IAI America RCS-C - Manual (Page 9)

3.4 Connection Method ................................................................................................................... 40
3.4.1 Standard Type....................................................................................................................... 40
3.4.2 Absolute Specifications......................................................................................................... 41
3.5 Supplied Cables ........................................................................................................................ 42
3.5.1 I/O Flat Cable........................................................................................................................ 42
3.5.2 Motor Extension Cable ......................................................................................................... 43
3.5.3 Encoder Extension Cable ..................................................................................................... 43
3.6 Wiring......................................................................................................................................... 44
3.6.1 Wiring for Power Supply/Emergency Stop ........................................................................... 44
3.6.2 External Connection Diagram............................................................................................... 45
3.6.3 PIO Interface......................................................................................................................... 46
3.6.4 100/200-V External I/O Specifications.................................................................................. 49
4. Data Entry ..............................................................................51
4.1 Description of Position-Data Table ............................................................................................ 52
4.2 Explanation of Modes ................................................................................................................ 56
4.3 Timing Chart .............................................................................................................................. 60
4.4 Items to Note on Gripper (RCS-G20) ........................................................................................ 61
5. Using the Controller ..................................................62
5-1 How to Start (Standard Specification)........................................................................................ 62
5.2 How to Execute Absolute Reset (Absolute Specification) ......................................................... 63
5.3 Movement after Power On (Standard Type).............................................................................. 65
5.4 Positioning Mode (Back and Forth Movement between Two Points)........................................ 67
5.5 Push & Hold Mode..................................................................................................................... 69
5.6 Speed Change during Movement.............................................................................................. 71
5-7 Operation at Different Acceleration and Deceleration Settings ................................................. 73
5.8 Pause......................................................................................................................................... 75
5.9 Zone Signal Output.................................................................................................................... 77
5.10 Returning Home ........................................................................................................................ 79
5.11 Incremental Moves .................................................................................................................... 81
5.12 Notes on Incremental Mode ...................................................................................................... 83
6. Parameters ............................................................................................85
6.1 Parameter Classification............................................................................................................ 85
6.2 Parameter List ........................................................................................................................... 85
6.3 Parameter Settings.................................................................................................................... 86
6.3.1 Parameters Relating to Actuator Stroke Range.................................................................... 86
6.3.2 Parameters Relating to Actuator Operating Characteristics................................................. 87
6.3.3 Parameters Relating to External Interface ........................................................................... 90
6.3.3 Servo Gain Adjustment......................................................................................................... 90
7. Troubleshooting.....................................................................................91
7.1 What to Do When A Problem Occurs ........................................................................................ 91
7.2 Alarm Level Classification ......................................................................................................... 92
7.3 Alarm Output by PIO ................................................................................................................. 92
7.4 Alarms, Causes and Actions...................................................................................................... 93