IAI America ACON-PO - Manual (Page 22)

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1. Overview
1.4 Steps from Unpacking to Adjustment by Trial Operation
If you are using this controller for the first time, refer to the steps explained below and perform the specified tasks
carefully by making sure you check all necessary items and connect all required cables.
1. Checking the items in the package
Should you find any of the following items missing or of a wrong model type, please contact your IAI sales agent.
z Controller z Actuator z I/O shield cable z Motor cable z Encoder cable
ACON-PL/PO CB-PACPU-PIO*** CB-ACS-MA *** CB-ACS-PA ***
z Operation manual
z Teaching pendant z PC software
RCM-T (standard) RS-232C type
RCM-E (simple) USB type
RCM-P (data setting) (Cable is supplied)
CON-T (standard) z Touch panel display
RCM-PM-01
2. Installation
[1] Affix the actuator and install the robot hand o Refer to the operation manual for your actuator.
[2] Install the controller o Chapter 3, “Installation and Wiring”
3. Wiring/connection
x Wire the 24-V power supply.
x Wire the brake forced-release switch (if the actuator is equipped with a brake).
x Connect the grounding wire to ground.
x Wire the emergency stop circuit and motor drive power supply. o Chapter 3, “Installation and Wiring”
x Connect the motor cable and encoder cable.
x Connect the I/O shield cable.
4. Turning on the power and checking for alarms
Confirm first that the emergency stop circuit is not actuated, and then supply the 24-V power.
If the monitor LED [SV/ALM] on the front face of the controller illuminates in orange for 2 seconds and then turns off,
the controller is normal. (The LED remains unlit when the servo is off.)
If the [SV/ALM] illuminates in red, it means that an alarm is present.
In this case, connect a PC or teaching pendant and check the nature of the alarm, and remove the cause by referring to
Chapter 6, “Troubleshooting.”
5. Checking the servo-on status
Confirm that the slider or rod is not contacting a mechanical end.
If the slider/rod is contacting a mechanical end, move the slider/rod in the opposite direction to provide a space in
between.
If a brake is equipped, turn on the brake release switch to forcibly release the brake before moving the slider/rod.
At this time, be careful not to pinch your hand or damage the robot hand by the slider/rod, as the slider/rod may drop
unexpectedly by its dead weight.
Next, forcibly output a servo-on signal from the PLC.
The actuator enters a servo lock mode. If the monitor LED [SV/ALM] on the front face of the controller illuminates in
green, the controller is functioning normally.