IAI America PCON-CY User Manual
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1. Overview
1.5
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 flat cable
z Motor cycle
z Encoder cable
PCON-CY
CB-PACY-PIO
*** CB-RCP2-MA
*** CB-RCP2-PA
***
z Operation manual
z Teaching pendant
z PC software
RCM-T (standard)
RS232C type
RCM-E (simple)
USB type
RCM-P (data setting)
(Each software program comes with a cable.)
2.
Installation
[1] Affix the actuator and install the robot hand
→ Refer to the operation manual for your actuator.
[2] Install the controller
→ Chapter 3, “Installation and Wiring”
3.
Wiring/connection
• Wire the 24-V power supply.
• Wire the brake forced-release switch (if the actuator is equipped with a brake).
• Connect the grounding wire to ground.
• Wire the emergency stop circuit and motor drive power supply.
• Connect the motor cable and encoder cable.
• Connect the I/O flat 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.
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 7, “Troubleshooting.”
5.
Setting a PIO pattern/safety speed
Set the MANU operation mode to [Teaching mode 1: Enable safety speed / Inhibit PIO] on the PC or teaching pendant.
In this condition, set appropriate values in parameter No. 25 (PIO pattern selection) and parameter No. 35 (Safety speed).
* The factory settings of PIC pattern and safety speed are “Standard type” and “100 mm/s or less,” respectively.
→ Chapter 6, “Parameter Settings”