Iai-america ACON-CG User Manual

Operation Manual Twelfth EditionACON-C/CGControllerPositioner Type

5.1.1 External Input Specifications... 465.1.2 External Output Specifica

867. Operation <Practical Steps> Warning: Excited phase detection is performed when the servo is turned on for the first time after the power

877. Operation <Practical Steps>7.1.2 Position Table and Parameter Settings Required for Operation  Startup adjustment Immediately after the s

887. Operation <Practical Steps> Full-scale operation This product provides energy-saving modes to reduce power consumption in situations where

897. Operation <Practical Steps>7.2 Home Return Operation 7.2.1 Method Using the HOME Input Signal (PIO Pattern = 0 to 4) Since the home retur

907. Operation <Practical Steps>Command position 1 to 256 input (PC1 ~ PC256) Start input (CSTR) Home return complete output (HEND) Completed po

917. Operation <Practical Steps>7.2.2 Method Used When No HOME Input Signal Is Available (PIO Pattern = 5) Since no home return signal (HOME) i

927. Operation <Practical Steps>7.3 Positioning Mode (Back and Forth Movement between Two Points) Example of use in operation) The actuator mo

937. Operation <Practical Steps>StartPosition complete MovingActuatorMovement is complete. Position table (Field(s) within thick line must be en

947. Operation <Practical Steps>7.4 Push & Hold Mode Example of use in operation) The actuator is caused to move back and forth in the pus

957. Operation <Practical Steps>Position table (Field(s) within thick line must be entered.) No.Position[mm]Speed[mm/s]Acceleration [G]Decelerat

6.2.3 Speed Change during Movement ... 726.2.4 Operation at Different Accelerati

967. Operation <Practical Steps>SpeedReturn actionReturned position250.34 mmTarget position280 mmPosition where the push & hold operation co

977. Operation <Practical Steps>7.5 Speed Change during Movement Example of use in operation) The actuator speed is reduced at a certain point

987. Operation <Practical Steps>Position table (Field(s) within thick line must be entered.) No.Position[mm]Speed[mm/s]Acceleration [G]Decelerat

997. Operation <Practical Steps>7.6 Operation at Different Acceleration and Deceleration Settings Example of use in operation) Positioning is

1007. Operation <Practical Steps>1 msec or lessStartPosition complete MovingActuatorMovement is complete.Position table (Field(s) within thick l

1017. Operation <Practical Steps>7.7 Pause Example of use in operation) Pause the actuator during movement. [Effective in PIO pattern = 0 to 4]

1027. Operation <Practical Steps>Command position StartPosition complete Completed position PauseMovingActuator movement T1: 6 msec or more; ti

1037. Operation <Practical Steps>7.8 Zone Signal Output Two types of zone output signals are available: zone output (ZONE1) and position zone o

1047. Operation <Practical Steps>Controller [5] [2] [1][9][8] [3] [7] [6] [10] [4] PIOSignal nameStartCommand position 1 Command position 32 Com

1057. Operation <Practical Steps>T1: 6 msec or more; time after selecting/entering a command position until the start input turns ON (The sca

z Zone boundary... 125z Home return dire

1067. Operation <Practical Steps>7.9 Incremental Moves Example of use in operation) Move the actuator from the home to the 30-mm position by is

1077. Operation <Practical Steps>StartPosition complete MovingActuator1 msec or less Position table (Field(s) within thick line must be entered.

1087. Operation <Practical Steps>7.9.1 Judgment Method of End Position Although completion judgment is based on the applicable count managed by

1097. Operation <Practical Steps>7.9.2 Notes on Incremental Mode (1) Positioning mode If any incremental position number is selected and input

1107. Operation <Practical Steps>(2) Push & hold mode The following explains how the actuator will move if an incremental position number i

1117. Operation <Practical Steps>z Push & hold operation using the incremental position number Example) If a position 2 command is input f

1127. Operation <Practical Steps>7.10 Jogging/Teaching Using PIO If the teaching type is selected, you can jog the actuator via operation from

1137. Operation <Practical Steps>Jogging/teaching timing T1: 20 msec or more; time after the current-position write input is turned ON until wr

1147. Operation <Practical Steps>7.11 Operation of Solenoid Valve Mode 1 (7-point Type) Separate movement command inputs are provided for the t

1157. Operation <Practical Steps>Caution: Movement commands are executed based on the rise edge, so input each signal continuously for 6 msec o

