IAI RCM-TD User manual

Teaching Pendant
Operating Manual First edition
IAI America Inc.

CAUTION
Disconnection of the Teaching Pendant from the
PCON/ACON/SCON/ERC2 Controller
* After disconnecting the Teaching Pendant from the PCON/ACON/SCON controller with the AUTO/MANU
switch, always turn the AUTO/MANU switch to AUTO.
* For the PCON/ACON/ERC2 controller without AUTO/MANU switch, always set the TP Operation Mode to
“Monitor 2” before disconnecting the Teaching Pendant from the controller.
(Refer to “8.10 TP Operation Mode.”)
(Note) When the controller is set by connecting the Teaching Pendant to ERC2, the conditions shown
below occur.
When the controller is set by connecting the Teaching Pendant to the gateway unit/SIO converter,
the conditions shown below occur.
●If the Teaching Pendant is disconnected while the setting of “Teach 1”or “Teach 2”
remains, I/O will become invalid and control from PLC will become impossible.
●If the Teaching Pendant is disconnected while the setting of “Monitor 1”remains, the
maximum speed will become the safety speed set for the parameter regardless of a command
from PLC.

Support Models
The following are the versions to which we have started support:
Table 1 List of Support Models
Model Name Support Started Version
RCP *1V1.00
RCS *1V1.31
E-Con *1V1.44
RCP2 *1V1.61
ERC *1V1.61
ERC2 V2.00
PCON V2.00
ACON V2.00
SCON V2.00
*1: This Teaching Pendant also supports the RCP, RCS,
E-Con, RCP2, and ERC controllers.
* Check the model to connect and the version of the Teaching Pendant. If any unsupported model is
connected, unexpected movement may occur.
* The software reset function is effective for models corresponding to 1.61 or later of the support started
version.
* ERC2, PCON, ACON, or SCON cannot be used by linking to any model of those shown in *1.

MEMO

Table of Contents
1. Foreword.................................................................................................................................................... 1
2. Before You Begin....................................................................................................................................... 1
3. Safety Precautions ................................................................................................................................... 2
4. Warranty and Scope of Warranty ............................................................................................................... 3
5. Application Environment ............................................................................................................................ 4
6. Functions and Specifications of Teaching Pendant ................................................................................... 5
6-1 Specifications ................................................................................................................................ 5
6-2 External View ................................................................................................................................ 6
6-3 Description of Each Part................................................................................................................ 7
7. Connection With the Controller ................................................................................................................ 11
7-1 Connection with the Teaching Pendant....................................................................................... 11
7-2 How to Disengage the Teaching Pendant ................................................................................... 11
8. Operation: Mode Flow Chart .................................................................................................................... 12
8-1 Initial Screen and TP Operation Mode Screen During Power – UP............................................. 14
8-2 Controller Selection (when using multiple units).......................................................................... 16
8-3 Operation Mode Selection ........................................................................................................... 17
8-3-1 Positioner (PCON-PL/PO, ACON-PL/PO, or SCON: Mode Other than Pulse Train Mode)......... 17
8-3-2 Pulse Train (PCON-PL/PO, ACON-PL/PO, or SCON: Pulse Train Mode) .................................. 18
8-4 Edit/Teaching .............................................................................................................................. 19
8-4-1 PCON, ACON, SCON, or ERC2.................................................................................................. 19
8-4-2 RCP, RCS, E-Con, RCP2, or ERC.............................................................................................. 21
8-5 Position Data Table Contents...................................................................................................... 23
8-5-1 Position Data Table Contents for PCON, ACON, SCON, and ERC2 .......................................... 23
8-5-2 Position Data Table Contents for RCP, RCS, E-Con, RCP2,and ERC ....................................... 29
8-5-3 Data New Input............................................................................................................................ 31
8-5-4 Data Modification......................................................................................................................... 56
8-5-5 Clear • All Clear ........................................................................................................................... 56
8-5-6 Move ........................................................................................................................................... 61
8-5-7 Servo ON/OFF ............................................................................................................................ 68
8-5-8 Pulse Train (PCON-PL/PO, ACON-PL/PO, SCON: Pulse Train Mode) Based Jogging.............. 70
8-6 Monitor ........................................................................................................................................ 72
8-7 Error List...................................................................................................................................... 75

