IAI America ERC - Manual (Page 94)

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6.2 How to Start
(1) Confirm that the connector end (CN1) of the relay cable is firmly plugged into the connector on the actuator
cable.
(2) Connect the PLC and the parallel I/O.
(3) If the actuator has brake, set the brake release switch to OFF.
(4) Supply 24 VDC to the control power supply.
Cut off the motor-drive power supply (actuate an emergency stop) beforehand.
(5) Confirm that the slider or rod is not contacting the mechanical end. If the slider or rod is contacting the
mechanical end, or when the slider or rod is positioned between the mechanical end and home, move the
slider/rod away from the home position toward the direction opposite to the mechanical end.
If the actuator is equipped with a brake, move the slider/rod after releasing the brake by turning on the
brake release switch. At this time, pay attention to prevent the work from falling by its dead weight and
protect your hand, robot, and the work from injuries/damages.
If the screw lead is short and you cannot adjust it manually, set the excited-phase signal detection direction
in parameter No. 28 to opposite the mechanical end.
Warning: Turning on the servo while the slider or rod is still contacting the mechanical end may
disable accurate detection of the excited phase, resulting in malfunction or excitation
detection error.
(6) Connect a PC or teaching pendant and set the minimum parameters required.
 If the pause input is not used, set parameter No. 15 “Pause input disable selection” to “1.”
 Set parameter No. 25 “PIO pattern selection” to “1” (this setting is required).
 If you want to use the movement command input based on the “edge mode,” set parameter No. 27 to “1.”
Refer to 8, “Parameters” for details.
(7) Cancel the emergency stop so that the motor drive power will be supplied.
 The controller servo will be turned on and a green LED lamp will illuminate on the motor cover.
(8) If the pause signal (*STP) is enabled, turn the signal ON from the PLC.
 A red LED lamp indicates an alarm. Remove the cause of the alarm.
For details, refer to 9, “Troubleshooting.”
(9) Perform home return.
 Overview of operation on the teaching pendant
 On the RCA-T, select the Edit/Teach screen, bring the cursor to *Home in the sub-display area, and then
press the ENTER key.
 On the RCA-E, select the Teach/Play screen, scroll the pages until *Home Return is shown, and then
press the ENTER key.
 On the RCB-J, the screen showing RUN Key  Home Return is displayed automatically. Press the
RUN key.
 Overview of operation in the PC software
In the main window, select the applicable position data, and then click Home.
For details of each operation, refer to the operation manual for the applicable teaching pendant
or PC software.