9.5 Detail Connection Diagram... 14510. Troubleshoo

1167. Operation <Practical Steps>z The movement command input operates in two modes. You can select the operation condition of the movement com

1177. Operation <Practical Steps>z Handling of the pause (*STP) signal This signal is a contact B signal, meaning that it must remain ON while

1187. Operation <Practical Steps>7.12 Operation of Solenoid Valve Mode 2 (3-point Type) After the power has been turned on, input the rear end

1197. Operation <Practical Steps>z Meaning of position detected output signals (LS0, LS1, LS2) These signals are handled in the same manner as

1207. Operation <Practical Steps>z Speed change during movement If the load is made of soft material or is a bottle or otherwise topples easily

1217. Operation <Practical Steps>Occurrence of emergency situationFront end move command input (ST1) Rear end move command input (ST0) Rear end

1228. Parameters8. Parameters 8.1 Parameter Table Category: a: Parameter relating to the actuator stroke range b: Parameter relating to the actuato

1238. ParametersNo. Category Symbol Name Unit Default factory setting41 c FPIOOperating-mode input disable selection[0: Enable / 1: Disable]- 0 [Enabl

1248. ParametersError detection rangeSoftware limit marginSoftware limitStrokeSoftware limitSoftware limit marginError detection range8.2 Detail Expl

1258. Parametersz Zone boundary (1: No. 1/2 ZONM/ZONL 2: No. 23/24 ZNM2/ZNL2) These parameters set the range where the zone output signal (ZONE1) is

1268. Parameters8.2.2 Parameters Relating to the Actuator Operating Characteristics z PIO jog speed (No. 26 IOJV) When the selected PIO pattern is “

1278. Parametersz Current-limiting value during home return (No. 13 ODPW)The factory setting conforms to the standard specification of the actuator.z

1288. ParametersMove command Servo status Actuator movement Servo on Automatic servo-off mode (A green LED blinks.) Target positionT: Delay time (se

1298. Parametersz Push speed (No. 34 PSHV) This parameter defines the push speed to be applied after the actuator reaches the target position in push

1308. Parametersz Enable function (No. 42 FPIO) Whether to enable or disable the deadman switch function on an ANSI-type teaching pendant is defined

1318. Parametersz Home-sensor input polarity (No. 18 AIOF) Parameter No. 18 defines the input polarity of the home sensor. With the current models

1328. Parametersz Ball screw lead length (No. 77 LEAD) This parameter defines the ball screw lead length. A default value appropriate for the chara

1338. ParametersIf the actuator is moved in the order to positions 1 Æ 2 Æ 3 Æ 4, the actuator will operate differently depending on whether or not sh

1348. Parameters8.2.3 Parameters Relating to the External Interface z PIO pattern selection (No. 25 IOPN) Select the PIO operation pattern in parame

1358. Parametersz Movement command type (No. 27 FPIO) Parameter No. 27 defines the operation conditions via the movement command inputs (ST0 to ST6)

1Safety Guide When designing and manufacturing a robot system, ensure safety by following the safety precautions provided below and taking the necessa

1368. Parametersz Pause input disable selection (No. 15 FPIO) Parameter No. 15 defines whether the pause input signal is disabled or enabled. Setting

1378. Parametersz Output mode of position complete signal (No. 39 FPIO) This parameter is effective when any PIO pattern other than “5” [Solenoid val

1388. Parametersz Silent interval multiplier (No. 45 SIVM) This parameter is not used for this controller. It is applied to controllers of RS485 seri

1398. Parameters8.2.4 Servo Gain Adjustment Before the shipment, the servo has been adjusted in accordance with the standard specification of the actu

1408. Parametersz Speed loop integral gain (No. 32 VLPT) Parameter No. Unit Input range Default 32 --- 1 ~ 217270Set individually in accordance with

1413&7HDFKLQJ3HQGDQW&RQQHFWLRQ0HWKRGLQ0XOWLD[LV&RQ¿JXUDWLRQV9. PC/Teaching Pendant Connection Method in Multi-axis Configurati

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1443&7HDFKLQJ3HQGDQW&RQQHFWLRQ0HWKRGLQ0XOWLD[LV&RQ¿JXUDWLRQV9.3 Address Switch Set an address (0 to 15) as a hexadecimal (0 to

1453&7HDFKLQJ3HQGDQW&RQQHFWLRQ0HWKRGLQ0XOWLD[LV&RQ¿JXUDWLRQV9.5 Detail Connection Diagram (*1) The user must provide the two-