8-8 User Parameters ......................................................................................................................... 77
8-9 User Adjustment.......................................................................................................................... 81
8-9-1 Pause, servo ON input enable and disable setting, homing operation, axis number setting...... 81
8-9-2 Software Reset............................................................................................................................ 83
8-9-3 Error List Clear ............................................................................................................................ 85
8-10 TP Operation Mode ..................................................................................................................... 87
8-11 End.............................................................................................................................................. 89
9. Message Area.......................................................................................................................................... 90
9-1 Warning Label Error (Code No. 000h – 07Fh)............................................................................. 90
9-2 Teaching Pendant Message Level Error ..................................................................................... 91
9-3 Controller Error............................................................................................................................ 91
* Appendix....................................................................................................................................................... 92
Parameter (Shipment) Initialization Method .................................................................................................... 92
Teaching Pendant error table.......................................................................................................................... 95

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1. Foreword
Thank you very much for purchasing our Teaching Pendant for the Robo Cylinder. Improper usage or
mishandling may result in a product not only being unable to deliver full functions but also produce unexpected
troubles or shorten the product’s life. Please read this Manual carefully, and operate the product properly by
paying attention to its handling. When operating the Teaching Pendant, always keep this Manual on hand and
read the relevant items as required.
For the actuator and controller to be used, be sure to refer to the Instruction Manuals attached to the
products.
Caution: Do not edit position data while the actuator is operating by PLC, etc.
Also, do not edit any position number not actually operated.
2. Before You Begin
(1) Be sure to read this Instruction Manual for proper use of this product.
(2) Part or all of this Instruction Manual may not be used or reproduced without permission.
(3) For any handling and operating methods other than those described in this Instruction Manual,
interpret them as “don’t” or “can’t.”
(4) Please take note that we shall not be liable for any effects resulting from using this Instruction Manual.
(5) Descriptions in this Instruction Manual are subject to change due to product improvements etc.,
without prior notice in the future.

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3. Safety Precautions
(1) Use a genuine product specified by us for wiring between the actuator and the Controller.
(2) Keep out of the operating range of a machine such as an actuator while it is operating or in a ready
state (condition in which the controller’s power is ON). When using it in places where persons may
approach, fence it off.
(3) Before carrying out assembly and adjustment work or maintenance and inspection work of the
machine, be sure to disconnect the power cord. While working, display the plate specified as such at
an easy-to-read location. In addition, give special consideration to prevent third parties from turning on
the power carelessly by hauling in the power cord to the operator. Alternatively, lock the power plug or
receptacle and direct the operator to keep the key or prepare a safety plug.
(4) When more than one operator works, advance work by determining the signal method and checking
each other’s safety. Especially, for work associated with axial movement regardless of power ON/OFF
or motor-driven/manual operation, be sure to confirm safety by calling out to other(s) in advance.
(5) When the user (customer) extends wiring, malfunction may occur due to faulty wiring. In this case,
inspect wiring thoroughly and check it for properness before turning on the power.

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4. Warranty and Scope of Warranty
The Teaching Pendant you purchased has been delivered upon completion of our strict shipping tests.
We shall warrantee this product as follows:
1. Warranty term
The warranty term shall be either of the following terms, whichever is reached first.
▪18 months after our shipment
▪12 months after delivery to the place designated by you
2. Warranty coverage
Where a defective condition occurs during proper use conditions and obviously under the responsibility of
the manufacturer, within the term above, we shall repair the product without charge. However, any items that
apply to the following are excluded from the warranty coverage:
▪Defects resulting from changes over time such as natural color fading of paint
▪Defects resulting from use wear of consumable parts (such as a cable)
▪Defects resulting from sensory phenomena such as generated noise that have no functional effects
▪Defects resulting from mishandling or improper use
▪Defects resulting from an inadequacy or error in maintenance and inspection
▪Defects resulting from the use of any part other than our genuine parts
▪Defects resulting from a modification not approved by us or our dealers
▪Defects resulting from Acts of God, accident, fire, etc.
Only a delivered product shall be singly warranted, and no damage induced by the defect of the delivery
product can be warranted. For repair, transport the product to our factory.
3. Service coverage
The cost of a delivered product does not include expenses for program creation and engineer dispatching.
Therefore, the following are charged separately even within the warranty term:
▪Maintenance and inspection
▪Technical guidance and technical training in operating instructions
▪Technical guidance and technical training on program-related matters such as program creation

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5. Application Environment
- In order to avoid breakdown, please do not apply any type of machinery impact to the Teaching
Pendant.
- Always hold onto the entire Teaching Pendant Body so that the Teaching Pendant Cable does not get
pulled by unwanted cables.
Caution: This Teaching Pendant is designed exclusively for IAI RC Controllers (PCON, ACON,
SCON, ERC2, RCP, RCS, E-Con, RCP2, and ERC,) and should not be used to connect
with other devices.
: Turn the controller front side PORT switch OFF before connecting to controller equipped
with a PORT switch.

