IAI America RCP2-CF - Manual (Page 95)

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7. Operation
7.1 How to Start
7.1.1 Standard Specification
(1) Connect the motor cable and encoder cable to the controller.
(2) Connect the host PLC to the PIO connector using the supplied flat cable.
(3) If two or more axes are connected, set the necessary items using the address switch. For details, refer to 9,
“Controlling Multiple Controllers via Serial Communication.”
(4) Actuate an emergency stop or cut off the motor power.
(5) Supply 24 VDC to the controller’s terminal block.
(6) 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/rod is not contacting the mechanical
end but is located near the home, move the slider/rod away from the home.
If the actuator is equipped with a brake, move the slider/rod after turning ON the brake release switch to
forcibly release the brake. At this time, exercise caution not to allow the load to drop suddenly due to its
own weight. Your hand may be caught by the dropped load or the robot hand or load itself may be damaged.
If the screw lead is short and the actuator cannot be moved by hands, change the setting of parameter No.
28, “Direction of excitation phase signal detection” to the direction opposite to the mechanical end.
Warning
If the servo is turned ON while the slider/rod is contacting the mechanical end, excitation
phase detection may not be performed correctly and an abnormal operation or excitation
detection error may result.
(7) Connect a PC or teaching pendant and set the following parameters as the minimum initial settings:
 Parameter No. 15, “Pause input disable selection”
 Parameter No. 21, “Servo ON input disable selection”
 Parameter No. 25, “PIO pattern selection”
 Parameter No. 27, “Movement command type” (when “4 points” is selected)
For details, refer to 8, “Parameters.”
(8) Cancel the emergency stop or supply the motor power.
 The ALM lamp will turn off.
(9) Input a pause signal (*STP) and a servo ON signal (SON) from the PLC (if these signals are enabled).
 The controller servo will turn ON and the RUN lamp (LED) will illuminate.
The position complete output (PEND) and ready output (SRDY) will also turn ON.
 If the ALM lamp is lit, there is an error. Refer to the alarm table and take an appropriate action.
(10) 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 Return key.
 On the RCA-E, select the “Teach/Play” screen, scroll until “*Home Return” is displayed, and then
press the Return key.
 On the RCB-J, the “Operation Key  Home Return” screen will be displayed automatically. Press the
Operation key on this screen.