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.