2Requirements for Industrial Robots under Ordinance on Industrial Safety and Health Work area Work condition Cutoff of drive source Measure ArticleSi

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14710. Troubleshooting10. Troubleshooting 10.1 Action to Be Taken upon Occurrence of Problem Upon occurrence of a problem, take an appropriate action

14810. Troubleshooting10.2 Alarm Level Classification Alarms are classified into two levels based on the corresponding symptoms. Alarm level ALM lam

14910. Troubleshooting10.3 Alarm Description Output Using PIO In PIO patterns 0 to 3 (64 to 512-point positioning type), alarm information can be out

15010. Troubleshooting10.4 Alarm Description and Cause/Action (1) Message level alarms Code Error name Cause/Action 092 PWRT signal detected during

15110. Troubleshooting151noitcA/esuaCemanrorrEedoC0BA Home sensor notdetectedThis error indicates that the actuator equipped with the home check senso

15210. TroubleshootingCode Error name Cause/Action 0D9 Software stroke limit overtravel error Cause: [1] The actuator installed vertically overshot

15310. Troubleshooting(2) Cold-start level alarms Code Error name Cause/Action 0A1 Parameter data error Cause: The input range of parameter range

15410. TroubleshootingCode Error name Cause/Action 0CA Overheating Cause: [1] This error indicates that the temperature around the power transisto

15510. TroubleshootingCode Error name Cause/Action 0F4 Unmatched PCB This controller uses a different motor drive circuit depending on the motor ca

3Applicable Models of IAI’s Industrial RobotsMachines meeting the following conditions are not classified as industrial robots according to Notice ofM

15610. Troubleshooting10.5 Messages Displayed during Operation Using the Teaching Pendant This section explains the warning messages that may be disp

15710. TroubleshootingCode Message name Description 180 Address change OK 181 Controller initialization OK 182 Home change all clear 183 I/O func

15810. TroubleshootingCode Message name Description 30C No connected axis This message indicates that no controller address is recognized. Cause:

15910. Troubleshooting10.6 Specific Problems z I/O signals cannot be exchanged with the PLC. Cause: [1] The 24-V I/O power supply is connected in re

16010. Troubleshootingz Home return ends in the middle in a vertical application.Cause: [1] The ball screw is receiving torsional stress due to the af

161* Appendix* Appendix List of Specifications of Connectable Actuators The specifications included in this specification list are limited to those ne

162* AppendixMotor outputLeadMinimumspeedMaximum speedMaximum acceleration/ decelerationMinimum push force Maximum pushforceRated push speedActuatorse

163* AppendixMotor outputLeadMinimumspeedMaximum speedMaximum acceleration/ decelerationMinimum push force Maximum pushforceRated push speedActuatorse

164* AppendixMotor outputLeadMinimumspeedMaximum speedMaximum acceleration/ decelerationMinimum push force Maximum pushforceRated push speedActuatorse

165* AppendixMotor outputLeadMinimumspeedMaximum speedMaximum acceleration/ decelerationMinimum push force Maximum pushforceRated push speedActuatorse

4Notes on Safety of Our Products Common items you should note when performing each task on any IAI robot are explained below. No. Task Note1 Model se

166* AppendixMotor outputLeadMinimumspeedMaximum speedMaximum acceleration/ decelerationMinimum push force Maximum pushforceRated push speedActuatorse

167* AppendixMotor outputLeadMinimumspeedMaximum speedMaximum acceleration/ decelerationMinimum push force Maximum pushforceRated push speedActuatorse

168* AppendixMotor outputLeadMinimumspeedMaximum speedMaximum acceleration/ decelerationMinimum push force Maximum pushforceRated push speedActuatorse

169* AppendixMotor outputLeadMinimumspeedMaximum speedMaximum acceleration/ decelerationMinimum push force Maximum pushforceRated push speedActuatorse

170* AppendixMotor outputLeadMinimumspeedMaximum speedMaximum acceleration/ decelerationMinimum push force Maximum pushforceRated push speedActuatorse

171* AppendixMotor outputLeadMinimumspeedMaximum speedMaximum acceleration/ decelerationMinimum push force Maximum pushforceRated push speedActuatorse

172* AppendixMotor outputLeadMinimumspeedMaximum speedMaximum acceleration/ decelerationMinimum push force Maximum pushforceRated push speedActuatorse

173* AppendixMotor outputLeadMinimumspeedMaximum speedMaximum acceleration/ decelerationMinimum push force Maximum pushforceRated push speedActuatorse

