IAI America RCP2-CF - Manual (Page 98)

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(10) Cancel the emergency stop or supply the motor drive power.
 The ALM lamp will turn off.
(11) Input 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.
(12) 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.
 Overview of operation on the PC software
Select an applicable position data in the main window, and then click the [Home] button.
For details, refer to the operation manual for the teaching pendant or PC software.
 Issuing a command from the PLC
Perform signal processing appropriate for the selected PIO pattern by referring to 7.2.2, “Absolute
Specification.”
Issue a command after confirming that the position complete signal (PEND) has turned ON.
If home return cannot be performed, confirm that the *pause signal and servo ON signal are ON and
that the safety circuit is released, and also check if any error message is displayed.
When home return completes, the home position will be established and stored in the position data.
This position data will be backed up by the battery even after the power is cut off. Therefore, home return
need not be performed after the power is reconnected.
Note, however, that the battery retention period is approx. 250 hours after the power is cut off. If the
controller is not operated for a longer period such as in a case where the equipment is exported overseas,
the battery voltage will drop and the stored position data will be lost.
If the position data is lost, an “Absolute encoder error (2)” alarm will occur the next time the power is
turned on. If this alarm occurs, follow the same steps to reset the alarm and perform home return.
Also, keep the power supplied for at least 48 hours to charge the battery.
(13) Set the target position, speed, acceleration/deceleration, positioning band and other data in the position
table.
For details on how to set these data, refer to the operation manual for the teaching pendant/PC software.
Now, automatic operation can be performed via PLC link.