IAI America XSEL-QX - Manual (Page 101)

77
Part 1 Installation
1.3 Startup procedure
Caution: Be sure to connect the cables from the respective actuators to the correct connectors.
When connecting multiple axes to the controller, be sure the actuator cables are going to
the correct connectors. Check the type of the actuator connected.
If the cables and connectors are not connected properly, motor/board damage or
malfunction may result.
[1] When connecting an absolute linear movement axis, set the
absolute-encoder backup battery enable/disable switch to the
bottom position for all axes (the controller is shipped with all of
these switches set to the bottom position).
[2] Connect the motor cables and encoder cables from the actuators,
to the controller.
Before turning on the power, be sure to confirm that each
connector on the controller is connected to the correct actuator.
[3] Connect the brake power cable of the SCARA robot to the 24-V power supply.
Also connect the brake/absolute unit of the controller to the 24-V power supply.
If a regenerative unit or units are required, connect each regenerative unit to the controller using a
cable.
[4] Connect the teaching-pendant cable or PC-software cable to the teaching connector. Once the
teaching pendant has been connected, set the mode switch to MANU
(If the mode switch is set to AUTO, the teaching pendant and RS-232 communication function will
not operate after the power is turned on.)
[5] Set the teaching-pendant type switch.
Left: PC cable (conforming to safety category 4)
SEL-T, SEL-TD, SEL-TG teaching pendant
IA-T-XA teaching pendant
Right: PC cable
IA-T-X, IA-T-XD teaching pendant
Note 1: TP-SW is not available on QX type controllers.
Note 2: IAI’s standard teaching pendants and standard PC cables cannot be used with QX
type controllers.
[6] Turn on the controller power.
[7] If an absolute linear movement axis is connected,
set the absolute-encoder backup battery enable/disable
switch to the top position (ENB side).
[8] The panel window will show the code “rdy,” indicating that the controller is ready. If “ErG” is shown
on the panel window, it means an emergency stop signal has been input. Reset the emergency stop.
If an absolute linear movement axis is connected, “E914,” or “ECA2” is displayed. Refer to Chapter 8,
“How to Perform An Absolute Encoder Reset.”
Absolute reset is not required for SCARA axes.
The controller is now ready to operate.
x The RDY terminals [10], [11] in the system I/O connector are relay contact terminals that are
shorted when the controller is ready.
Set to the bottom
position to disable.
Switch