174* AppendixAppendixPositioning Sequence Given below is an example of basic sequence for creating a positioning sequence indicates PIO signal

175* AppendixAppendixPENDMNNOSSJMNM(A)PPOOQQQPPBJOSRORRCurrent positioning completed position (Positioning circuit for position 2) Positioning start r

5No. Task Note(1) Installing the robot, controller, etc. z Be sure to firmly secure and affix the product (including its work part). If the product t

176* AppendixAppendixSPC1PC2PC4PC8Timer 2CSTRTimer 2 JOPosition 3 set signalPosition 5 set signalCommand position 1Command position 2Position 6 set si

177* AppendixAppendixRecording of Parameters Recorded date: Category: a: Parameter relating to the actuator stroke range b: Parameter relating to t

178* AppendixAppendixNo. Category Name Unit Recorded data 41 c Operating-mode input disable selection [0: Enable / 1: Disable] -42 b Enable functio

179Change HistoryAppendixRevision Date Description of Revision2007.032007.042009.012009.082009.122010.022010.052010.092011.01First editionSecond editi

180

Manual No.: ME0176-12A (December 2012)The information contained in this document is subject to change without notice for purposes ofproduct improvemen

6No. Task Note4 Installation/ startup z Implement safety measures so that the product cannot be started only by turning on the power. If the product

7No. Task Note7 Automatic operationz Before commencing automatic operation, make sure no one is inside the safety fences. z Before commencing automat

8Indication of Cautionary Information The operation manual for each model denotes safety precautions under “Danger,” “Warning,” “Caution” and “Note,”

91. Overview1. Overview 1.1 Introduction This product is a dedicated RCA, RCA2 and RCL actuator controller that provides the same functions of the RCS

101. Overview1.2 How to Read the Model Number<Series><Type>C: Positioner type (internal drive-power cutoff relay)CG: Safety category type

111. OverviewStandard teaching pendant<CON-TRCM-T> External EMG switch Host system <PLC>Supplied flat cableInput power supply 24 VDC 24-

121. OverviewHost system <PLC> Standard teaching pendant<CON-TRCM-T> Supplied flat cableInput power supply 24 VDC24-VDC I/O power supplyP

131. Overview1.4 Procedure from Unpacking to Test Operation and Adjustment If you are using this product for the first time, carry out each step by r

141. Overview6.Turn on the servo Confirm that the slider or rod is not contacting a mechanical end. If the slider/rod is contacting a mechanical end,

151. Overview1.5 Warranty1.5.1 Warranty PeriodOne of the following periods, whichever is shorter:18 months after shipment from our factory12 months af

Please Read Before Use Thank you for purchasing our product. This Operation Manual explains the handling methods, structure and maintenance of this pr

161. Overview1.5.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications[1] Medical equipment pertaining to mainten

176SHFL¿FDWLRQV2. Specifications 2.1 Basic Specifications Specification item Positioner type (with internal drive-power cutoff relay) Safety catego

186SHFL¿FDWLRQV2.2 Name and Function of Each Part of the Controller  Indication of PIO pattern number If you have multiple systems and a differe

196SHFL¿FDWLRQV Explanation of each switch [1] Address switch If multiple axes are used, the PC/teaching pendant must be plugged into/out of diff

206SHFL¿FDWLRQV2.3 External Dimensions An external view and dimensions of the product are shown below. (Note) Refer to the operation manual for ea

213. Installation and Noise Elimination3. Installation and Noise EliminationPay due attention to the installation environment of the controller.3.1 In

223. Installation and Noise Elimination3.3 Noise Elimination Measures and GroundingThe following explains the noise elimination measures that should b

233. Installation and Noise EliminationFan50 mm or more50 mm or moreAirflow95 mm or more [2] DC solenoid valves, magnet switches and relays Measure:

244. WiringRed White BlackController Connected to teaching pendant or PC External EMG switch Input power supply 24 VDC I/O flat cable Terminal block A

254. Wiring4.1.2 Wiring the Power Supply/Emergency-Stop Switch (1) Wiring the power supply To connect multiple controllers, provide a relay terminal

CAUTION1. Use EnvironmentACON controllers can be used in an environment of pollution degree 2 or equivalent.2. PC Software and Teaching Pendant Model

264. Wiring(2) Wiring the emergency-stop switch In many cases multiple controllers are used in a single system. To provide an emergency-stop function

274. WiringRepresentative connection examples are explained below. z Connecting the teaching pendant directly to the controller [1] Connecting multi

