can be forcibly output by touching each signal. Touch [Menu] to return to the test menu screen. 6. Operation of SEP Related Controllers [Pos Test] The operating method is explained using an example of operation pattern 0. The current axis position is indicated. The axis speed is indicated. The electric rated current ratio/current value of the axis is indicated by a percentage of the rating.
The settings of operation pattern 5 (continuous back-and-forth operation) vary partially from other operation patterns. The current axis position is indicated. The axis speed is indicated. The electric current of the axis is indicated by a percentage of the rating. The electric rated current ratio/current value of the axis is indicated by a percentage of the rating. 6. Operation of SEP Related Controllers x Start x Stop x Reset :Continuous operation stops once the operation test screen appears.
6.14 Environment setting (Sound, Language, Auto Monitor, Display (Screen Adjustment)) You can set the sound, language and auto monitor and adjust the screen. Touch [Initial Set] on the SEP menu screen. 6. Operation of SEP Related Controllers Touch [EnvironmentSet]. Touch [Menu] to return to the SEP menu screen. The environment setting screen appears.
[1] Basic operation x Language: Select Japanese or English as the display language. Display for Japanese/English languages setting change (Option model code: ENG) Select and touch [Japanese] or other desired language. Touch [Write]. 6. Operation of SEP Related Controllers (Note) If writing is not conducted, the values will go back to those before making a change when moving to another window. x Sound: Set whether to output or not output a touch tone. Touch [OFF]. A touch tone is not output.
[Display] Adjustment of contrast and brightness of the screen, position tuning for touch panel and LCD screen check can be performed. Touch [Display]. 6. Operation of SEP Related Controllers Display menu Window is displayed. Select Display Setting menu. Touch [Menu] and the display returns to EnvironmetSet screen. ƔChange the Contrast/Brightness Touch [Contrast/Brightness]. Contrast adjustment Touch [–] and [+] under Contrast to adjust the contrast of the screen.
ƔTouch calibration A calibration for the position detection of the touch panel is performed. Touch [Touch Calibration]. 6. Operation of SEP Related Controllers Touch [] in the order of 1, 2, 3 and 4. Touch [Menu] and the display returns to Display menu screen.
6. Operation of SEP Related Controllers ƔLCD check LCD display can be checked in the order of Color Pattern, White Only and Black Only. Touch [LCD Check]. Color Pattern is displayed. Touch any point on the screen. White Only is displayed. Touch any point on the screen. Black Only is displayed. Touch any point on the screen. The display returns to Display menu screen.
[Time setting] Time setting can be performed for CON-PTA/PDA/PGA. Touch [Time]. 6. Operation of SEP Related Controllers The time of teaching CON-PTA/PDA/PGA is displayed. Touch [Time Edit]. Touch the value of year, month, day, hour, minute or second that is required to be changed. Numeric keys are displayed. Input a value and touch [ENT]. Touch [Set]. The time of the CON-PTA/PDA/PGA is changed. Touching [Back] can go back to the controller time setting screen.
6.15 Data Backup 171 6. Operation of SEP Related Controllers Data is transferred between the Secure Digital memory card in the touch panel teaching pendant and the controller. (Note) Type of Stored Data This includes the position data, parameters and alarm list. It is not applicable to the backup data storable in the RC PC software.
6. Operation of SEP Related Controllers 6.15.1 Data Backup of the Controller The data in the controller is transferred to the Secure Digital memory card for backup. Touch [Backup Data] on the SEP Menu screen. A screen for data transfer appears. Touch [Backup]. Select the data type for the backup such as [Position Data] and touch it. Touch [Transfer]. Touch [Yes].
173 6. Operation of SEP Related Controllers The screen below appears if the same name is not found. Touch [Yes]. If [No] is touched, the screen goes back to the previous one to indicate the backup file name in which the numeric keys were shown. The screen below appears if the same name is not found. Touch [Yes].
6. Operation of SEP Related Controllers 6.15.2 Restore to Controller Data in the Secure Digital card is transferred to the controller. Touch [Backup Data] on the Menu 1 screen. A window for data transfer appears. Touch [Restore]. Select the data type to transfer to the controller, such as [Position Data], and touch it. Touch [Transfer].
175 6. Operation of SEP Related Controllers Touch [Yes]. If [No] is touched, the screen goes back to the previous one for the restore file select. Data transfer screen will be shown. A message to tell the data transfer is complete pops up and the data transfer process to the controller is finished.
