IAI CON-T User manual

Teaching Pendant
Operating Manual First edition
IAI America Inc.

CAUTION
Disconnection of the Teaching Pendant from the PCON / ACON /
SCON 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 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 the PCON / ACON / controller
without an AUTO/MANU switch, 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 *1V1.00
E-Con *1V1.00
RCP2 *1V1.00
PCON V1.00
ACON V1.00
SCON V1.00
*1: This Teaching Pendant also supports the RCP, RCS,
E-Con and RCP2 controllers.
* Check the model to connect and the version of the Teaching Pendant. If any unsupported model is
connected, unexpected movement may occur.
* PCON, ACON, or SCON cannot be used by linking to any model of those shown in *1.

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 ................................................................................................................ 12
7-1 Connection with the Teaching Pendant....................................................................................... 12
7-2 How to Disengage the Teaching Pendant ................................................................................... 12
8. Operation: Mode Flow Chart .................................................................................................................... 13
8-1 Initial Screen and TP Operation Mode Screen During Power – UP............................................. 15
8-2 Controller Selection (when using multiple units).......................................................................... 17
8-3 Operation Mode Selection ........................................................................................................... 18
8-4 Edit/Teaching .............................................................................................................................. 19
8-4-1 PCON, ACON or SCON ..............................................................................................................19
8-4-2 RCP, RCS, E-Con or RCP2 ........................................................................................................ 21
8-5 Position Data Table Contents...................................................................................................... 23
8-5-1 Position Data Table Contents for PCON, ACON and SCON....................................................... 23
8-5-2 Position Data Table Contents for RCP, RCS, E-Con and RCP2 ................................................. 29
8-5-3 Data New Input............................................................................................................................ 31
8-5-4 Data Modification......................................................................................................................... 49
8-5-5 Clear • All Clear ........................................................................................................................... 49
8-5-6 Move ........................................................................................................................................... 52
8-5-7 Servo ON/OFF ............................................................................................................................ 59
8-5-8 Pulse Train (PCON-PL/PO, ACON-PL/PO, SCON: Pulse Train Mode) Based Jogging.............. 60
8-6 Monitor ........................................................................................................................................ 62
8-7 Error List...................................................................................................................................... 67
8-8 User Parameters ......................................................................................................................... 68

8.8.1 User Parameters ......................................................................................................................... 68
8.8.2 Pause, Servo ON Input Enable and Disable Setting ................................................................... 74
8-9 User Adjustment.......................................................................................................................... 75
8-9-1 Homing Operation and Axis Number Setting ............................................................................. 75
8-9-2 Software Reset............................................................................................................................ 76
8-9-3 Error List Clear ............................................................................................................................ 77
8-10 TP Operation Mode ..................................................................................................................... 78
8-11 End.............................................................................................................................................. 80
9. Message Area.......................................................................................................................................... 81
9-1 Warning Label Error (Code No. 000h – 07Fh)............................................................................. 81
9-2 Teaching Pendant Message Level Error ..................................................................................... 82
9-3 Controller Error............................................................................................................................ 82
* Appendix....................................................................................................................................................... 83
Parameter (Shipment) Initialization Method .................................................................................................... 83
Teaching Pendant Error Messages................................................................................................................. 84

1
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.

2
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.

3
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

4
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, RCP, RCS, E-Con and RCP2) 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.

5
6. Functions and Specifications of Teaching Pendant
This Teaching Pendant was created exclusively for the PCON, ACON, SCON, RCP, RCS, E-Con and
RCP2 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.
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 400g (Excluding cables)
Cable Length 3m (Standard)

6
6-2 External View
External Dimensions

7
6-3 Description of Each Part
(1) LCD
This is a liquid crystal display with a maximum of horizontal: 20 characters per column and vertical: 4
columns per row. The edit or teaching contents of various set values are displayed.
(2) EMERGENCY STOP (Emergency Stop Push Button Switch)
This switch is a mushroom-shaped push-lock, turn-reset type 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 signal line and its status, refer to the RC Robo Cylinder
Operating Manual.)
To reset the emergency stop status, turn the operating portion of this switch in the arrow direction.
(1) LCD
(23) Jog key
(4) EDIT mode select key
(10) ESC key
(11) PAGE UP/PAGE DOWN key
(15) ITEM BACK/FWD key
(2) EMERGENCY STOP (3) TP operation mode display LED
(5) ERROR LIST mode select key
(6) MONITOR mode select key
(7) PARAMETER mode select key
(8) ADJUST mode select key
(9) TP operation mode select keys (13) WRT key
(14) BS key
(16) Arrow keys
(18) Ten keys
(21) MOVE key
(22) HOME key
(24) (Return) key
(12) ERROR RESET key
(17) SHIFT key
(19) STOP key
(20) SERVO key

