IAI America PCON-SE User Manual
Page 10
4.
Description of Operating Functions......................................................................................42
4.1
Description of Position Table.................................................................................................. 44
4.2
Setting Data in Numeric Specification Mode.......................................................................... 48
4.3
Control Signals, Control Data................................................................................................. 49
4.4
Operation Timings .................................................................................................................. 55
4.4.1
Timing after Power ON ............................................................................................. 55
4.4.2
Home Return Operation............................................................................................ 57
4.4.3
Positioning Operation ............................................................................................... 59
4.4.4
Push & Hold Operation ............................................................................................. 63
4.4.5
Pause........................................................................................................................ 71
4.4.6
Speed Change during Movement ............................................................................. 72
4.4.7
Operation at Different Acceleration and Deceleration Settings ................................ 74
4.4.8
Zone Signal............................................................................................................... 75
4.4.9
Pitch Feeding by Relative Coordinate Specification ................................................. 76
4.4.10 Power-saving Mode at Standby Positions ................................................................ 80
4.5
Notes on ROBO Grippers ...................................................................................................... 81
4.6
Using a Rotary Actuator in the Multi-rotation Specification .................................................... 83
(1) Home Return...............................................................................................................83
(2) Operation Commands .................................................................................................83
5.
Parameter Settings ..............................................................................................................84
5.1
Parameter Table ..................................................................................................................... 84
5.2
Parameter Settings ................................................................................................................ 85
5.2.1
Parameters Relating to the Actuator Stroke Range.................................................. 85
5.2.2
Parameters Relating to the Actuator Operating Characteristics............................... 87
5.2.3
Parameters Relating to the External Interface.......................................................... 94
5.2.4
Servo Gain Adjustment ............................................................................................. 96
6.
Troubleshooting ...................................................................................................................98
6.1
Action to Be Taken upon Occurrence of Problem .................................................................. 98
6.2
Alarm Level Classification ......................................................................................................
6.3
Alarm Description and Cause/Action ...................................................................................
(1) Operation-cancellation level alarms.........................................................................
(2) Cold-start level alarms ............................................................................................. 103
6.4
Messages Displayed during Operation Using the Teaching Pendant or PC Software ........ 106
6.5
Specific Problems................................................................................................................. 108
7.
Operation Examples .......................................................................................................... 112
* Appendix................................................................................................................................. 113
List of Specifications of Connectable Actuators ...............................................................................113
Correlation diagram of speed and loading capacity for the slider type (motor-straight type) ......... 125
100
100
99
3.10
Connecting the SIO Communication...................................................................................... 37
3.10.1 Connecting the RS232C Serial Communication....................................................... 37
(1) Basic information.........................................................................................................37
3.11
Connection to Field Network .................................................................................................. 41
3.12
Assignment of Axis Number ................................................................................................... 41
3.13
Setting the Baud Rate ............................................................................................................ 42