7. Operation of MEC Related Controllers MEC related controllers: PMEC, AMEC and ERC3 (MEC mode) 7.1 Transition of Operating States The language can be changed by following the steps below. For the operation after the language change, please refer to the operation manual written in each language 7. Operation of MEC Related Controllers Model㧦CON-PTA-C CON- PTA-C-ENG Display change from English to Japanese Touch in MEC Menu. Touch [EnvironmentSet]. Touch [Japanese]. Touch [Write].
7.2 Operating Menu Transition of operating states when the touch-panel teaching pendant CON-PTA is connected to a MEC controller is shown.
Operation Display of PIO signal input and output Alarm content detailed display Data transfer between memory and controller 7. Operation of MEC Related Controllers Environment of Language Setting, Touch Sound Setting, etc.
7.3 Initial Screen Upon connection to the controller, power is supplied to the touch-panel teaching pendant and processing starts. When the power is turned on, the IAI logo is displayed for approx. 1 second on the operation display screen (hereinafter referred to as "Operationcreen") of the touch-panel teaching pendant, after which version information is displayed. 7.
7. Operation of MEC Related Controllers 7.4 Initial Setting When the power is turned on for the first time after the delivery of the controller, the initial setting screen will appear. x Select [Yes], and the display will change to the initial setting screen where you can set the operation pattern. x Select [No], and the factory set operation pattern, or specifically the 2-point stopping operation mode, will remain effective. The display will switch to the position setting screen. Yes [Refer to 7.
7.5 MEC Menu Selection MEC menu The MEC menu has six items. Select and touch one of them. The screen changes to the one corresponding to the menu item you have touched. x Pos. Edit x TestPlay x Information x Maintenance Set the operation pattern (stopping at 2 points or 3 points). [Refer to 7.6, “Initial Setting.”] Set the position, push force, push band, etc. The axis can be operated manually. [Refer to 7.7, “Position Setting.”] Conduct axis movement operation tests. [Refer to 7.8, “Trial operation.
7.6 Initial Setting Select whether to stop at 2 points or 3 points. Touch [Initial Set] on the MEC menu screen. 7. Operation of MEC Related Controllers Before the display switches to the initial setting screen, the password entry screen appears if the password is other than “0000.” Enter the password using the numeric keypad, and then touch [ENT]. The password is “5119” (factory setting). You can set a desired password using the “system password” parameter accessible from the maintenance menu.
Touch [OK]. Touch [Menu] to return to the MEC menu screen. All initial settings you have made will be discarded. If you touch [No], the initial settings you have made will not be reflected until the controller is restarted. 183 7. Operation of MEC Related Controllers Touch [Yes]. The controller will restart. After the restart, the controller will operate according to the initial settings you have made. Return to the MEC menu screen.
Operation Pattern PMEC and AMEC and ERC3 (MEC mode) controllers offer two operation patterns. The table below gives an overview o the Operationpecification of each pattern. [For the setting methods, refer to the sections on initial setting and stop position setting.] Movement by 2 input between 2 points [Double-solenoid mode] Stopping at 3 points (3-point positioning) Movement by 2 input between 3 points [3-point positioning] 7.
[1] Example of initial setting operation The operation is explained using specific examples. Example of stopping at 2 points No. Operation 1 Touch [Initial Set] on the MEC menu screen. If the password is not “0000,” the password entry screen appears. Enter the password, and then touch [ENT]. 3 x Touch and select either [Two Point] or [Three Point] based on the number of positioning points. x To perform positioning Operationelect [Pushing None]. To perform push-motion Operationelect [Pushing].
7. Operation of MEC Related Controllers No. 6 186 Operation Screen Remarks Once the controller has restarted, the MEC menu screen appears.
7.7 Position Setting (Position Data Setting and Manual Axis operation (Jogging, Inching)) The position, push force, push band and other position data are set. You can move the actuator by jogging or inching. Touch [Pos.Edit] on the MEC menu screen. A desired password can be set in the “position data edit password” field of the parameter edit screen. If the valid password has been set, the display switches to the position setting list screen. The displayed items vary depending on the operation pattern.
Touch the position you want to set, and the target position/speed setting screen of the touched position will appear. Set the position, speed, push force, push band, acceleration and deceleration. Touch [Menu] to return to the MEC menu screen. 7. Operation of MEC Related Controllers You can select jog operation from this setting screen. [1] Position data Set the position data used to operate the actuator.