284. Wiring[Controller 1] [Controller 2] [Controller 3] [Controller 4] EMG signal Teaching pendantRelayTeaching pendant Teaching pendant Teaching pend

294. Wiring[2] Using a power supply other than the input power supply (Note) Use an auxiliary relay with a coil current of 0.1 A or less and connect

304. Wiring[3] Connecting the teaching pendant to a SIO converter Configure the contact circuit for the EMG switch on the teaching pendant using EMG1

314. Wiring

324. WiringController 0 V (NPN specification) 24 V (PNP specification) 24 V (NPN specification) 0 V (PNP specification) 24-VDC power for input/output

334. Wiring4.2.2 Wiring the Power Supply/Emergency-Stop Switch (1) Wiring the power supply To connect multiple controllers, provide a relay terminal

344. WiringEMG switchTeaching pendant Motor power supply External EMG reset switch External EMG circuit Controller power supply Coil current: 0.1 A or

354. Wiring[Connection example of a multiple-axis configuration] Input power supply [Controller 1] [Controller 2] [Controller 3] Connect to 24-V ter

CAUTION4. Initial Parameter Settings at StartupAfter applying power, at least the three parameters specified below must be set in accordance withthe s

364. Wiring4.3 Connecting the I/O Cables z PIO pattern 0 [Positioning mode (Standard Type)] 0 [V] 0 [V] +24 [V] +24 [V] PIOController end (signal ab

374. Wiringz PIO pattern 1 [Teaching mode (Teaching Type)] 0 [V] 0 [V] +24 [V] +24 [V] PIOBrown 1 Red 1 Orange 1 Yellow 1 Green 1 Blue 1 Purple 1 Gra

384. Wiringz PIO pattern 2 [256-point mode (256-point type)] 0 [V] 0 [V] +24 [V] +24 [V] Controller end PIO (signal abbreviation) Output side Command

394. Wiringz PIO pattern 3 [512-point mode (512-point type)] PIOOutput side Command position 1 Command position 2 Command position 4 Command position

404. Wiringz PIO pattern 4 [Solenoid valve mode 1 (7-point Type)] PIODirect position command 0 Direct position command 1 Direct position command 2 Di

414. Wiringz PIO pattern 5 [Solenoid valve mode 2 (3-point Type)] PIOOutput side Rear end move Front end move Intermediate point move Brake release O

424. WiringCaution: When performing a continuity check of the flat cable, pay due attention not to expand the female pins in the connector. It may ca

434. Wiring4.4 Connecting the Actuator 4.4.1 Wiring the ACON-C/CG and Actuator Use dedicated extension cables to wire the controller and actuator.

444. Wiring(3) RCA2 integrated motor/encoder cableModel number: CB-ACS-MPA( indicates the cable length L. Example: 080 = 8 m)Housing: DF1E-3S-2.

454. Wiring4.5 Connecting the Communication Cable Connect the communication cable to the SIO connector. Brown Yellow Red Orange Blue Green Pin No. Br

CAUTION[2] Enabling/disabling the servo ON input signal (SON) The servo ON input signal has been added to allow for servo ON/OFF control on the PLC s

465. I/O Signal Control and Signal FunctionsController ControllerExternal power supply Each inputExternal power supply Each inputInternal circuitInter

475. I/O Signal Control and Signal FunctionsController External power supplyInternal circuitEach outputLoadLoadController External power supply Intern

485. I/O Signal Control and Signal Functions5.2 PIO Patterns and Signal Assignments This controller provides six PIO pattern types to meet the needs

495. I/O Signal Control and Signal Functions5.2.1 Explanation of Signal Names The following explains the signal names, and gives a function overview

505. I/O Signal Control and Signal Functionsz PIO pattern = 1 [Teaching mode (Teaching type)] Category Signal name Signal abbreviationFunction overvi

515. I/O Signal Control and Signal Functionsz PIO pattern = 2 [256-point mode (256-point type)] Category Signal name Signal abbreviationFunction over

525. I/O Signal Control and Signal Functionsz PIO pattern = 3 [512-point mode (512-point type)] Category Signal name Signal abbreviationFunction over

535. I/O Signal Control and Signal Functionsz PIO pattern = 4 [Solenoid valve mode 1 (7-point type)] Category Signal name Signal abbreviationFunction

545. I/O Signal Control and Signal Functionsz PIO pattern = 5 [Solenoid valve mode 2 (3-point type)] Category Signal name Signal abbreviationFunction