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6. Functions and Specifications of Teaching Pendant
This Teaching Pendant was created exclusively for the PCON, ACON, SCON ERC2, RCP, RCS, E-Con,
RCP2, and ERC, Controllers.
Through the communication between the controllers, the RC Controller is designed to function as the
Display Operation Unit to edit or display the data (parameter data, position data, etc.,) that is stored inside
the controller, as well as to execute teaching without using the PC Interface Software.
Utilizing a large liquid crystal display kit, the display will show each description simultaneously for easy
operation.
In addition, for quick reference, a manual card is stored inside the Teaching Pendant body.
Large type LCD･････････Horizontal 21 characters Vertical 16 columns
Manual card storage････Up to 3 cards
6-1 Specifications
Item Specification
Ambient Temperature & Humidity Temperature: 0°~40°C Humidity: 85% RH or less
* RH relative humidity
Operating Environment Free of corrosive gas, especially, no excessive dust
Weight 500g
Cable Length 5m

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6-2 External View
External Dimensions
When drawing out
the manual card.

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6-3 Description of Each Part
(1) Large LCD Display
This is a liquid crystal display with a range of 62.69 × 62.69mmm with a maximum of horizontal: 21
characters per column, and vertical: 16 columns per row.
(1) Large LCD Display
(8) key
(9) (Return) ke
y
(10) DEADMAN SWITCH
(6) ke
y
(4) Arrow key (3) EMERGENCY STOP
(7) (Minus) key
(5) key
(2) Manual Card

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(2) Manual Card
This is a simplified operational instruction printed on 3 pages. You may observe the instruction by pulling
out the Manual Card from the right side of the Teaching Pendant during operation. When not in use, the
Manual Card may be stored inside the Teaching Pendant Body.
(3) EMERGENCY STOP (Emergency Stop Push Button Switch)
This switch connects serially with the controller emergency stop signal line. Once pushed down, this
switch will be in an emergency stop status and the power supply to the motor will be cut off (normally,
closed: b contact).
(* For information on the Emergency Stop Line and its status, please refer to the RC Robo Cylinder
Operating Manual.)
Caution: If multiple controllers are connected using link cables, the EMERGENCY STOP switch is
enabled only for the axis of the controller which is connected to the Teaching Pendant.
Caution: For the RCP2-CG (cutout relay external type) and ERC/ERC2 series, the EMERGENCY STOP
switch is enabled only when the emergency stop circuit is externally installed. Always read the
operating manual of the controller carefully.
(4) Arrow key:
Every time you press the cursor key of the Selection Display Column Selection and the cursor Move key
of the Position Display Table Main Display Area, the cursor will move to the first item. When pressed for
more than one second the cursor will move continuously. When the content display is composed of more
than two screens (position table and monitor display), these keys scroll to the next screen.
In the farthest right row, push down right arrow key: Next page
In the farthest left row, push down left arrow key: Previous page
In the bottom row, push down arrow key: Next page
In the top row, push down top arrow key: Previous page

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(5) key
- By pressing this key for more than 2.5 seconds, the screen changes to the “BEGIN/END” screen and
you can reconnect the axis and execute Teaching Pendant configuration.
- If entering data via key pad, you may cancel midway using this key.
- You may clear error warning.
- When an error occurs, a message for this error will appear at the very bottom of the display screen.
Use this key to clear the error and to clear this message.
- Stop key during continuous movement:
Although the continuous movement functions as a test run for several continuous positions, during this
movement, this key will cause a Stop Command. Once the position move command completes, it will
stop.
(6) key
- Although Teaching Pendant operation is composed of several screens, using this key will return the
user to the previous screen.
Note: When you don’t understand the operation, undo the operation by pressing the key.
(7) (Minus) key
- Switches between Relative Coordinates and Absolute Coordinates. Move the cursor to the position
table "No" and press the Minus key. “=” will be displayed between "No" and position to indicate it is
Relative Coordinates. By pressing the Minus key one more time, "=” disappears to indicate it is in
Absolute Coordinates mode.
- Position Table Column: When you push this in an area such as positioning width which allows minus
input, the key functions as the “-“ (minus) and the rest as ".” (point). When you input either or
in the beginning of the number, in the proper area, the key will automatically recognize it as O. This
key is used during cursor move within the Mode Select Screen and Sub-Display Screen (e.g,
continuous, step, etc.).
(8) key
- This key is used for numeric input.
(9) (Return) key
- This is used for data input and operation confirm.