4) Deceleration [G] --- Set the deceleration (G) at which the actuator stops. (Reference) Acceleration is explained. The same concept applies to deceleration. 1 G = 9800 mm/s2: Acceleration at which the actuator can accelerate to up to 9800 mm/s per second 0.3 G: Acceleration at which the actuator can accelerate to up to 9800 mm/s u 0.3 = 2940 mm/s Speed Time 7.
[Pushing toward the end point or intermediate point] Push complete (A position complete signal is output) Approach Speed 7.
[Auto motor power (Auto servo) OFF] The motor power (servo) will turn off automatically upon elapse of a specified period after completion of positioning. When the next positioning command is issued, the motor power (servo) turns on automatically and positioning is performed. Since no holding current flows while the motor is at standstill, power consumption can be reduced.
[2] Basic operation Touch the value field of each setting item such as position. When the numeric keypad is displayed, enter a desired value and then touch [ENT]. Touch either of Start, End or Int and the screen changes to the corresponding setting window for [Fwd], [Back] or [Int]. (Note) The positions must satisfy the following relationships: Home d Start position d Midway position d End position Touching [Jog] switches to jog operation. 7.
Position loading operation Touch [Teach]. The confirmation screen appears. You can change the position number by touching [n]/[p]. Touching [Yes] loads the current position. 7.
[3] Example of position setting operation The operation is explained using specific examples. 1) Setting the position, speed, acceleration and deceleration An example of stopping at 2 points is explained. Positions are set to operate the actuator back and forth between 10.0 mm and 100.0 mm. End position: 100.0 mm, Start position: 10.0 mm 7. Operation of MEC Related Controllers No. Operation 1 Touch [Pos.Edit] on the MEC menu screen.
No. Operation 6 Touch the value field of position. When the numeric keypad is displayed, touch [5], [0], and then [ENT] . Screen Remarks Touch [Menu] to return to the position setting screen. “50.00” is shown in the speed field. Touch [Menu] to return to the position setting screen. 8 Touch the value field of acceleration. When the numeric keypad is displayed, touch [0], [.], [3], and then [ENT]. Touch [Menu] to return to the position setting screen. 9 “0.30” is shown in the acceleration field.
No. Operation 12 Touch [Menu]. 13 Set the position relating to the end point, acceleration, and deceleration. Screen Remarks Touch [Menu] to return to the MEC menu screen. 7. Operation of MEC Related Controllers Touch [Backward Position]. 14 The display switches to the end point screen. Touch [Menu] to return to the position setting screen. Set the position relating to the end point, acceleration, and deceleration. 15 Touch the value field of position.
No. Operation 19 Touch the value field of acceleration. When the numeric keypad is displayed, touch [0], [.], [3], and then [ENT]. Screen Remarks Touch [Menu] to return to the position setting screen. “0.30” is shown in the acceleration field. Touch [Menu] to return to the position setting screen. 21 Touch the value field of deceleration. When the numeric keypad is displayed, touch [0], [.], [3], and then [ENT]. Touch [Menu] to return to the position setting screen. 22 “0.
Manual axis operation (jogging/inching) (Using , jog/inch the actuator to the target position, and then loading the achieved position (current position) as the end point or start point) An example of stopping at 2 points is explained. How to load the current position of 80.0 m as the start point is explained. No. Operation Screen Remarks 1 Touch [Pos.Edit] on the MEC menu screen. 7. Operation of MEC Related Controllers 2) 2 If the password is not “0000,” the password entry screen appears.
No. Operation 7 Touch [Teach]. Touch [Yes]. 9 Touch [Menu]. Remarks 10 “80.00” is shown in the position field. This confirms that the position data has been loaded. Touch [Menu] to return to the position setting screen. 11 Touch [Menu]. Touch [Menu] to return to the position setting screen. 12 Touch [Menu] to return to the MEC menu screen. 7.
Direct teaching (Moving the slider by hand to the target position, and then loading the achieved position (current position) as the end point or start point) An example of stopping at 2 points is explained. How to load the current position of 50.00 mm as the start point is explained. No. Operation Screen Remarks 1 Touch [Pos.Edit] on the MEC menu screen. 7. Operation of MEC Related Controllers 3) 2 If the password is not “0000,” the password entry screen appears. Enter the password.
No. Operation 7 Touch [Yes]. Screen Remarks Touch [Menu]. 9 “50.00” is shown in the position field. This confirms that the position data has been loaded. Touch [Menu] to return to the position setting screen. 10 Touch [Menu]. Touch [Menu] to return to the position setting screen. 11 7. Operation of MEC Related Controllers 8 Touch [Menu] to return to the MEC menu screen.
