IAI America PCON-CY - Manual (Page 9)

Shortcut Selection for Rotational Axis (No. 80, ATYP) ................................................................91
Absolute Unit (No. 83, ETYP)......................................................................................................91
6.2.3 Parameters Relating to External Interface ........................................................................................92
PIO Pattern Selection (No.25 IOPN) ...........................................................................................92
Positioning Complete Signal Output Mode (No.39FPIO) ............................................................92
Servo-on Input Disable Selection (No.21 FPIO)..........................................................................93
SIO Communication Speed (No.16 BRSL)..................................................................................93
Minimum Delay Time for Slave Transmitter Activation (No.17 RTIM) .........................................93
Silent Interval Multiplication Factor (No.45 SIVM) .......................................................................93
6.2.4 Servo Gain Adjustment ..................................................................................................................... 94
Servo Gain Number (No.7 PLG0) ...............................................................................................94
Speed Loop Proportional Gain (No.31 VLPG).............................................................................94
Speed Loop Integral Gain (No.32 VLPT) ....................................................................................95
Torque Filter Time Constant (No.33 TRQF) ................................................................................95
7. Troubleshooting ............................................................................................................................. 96
7.1 What to Do When A Problem Occurs...........................................................................................................96
7.2 Alarm Level Classification ............................................................................................................................97
7.3 Alarms, Causes and Actions ........................................................................................................................ 98
(1) Operation Cancellation Alarms....................................................................................................98
(2) Cold Start Alarms ......................................................................................................................101
7.4 Messages Displayed during Teaching Pendant Operation ........................................................................104
7.5 Common Problems and Recommended Actions .......................................................................................106
I/O Signals Cannot Be Sent or Received to/from the PLC. .......................................................106
The ALM Lamp Illuminates after the Power Is Turned On.........................................................106
After Turning On the Power, the SV Lamp Does Not Illuminate upon Servo-on Signal Input....106
With an Actuator Installed in Vertical Orientation, Positioning Completes Prematurely. ...........107
With an Actuator Installed in Vertical Orientation, Noise Generates during Downward Movement.
107
Vibration Occurs when the Actuator Is at Standstill...................................................................107
The Actuator Overshoots while Decelerating to a Stop. ............................................................107
Stopped Position Sometime Deviates from the Home Position or Target Position....................107
The Actuator Moves Slow during Push-motion Operation.........................................................107
The Actuator Moves Only a Half, or as Much as Twice, the Specified Travel. ..........................107
A Servo Error Occurred while the ROBO Gripper Was Moving.................................................108
The Actuator Malfunctions when the Servo Is Turned On after Turning On the Power. ............109
The SV Lamp Blinks..................................................................................................................109
* Appendix........................................................................................................................................... 110
List of Specifications of Connectable Actuators ....................................................................................................110
Correlation diagram of speed and load capacity for the slider type
(motor-straight type) ................................... 122
Correlation diagram of speed and load capacity for the slider type (motor-reversing type) ................................ 123
Correlation diagram of speed and load capacity for the standard rod type ...........................................................124
Correlation diagram of speed and load capacity for the single-guide type ............................................................125
Correlation diagram of speed and load capacity for the double-guide type...........................................................126
Correlation diagram of speed and load capacity for the dustproof/splash-proof type ............................................127
Correlation diagram of speed and load capacity for the RCP3 slider type ............................................................128
Correlation diagram of speed and load capacity for the RCP3 table type .............................................................129
Push Force and Current-limiting Value.................................................................................................................. 130
Position Table Record ........................................................................................................................................... 137
Parameter
Change History
Record .................................................................................................................................................138
139 ......................................................................................................................................................
Push Speed (No.34 PSHV) .........................................................................................................88
Push-motion Completion Judgment Time (No.6 PSWT) .............................................................88
Enable Function (No.42 FPIO) ....................................................................................................89
Home Check Sensor Input Polarity (No.43 AIOF) .......................................................................89
Home Sensor Input Polarity (No. 18, LS) ....................................................................................90
Ball Screw Lead (No. 77, LEAD) .................................................................................................90
Axis Operation Type (No. 78, ATYP) ..........................................................................................90
Rotational Axis Mode Selection (No. 79, ATYP) .........................................................................90