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(10) DEADMAN SWITCH (Servo Enable Switch) * Option Setting
The switch mounted on both sides of the Teaching Pendant is connected serially with the Emergency
Stop Switch, and causes e-stop when not pressed (normally, this switch is a "open: a-contact").
Caution: If multiple controllers are connected using link cables, the Deadman SW is enabled only for the axis
of the controller which is connected to the Teaching Pendant.
For the RCP2-CG (cutout relay external type) and ERC/ERC2 series, the Deadman SW is enabled
only when the emergency stop circuit is externally installed. Always read the operating manual of
the controller carefully.

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7. Connection With the Controller
7-1 Connection with the Teaching Pendant
(1) Connect the Teaching Pendant Cable to the “PORT IN” connector which is located on the front of the
controller.
Always turn the PORT switch OFF first before connecting a controller having this switch.
For the locations of the main communication “Port IN” connector and PORT switch, refer to the
operating manual for the controller you use.
(2) After connecting, turn the PORT switch of the controller having this switch ON.
(If the Deadman SW is attached as an option, execute while the Deadman SW button on both sides
are pressed.)
7-2 How to Disengage the Teaching Pendant
Hold down the BEGlN/END key which is located in the upper left corner of the key pad. Select "*
Complete" to finish.
Then, turn the PORT switch OFF for the controller having this switch.
Operation:
1. Hold down the key for more than 2.5 seconds.
2. Use the Arrow key to select “* Complete” Screen, and then press the Return key.
3. Turn the PORT switch OFF for the controller having this switch.
4. Remove the Teaching Pendant connector.
Caution: In the case of PCON, ACON, SCON, or ERC2, an instantaneous stop will be made when
the Teaching Pendant is disconnected. However, this is not an error.
Caution: In the case of the PCON, ACON, or ERC2 controller not having the AUTO/MANU switch,
set the TP Operation Mode to “Monitor 2” before disconnecting the Teaching Pendant from
the controller. (Refer to “8.10 TP Operation Mode.”)
In the case of ERC2 or when controller setting is made by connecting the Teaching Pendant
to the gateway unit or SIO converter:
●If the Teaching Pendant is disconnected while the setting of “Teach 1” or “Teach 2”
remains, I/O will become invalid and control from PLC will become impossible.
●If the Teaching Pendant is disconnected while the setting of “Monitor 1” remains, the
maximum speed will become the safety speed set for the parameter regardless of a
command from PLC.

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8. Operation: Mode Flow Chart
(1) Positioner (PCON-PL/PO, ACON-PL/PO, SCON: Mode other than the Pulse Train Mode)
The total picture of operations performed with the Teaching Pendant has the tree structure as shown
below. To return to the previous screen, press the ESC key.
Power-ON
Set-up Communication
Select Axis
Operation
Start/End
Mode Select Edit/Teach
(Position)
Monitor
Error List
Direct teach
Jog
Homing
Move
Continuous
Return to “Set-up
Communication” when
Reconnection is selected
Return
Return
End
* Before changing the parameter
or leaving the mode, check
whether to reset software.
* Displayed only for PCON, ACON, SCON, and ERC2.
Increment
All Clea
r
Clea
r
* Displayed only when
2 or more axes are
connected
CTR ErrList
Teach/Play
User Parameter
* Available only for
PCON, ACON,
SCON, and ERC2
TP Operation Mode
Return Return Return
Select with
key
* When the
servo is OFF
Servo OFF
Check Soft
Reset
* When the
servo is ON
Clr/All
* Selectable only
when the cursor
is located at
“No.” Select with
key
* Selectable only
when the cursor
is located at
“Position (mm)”
User Adjustment
TP operation mode
Homing
Axis No. Setting
Suspend Enable/Disable Setting
Srv ON Enable/Disable Setting
Soft Reset
ErrList Clear
Sip Para
Press & hold the
[BEGIN/END] key Press & hold the
[BEGIN/END] key
Srv ON/OFF