4) Setting for push-motion operation (push force, push band) An example of stopping at 2 points is explained. In this example, push-motion operation is performed at the start point. Push force: 50%, Push band: 5.0 mm 7. Operation of MEC Related Controllers No. Operation 1 Touch [Pos.Edit] on the MEC menu screen. Screen Remarks 2 If the password is not “0000,” the password entry screen appears. Enter the password.
No. Operation 7 "5.00" is shown in the push band field. 8 Remarks Touch [Menu] to return to the position setting screen. Touch [Menu] to return to the position setting screen. 7. Operation of MEC Related Controllers 9 Touch [Menu]. Screen Touch [Menu] to return to the MEC menu screen.
5) No. 1 7. Operation of MEC Related Controllers 2 Setting the energy-saving function (auto motor power (auto servo) OFF function) An example of stopping at 2 points is explained. How to automatically turn off the servo in 5.0 seconds after stopping is explained. Operation Touch screen. Screen Remarks on the MEC menu Set the auto motor power (auto servo) OFF delay time. Touch [Parameter]. 3 Enter the password. 4 Touch [Edit Parameter].
No. Operation 7 “5” is shown. Touch [Menu]. 9 Touch [Yes]. Remarks If you touch [No], the settings you have made will not be reflected until the controller is restarted. 7. Operation of MEC Related Controllers 8 Screen 10 11 The controller is restarted and the MEC menu screen appears. Touch [Pos.Edit]. 12 If the password is not “0000,” the password entry screen appears. Enter the password.
7. Operation of MEC Related Controllers No. Operation 14 Touch [ON]. Screen Remarks Touch [Menu] to return to the position setting screen. 15 Touch [Menu]. Touch [Menu] to return to the MEC menu screen. 16 Set the energy-saving function at the end point. Touch [Menu] to return to the MEC menu screen. Touch [Backward Position]. 17 The display switches to the end point screen. Set the energy-saving function relating to the end point. Touch [Menu] to return to the position setting screen.
7.8 Trial operation You can perform I/O tests and axis movement operation tests. Touch [TestPlay] on the MEC menu screen. x 7. Operation of MEC Related Controllers Operation test: You can perform operation tests of axis movement. A screen corresponding to the operation pattern you have selected appears. The display can be switched between the normal mode and reversed-home mode.
The operating direction is shown by using an example of stopping at 2 points. The current position of the axis is shown. The speed of the axis is shown. 7. Operation of MEC Related Controllers x Instruction Vel: x Forward: x Backward: x Continuous: x Stop: x Opp, Normal: 208 Select [10%], [50%] or [100%] as the speed for trial operation.
7.9 Information The operation pattern, version and other information are shown. Touch on the MEC menu screen. The information selection screen appears. 7. Operation of MEC Related Controllers Touch the screen you want to display. Touch [Menu] to return to the MEC menu screen. [Setting check] You can check the operation pattern, operation mode and other information currently set.
[Version/manufacturing information] You can check the version information, etc. 7. Operation of MEC Related Controllers [Manufacturing information] You can check the serial numbers and other manufacturing information. [Contact] You can check the contact information of IAI.
7.10 Maintenance – Parameters Set the parameters and axis number. You can change the system password and reset all parameters to their factory defaults. Touch on the MEC menu screen. Before the display switches to the initial setting screen, the password entry screen appears if the password is other than “0000.” Enter the password using the numeric keypad, and then touch [ENT]. The password is “5119” (factory setting).
7. Operation of MEC Related Controllers A screen corresponding to the menu you have selected appears. x Parameter edit : You can set 18 parameters. 212 x Parameter initialization : You can reset all parameters to their factory defaults (initialize the parameters). x System password change : You can change the parameter edit password, etc.
[1] Types of parameter editing For details on each parameter, refer to the operation manual for your PMEC/AMEC controller and ERC3 (MEC mode). (Positioning band) Set the positioning band. (Jog speed) Set the speed of jog operation. (Servo gain number) Set the servo gain number that determines the response of position control loops in servo control. (Torque filter constant) Set the torque filter time constant that determines the filter time constant for torque commands in servo control.
(Soft limit) Set the positive soft limit. (Home return offset) Set the offset for home return. (Home return direction) Set whether to perform home return in the motor direction or front side direction. The home return direction cannot be changed for some actuators, such as rod-type actuators. 7. Operation of MEC Related Controllers (Position edit password) Set the password for editing position data.