555. I/O Signal Control and Signal Functions5.2.2 Signal Assignment Table for Respective PIO Patterns When creating a PLC sequence or wiring signals,

CAUTIONx Changes to Zone Function Applicable application versions: V0015 and later Among the zone signal settings, those that result in “Zone set

565. I/O Signal Control and Signal Functions5.3 Details of I/O Signal Functions An input time constant is provided for the input signals of this cont

575. I/O Signal Control and Signal Functions Command position number (PC1 to PC256) When a movement command is effected upon OFF o ON of the start s

585. I/O Signal Control and Signal Functions Alarm reset (RES) This signal provides two functions. [1] Reset the alarm output signal (*ALM) that tu

595. I/O Signal Control and Signal Functions Jog (JOG+, JOG-) This signal is valid when the teaching mode (teaching type) is selected. During jogging

605. I/O Signal Control and Signal Functions Movement to each position (ST0 to ST2) [Solenoid valve mode 2 (3-point type)] Since the number of posit

615. I/O Signal Control and Signal Functions5.3.2 Details of Each Output Signal  Operating mode status (RMDS) The internal operating mode of the co

625. I/O Signal Control and Signal Functions Home return completion (HEND) This signal is OFF immediately after the power is input, and turns ON in

635. I/O Signal Control and Signal Functions Movement complete at each position (PE0 to PE6) [Solenoid valve mode 1 (7-point type)] When PIO pattern

645. I/O Signal Control and Signal Functions Emergency stop (*EMGS) This signal remains ON while the controller is normal, and will turn OFF if the

656. Data Entry <Basics>6. Data Entry <Basics> To move the actuator to a specified position, a target position must be entered in the “Po

CE MarkingIf a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately.

666. Data Entry <Basics>(4) Acceleration/deceleration x Enter the acceleration/deceleration at which to move the actuator, in [G].Basically, th

676. Data Entry <Basics>“Push & hold operation” This field defines the maximum push distance after reaching the target position in push &

686. Data Entry <Basics>S-motionSpeed Time (9) Acceleration/deceleration mode• This field defines the acceleration/deceleration pattern charact

696. Data Entry <Basics>Primary delay filter Speed Time The actuator operates along acceleration/deceleration curves that are more gradual than

706. Data Entry <Basics>6.2 Explanation of Modes 6.2.1 Positioning Mode Push = 0The actuator moves to the target position set in the “Position”

716. Data Entry <Basics>(2) Work part was not contacted (missed) If the actuator does not still contact the work part after having moved the di

726. Data Entry <Basics>(4) Positioning band was entered with a wrong sign Take note that if a value with a wrong sign is set in the “Positioni

736. Data Entry <Basics>ON ONOFF*STP Actuator operation Target position Zone output (ZONE1)Actuator operation+ directionHomeValue set in paramet

746. Data Entry <Basics>6.2.7 Home Return After the power is turned on, home return must be performed to establish the home position. The method

756. Data Entry <Basics>6.2.8 Overview of Teaching Mode (Teaching Type) Depending on your system, it may be desirable to be able to use a touch

Table of ContentsSafety Guide... 11.

766. Data Entry <Basics>6.2.9 Overview of Solenoid Valve Mode 1 (7-point Type) The number of positioning points is kept small, or specifically

776. Data Entry <Basics>[2] In case of positioning mode (standard type) Command position 1 input (PC1) Command position 2 input (PC2) Command p

786. Data Entry <Basics>6.2.10 Overview of Solenoid Valve Mode 2 (3-point Type) This type provides a control method adjusted to that of an air

796. Data Entry <Basics>Item Air cylinder ACONPositioncheck upon power ON Determined by an external detection sensor, such as a reed switch. Im

806. Data Entry <Basics>Movementcommand Servo status ActuatormovementServo on Automatic servo-off mode (A green LED blinks.) Target position T:

816. Data Entry <Basics>Also note that when the PIO pattern is “0,” “1,” “2,” “3” or “4,” the servo will turn off and therefore the position com

827. Operation <Practical Steps>7. Operation <Practical Steps> 7.1 How to Start 7.1.1 Timings after Power On  Procedure after initial

837. Operation <Practical Steps>[10] Perform home return. z Overview of operation on the teaching pendant x In case of CON-T, press the “ADJ”

847. Operation <Practical Steps> Procedure of Normal Operation The operating procedure in normal condition is specified below: [1] Reset the

857. Operation <Practical Steps>Home positionMechanical endPower on positionEmergency stop not actuated (motor drive power supplied)Safety circu