IAI America ERC2 - Manual (Page 12)

Default direction of excited-phase signal detection ............................................................. 134
Excited-phase signal detection time.................................................................................... 134
Safety speed ....................................................................................................................... 134
Automatic servo-off delay time............................................................................................ 135
Default standstill mode........................................................................................................ 135
Push speed ......................................................................................................................... 136
Push & hold stop judgment period ...................................................................................... 136
8.2.3 Parameters Relating to the External Interface .......................................................................... 137
PIO pattern selection........................................................................................................... 137
Movement command type................................................................................................... 137
Pause input disable selection.............................................................................................. 138
Home-return input disable selection.................................................................................... 138
Output mode of position complete signal ............................................................................ 139
SIO communication speed .................................................................................................. 139
Minimum delay for slave transmitter activation.................................................................... 139
Silent interval multiplication factor ....................................................................................... 140
8.2.4 Servo Gain Adjustment ............................................................................................................. 141
Servo gain number.............................................................................................................. 141
Speed loop proportional gain .............................................................................................. 141
Speed loop integral gain ..................................................................................................... 142
Torque filter time constant................................................................................................... 142
9. Troubleshooting........................................................................................................................ 143
9.1 Action to Be Taken upon Occurrence of Problem ................................................................................... 143
9.2 Alarm Level Classification....................................................................................................................... 144
9.2.1 How to Reset Alarms ................................................................................................................ 144
9.3 Alarm Description and Cause/Action ...................................................................................................... 145
(1) Operation-cancellation level alarms.......................................................................................... 145
(2) Cold-start level alarms .............................................................................................................. 147
9.4 Messages Displayed during Operation Using the Teaching Pendant...................................................... 149
9.5 Specific Problems ................................................................................................................................... 151
I/O signals cannot be exchanged with the PLC................................................................... 151
The LED lamp does not illuminate after the power is input. ................................................ 151
The LED illuminates in red when the power is turned on. ................................................... 151
Home return ends in the middle in a vertical application. .................................................... 151
Noise occurs during downward movements in a vertical application................................... 152
Vibration occurs when the actuator is stopped.................................................................... 152
The actuator overshoots when decelerated to a stop.......................................................... 152
The home and target positions sometimes shift on the rod-type actuator. .......................... 152
The speed is slow during push & hold operation................................................................. 152
The actuator moves only a half, or as much as twice, the specified travel.......................... 152
The actuator operates abnormally when the servo is turned on following the power on. .... 152
The LED (green) blinks. ...................................................................................................... 152
10. Maintenance and Inspection .................................................................................................... 153
10.1 Inspection Items and Schedule............................................................................................................... 153
10.2 Visual Inspection of Appearance............................................................................................................. 153
10.3 Cleaning.................................................................................................................................................. 153
10.4 Internal Check (Slider Type) ................................................................................................................... 154
10.5 Internal Cleaning (Slider Type)................................................................................................................ 155
10.6 Greasing the Guide (Slider Type)............................................................................................................ 155
10.7 Greasing the Ball Screw (Slider Type) .................................................................................................... 157
10.8 Greasing the Rod Slide Surface ............................................................................................................. 158
10.9 Motor Replacement Procedure ............................................................................................................... 159
11. Appendix ..................................................................................................................................161
............................................................................................................................. 161
............................................................................................................................. 161
............................................................................................................................. 162
11.1 External Dimensions
11.1.1 ERC2-SA6C
11.1.2 ERC2-SA7C