[2] Basic operation Set parameters. [Parameter] 7. Operation of MEC Related Controllers Touch [n] to return to the previous screen. Touch [p] to move to the next screen. Three screens are available, including one showing the default positioning band and others used to edit position data and password. Touch [Menu] to return to the parameter menu screen. An example of setting a soft limit is explained. Touch [n] and [p] on the displayed screen until the soft limit setting screen appears.
Touch [Yes]. The controller is restarted. The controller operates according to the operation pattern settings you have made. The display returns to the initial setting screen. 7. Operation of MEC Related Controllers Touch [No], and the controller will not operate according to the operation pattern parameters you have set until restarted.
[Init Parameter] The parameters are reset to their factory default settings. Touch [Yes]. Touch [No] to return to the parameter menu screen without resetting the parameters to their factory default settings. Touch [Yes]. Touch [No], and the controller will not operate according to the factoryset parameters until restarted. 217 7. Operation of MEC Related Controllers The controller is restarted. The controller operate according to the factory-set parameters.
[Change System Password] Change the password for parameter editing. Touch New Password. When the numeric keypad appears, enter a desired value and then touch [ENT]. 7. Operation of MEC Related Controllers Touch [Change]. The system password changes. Touch [OK] to return to the parameter menu screen.
7.11 Maintenance – I/O Tests You can monitor PIO input signals. Output signals can be forcibly turned ON or OFF. Touch on the MEC menu screen. You can monitor the ON/OFF statuses of input signals. Output signals OUT0 to OUT3 can be forcibly output by touching each signal button. Touch [Menu] to return to the maintenance menu screen. 219 7. Operation of MEC Related Controllers Touch [I/O Test]. Touch [Menu] to return to the MEC menu screen.
7.12 Maintenance – Alarm List A list of alarms that have generated after the controller power was turned on is displayed. [Refer to 8, “Error Display” for the details of alarms.] 7. Operation of MEC Related Controllers Touch on the MEC menu screen. Touch [Alarm List]. Touch [Menu] to return to the MEC menu screen. The alarm list of the controller is displayed. The error list consists of errors 0 to 15. Touch [p] to display the next errors of the list.
Touch [n] to display the previous list screen. Touch [Clear], and the details of all alarms will be cleared. (Note) PowerUP No Error indicates that the controller power was turned on. It does not indicate an error. The time of occurrence of each alarm is indicated by an elapsed time from this PowerUP No Error. 7.
7. Operation of MEC Related Controllers 7.13 Data Backup Data is transferred between the Secure Digital memory card in the touch panel teaching pendant and the controller. (Note) Type of Stored Data This includes the position data, parameters and alarm list. It is not applicable to the backup data storable in the MEC PC software. Please note that MEC PC Software cannot deal with individual position data and parameters.
7.13.1 Data Backup of the Controller 223 7. Operation of MEC Related Controllers The data in the controller is transferred to the Secure Digital memory card for backup. Touch on the MEC Menu screen. A screen for data transfer appears. Touch [Backup]. Select the data type for the backup such as [Position Data] and touch it. Touch [Transfer]. Touch [Yes].
7. Operation of MEC Related Controllers The screen below appears if the same name is not found. Touch [Yes]. If [No] is touched, the screen goes back to the previous one to indicate the backup file name in which the numeric keys were shown. The screen below appears if the same name is not found. Touch [Yes]. If [No] is touched, the screen goes back to the previous one to indicate the backup file name in which the numeric keys were shown.
7.13.2 Restore to Controller 225 7. Operation of MEC Related Controllers Data in the Secure Digital card is transferred to the controller. Touch [Backup Data] on the Menu 1 screen. A screen for data transfer appears. Touch [Restore]. Select the data type to transfer to the controller, such as [Position Data], and touch it. Touch [Transfer].
7. Operation of MEC Related Controllers Touch [Yes]. If [No] is touched, the screen goes back to the previous one for the restore file select. Data transfer screen will be shown. A message to tell the data transfer is complete pops up and the data transfer process to the controller is finished.
7.14 Maintenance – Environment Setting (Touch sound Setting, Display Language Setting, Auto Monitor Setting, Display Setting (Screen Adjustment)) You can set the touch sound, display language and auto monitor, and also adjust the screen. Touch on the MEC menu screen. 7. Operation of MEC Related Controllers Touch [EnvironmentSet]. Touch [Menu] to return to the MEC menu screen. The environment setting screen appears.