8
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 ACON-CG, PCON-CG and RCP2-CG (cutout relay external type) 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.
Caution: For the emergency stop wiring of each controller, refer to the operating manual of each
controller.
(3) TP operation mode display LED
- TEACH1: The LED is lit in the Teach 1 mode.
PIO Prh: Enables writing of position data, parameters, etc., in the controller and commands of
the actuator movement system.
SftyVel Efct: Keeps the maximum speed at the safety speed set for the parameter regardless of
position data.
- TEACH2: The LED is lit in the Teach 2 mode.
PIO Prh: Enables writing of position data, parameters, etc., in the controller and commands of
the actuator movement system.
SftyVel Non: Enables movement at the speed registered in position data.
- MONIT1: The LED is lit in the Monitor 1 mode.
PIO Prh: Enables monitoring only. Writing of position data, parameters, etc., in the controller
and commands of the actuator movement system are disabled.
SftyVel Efct: Keeps the maximum speed at the safety speed set for the parameter regardless of
position data.
- MONIT2: The LED is lit in the Monitor 2 mode.
PIO Prh: Enables monitoring only. Writing of position data, parameters, etc., in the controller
and commands of the actuator movement system are disabled.
SftyVel Non: Enables movement at the speed registered in position data.
(4) EDIT mode select key
Moves to the “Edit/Teach” mode. This key is valid when the LED of the EDIT mode select key is lit.
(5) ERROR LIST mode select key
Moves to the “Error List” mode. This key is valid when the LED of the ERROR LIST mode select key is
lit.
When alarm occurs at the controller, the LED of the “ERROR LIST” key is flashing.
(6) MONITOR mode select key
Moves to the “Monitor” mode. This key is valid when the LED of the MONITOR mode select key is lit.

9
(7) PARAMETER mode select key
Moves to the “User Parameter” mode. This key is valid when the LED of the PARAMETER mode select
key is lit.
(8) ADJUST mode select key
Moves to the “User Adjustment” mode. This key is valid when the LED of the ADJUST mode select key
is lit.
(9) TP operation mode select keys
Select TEACH1 (Teach 1 mode), TEACH2 (Teach 2 mode), MONIT1 (Monitor 1 mode) or MONIT2
(Monitor 2 mode).
The mode will move to the TP operation mode selected.
After movement, the LED of the operation mode selected lit.
(10) ESC key
- Return to the parent screen display
Although Teaching Pendant operation is composed of several layer nests, using this key will return the
user to one upper layer (parent screen).
When you don’t understand the operation, retry operation after returning to the upper layer with the ESC
key.
- Input data cancel during data input operation
If you press this key during data input operation, the input data will be canceled.
- Stop switch during movement or continuous movement
Once this switch is pushed down during movement or continuous movement, operation will decelerate
and stop immediately.
(11) PAGE UP/PAGE DOWN key
Changes screens by incrementing or decrementing edit and display item No. (Position No., Error List No.,
User Parameter No.).
(12) ERROR RESET key
When an error occurs at any level that allows recovery without software reset, the error reset and
message clear can be performed with this key.
(13) WRT key
Transfers edited data to the controller. (Data will be saved to the memory of the controller.)
Only the data displayed on the LCD will be transferred. (Multiple position No. can’t be transferred all
together at the same time.)
If it is position data, transferred all together at position data.

10
(14) BS key
Backspace key. If you press this key during data input, the last input character will be cleared.
(15) ITEM BACK/FWD key
Changes items by incrementing or decrementing item No. on the Edit screen, Monitor screen or User
Parameter screen.
(16) Arrow keys
- Edit screen
The cursor will move to each edit item in the screen. The screen will not be changed.
- Monitor screen, Error List screen
Changes the screen by incrementing or decrementing with the ▲or ▼key.
Changes the screen by incrementing or decrementing the axis No. among connection axes with the
or key.
(17) SHIFT key
This key is not used since it is for a future function enhancement.
(18) Ten keys
These keys are used for numeric input.
(19) STOP key
Once this key is pushed down during movement or continuous movement, operation will decelerate and
stop immediately.
(This key is valid in the Teach/Play mode.)
(20) SERVO key
Changes the servo ON/OFF of the actuator.
(This key is valid in the Teach/Play mode.)
(21) MOVE key
Starts the movement or continuous movement of the actuator.
(This key is valid in the Teach/Play mode with the servo ON status.)
(22) HOME key
Executes homing. (This key is valid in the Teach/Play mode with the servo ON status.)

11
(23) JOG-/JOG+ key
- JOG-: Negative direction jog movement
- JOG+: Positive direction jog movement
(This key is valid in the Teach/Play mode with the servo ON status.)
(24) (Return) key
This key is used for the confirmation of data input or operation.

12
7. Connection With the Controller
7-1 Connection with the Teaching Pendant
(1) Connect the Teaching Pendant Cable to the Main Communication Port 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 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.
7-2 How to Disengage the Teaching Pendant
Hold down the key in the Teaching Pendant. Then select "1. End" to finish all processes.
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. Press the ten keys to select “1. End.”
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 or SCON, 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 or ACON 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.”)
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.