[1] Basic operation x Language: Select Japanese or English as the display language. Display for Japanese/English languages setting change (Option model code: ENG) Select and touch [Japanese], etc. Touch [Write]. (Note) If writing is not conducted, the values will go back to those before making a change when moving to another window. 7. Operation of MEC Related Controllers x Sound: Set whether to output or not output a touch tone. Touch [OFF]. A touch tone is not output.
[Display] Adjustment of contrast and brightness of the screen, position tuning for touch panel and LCD screen check can be performed. Touch [Display]. Display menu Window is displayed. 7. Operation of MEC Related Controllers Select Display Setting menu. Touch [Menu] and the display returns to EnvironmetSet screen. ƔChange the Contrast/Brightness Touch [Contrast/Brightness]. Contrast adjustment Touch [–] and [+] under Contrast to adjust the contrast of the screen.
ƔTouch calibration A calibration for the position detection of the touch panel is performed. Touch [Touch Calibration]. 7. Operation of MEC Related Controllers Touch [] in the order of 1, 2, 3 and 4. Touch [Menu] and the display returns to Display menu screen.
ƔLCD check LCD display can be checked in the order of Color Pattern, White Only and Black Only. Touch [LCD Check]. Color Pattern is displayed. 7. Operation of MEC Related Controllers Touch any point on the screen. White Only is displayed. Touch any point on the screen. Black Only is displayed. Touch any point on the screen. The display returns to Display menu screen.
[Time Setting] Time setting can be performed for CON-PTA/PDA/PGA. Touch [Time]. 7. Operation of MEC Related Controllers Touch [Time Edit]. Touch the value of year, month, day, hour, minute or second that is required to be changed. Numeric keys are displayed. Input a value and touch [ENT]. Touch [Set]. The time of the CON-PTA/PDA/PGA is changed. Touching [Back] can go back to the controller time setting screen. Touching [Inquiry] displays the inquiry screen.
7.15 Monitor The current position, speed, electrical current, system status and I/O statuses of the controller are displayed. Touch The I/O statuses of the axis are shown. The displayed signals vary depending on the operation pattern. The servo status is shown. The home return status is shown. The axis position is shown. The axis speed is shown. The electrical current of the axis is shown. Touch [Menu] to return to the MEC menu screen. 233 7.
8. Error Display 8.1 Occurrence of Alarm If an error occurs, the alarm screen appears. 8. Error Display Model other than SCON-CA, PCON-CA, ERC3 PIO Converter and MSCON 8.1.1 SCON-CA, PCON-CA, ERC3 PIO Converter and MSCON Alarms Detected by Controller Alarms of codes 040 to 0FF are those detected by the controller. These alarms include major alarms relating to the servo control system, power system, etc. For details on these alarms, refer to the operation manual for your controller.
8.2 Error Messages on Touch Panel An error message is displayed on the touch panel display if, for example, an attempt is made to write to the controller an excessive value entered for the target position. Check the entry to confirm that the value is correct, etc., and then try setting the value again. Error message Input data error The entered value is too small The entered value is too large Password error 8.
9. Appendix 9.1 9.1.1 Regarding RTC (Real Time Clock) Backup Voltage Drop Action to Take after RTC (Real Time Clock) Backup Voltage Drop A display of “No. 187 RTC Backup Voltage Drop” error indicates the battery has become depleted. (Reference) Battery Life The nominal life time the supplier has announced is approximately 5 years (at ambient temperature 25 qC). 9.
10. Warranty 10.1 Warranty Period One of the following periods, whichever is shorter: y 18 months after shipment from our company y 12 months after delivery to the specified location 10.2 Scope of Warranty Our products are covered by warranty when all of the following conditions are met. Faulty products covered by warranty will be replaced or repaired free of charge: (1) The breakdown or problem in question pertains to our product as delivered by us or our authorized dealer.
10.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications (1) If our product is combined with another product or any system, device, etc., used by the customer, the customer must first check the applicable standards, regulations and/or rules. The customer is also responsible for confirming that such combination with our product conforms to the applicable standards, etc.
11. Change History Revision Date August 2011 September 2011 Description of Revision First Edition Second Edition Pg. 8, 21 to 26, 28, 30 to 32, 71 to 72, 74, 85 and 216 The contents of ERC3 are added. October 2011 Third Edition Pg. 200 ERC3 MEC Mode parameters added October 2011 Fourth Edition DSEP added November 2011 January 2012 August 2012 Sixth Edition Statements added to show how to operate for data backup for position data and parameters in Pg. 91 to 95, 170 to 174, 221 to 225.
Manual No.: ME0295-8A (August 2012) 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.
