Iai-america PCON-ABU User Manual

Simple Absolute UnitOperation Manual Tenth EditionACONPCONPSEL

Preface1Safety Guide When designing and manufacturing a robot system, ensure safety by following the safety precautions provided below and taking the

Preface2Requirements for Industrial Robots under Ordinance on Industrial Safety and Health Work area Work condition Cutoff of drive source Measure Ar

Preface3Applicable Models of IAI’s Industrial Robots Machines meeting the following conditions are not classified as industrial robots according to No

Preface4Notes on Safety of Our Products Common items you should note when performing each task on any IAI robot are explained below. No. Task Note 1

Preface5No. Task Note (1) Installing the robot, controller, etc. z Be sure to firmly secure and affix the product (including its load). If the produc

Preface6No. Task Note 4 Installation/ startup z Implement safety measures so that the product cannot be started only by turning on the power. If the

Preface7No. Task Note 7 Automatic operationz Before commencing automatic operation, make sure no one is inside the safety fences. z Before commencing

Preface8Indication of Cautionary Information The operation manual for each model denotes safety precautions under “Danger,” “Warning,” “Caution” and “

11. Overview 1.1 Introduction Thank you for purchasing IAI’s Simple Absolute Unit. This simple absolute unit is designed exclusively for use with PCON

21.2 How to Read the Model Name Model name for each item Simple absolute unit: ABU (battery included) Battery only: AB-7 ACON connection cable: CB

31.3 Handling the Battery of the Absolute Unit Handle the battery by following the safety precautions specified below. 1. Never disassemble the batt

41.4 Safety Precautions Read the following precautions carefully and give fullest attention to safety measures. This system product has been developed

51.5 Warranty1. Warranty PeriodOne of the following periods, whichever is shorter:• 18 months after the shipment from IAI’ s factory• 12 months after

65. Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications(1) If our product is combined with another product or any

72. Specifications 2.1 Basic Specifications Model ACON/PCON-ABU Power-supply voltage 24 VDC r10% Power-supply current MAX 300 mA Environment Surround

82.1.1 Backup Battery The absolute specification uses a secondary battery (nickel-hydrogen battery) to retain absolute counter data in the FPGA when t

92.2 Name and Function of Each Controller Part 2.2.1 Names [4] Ni-MH battery [5] Power-supply terminal block [1] Status indicator LEDs RDY/ALM (green

102.2.2 Functions[1] Status indicator LEDsRDY/ALMSteady green Steady redOperation- The system is normal.- The system is experiencing an error.RDY/ALMB

11[Update mode selector switches] Switch 3Function ON Update modeOFF Normal mode [Model selector switches] Switch 4Function ONSet this to ON (Defaul

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

122.3 External Dimensions 

133. Installation and Noise Elimination Pay due attention to the environment in which the controller is installed. 3.1 Installation Environment The c

14[2] Wiring precautions Use a twisted cable for connecting the 24-VDC power supply. Wire the controller cables separately from high-current lines of

153.4 Heat Dissipation and Installation Design the control panel size, controller layout and cooling method so that the surrounding air temperature a

16Dedicated harnessMotor cable Simple absolute unit Encoder cable RCA actuator 4. Wiring 4.1 Configuration Caution: When connecting the dedicated har

174.2 Connecting the Dedicated Cable Connect the dedicated harness to the PG connector on the controller and the CONTROLLER connector on the simple a

184.2.2 ACON Controller Cable * Make sure the connectors at the ends of the cable are oriented correctly. ACON controller end Simple absolute unit

194.3 How to Open the Lid of the Simple Absolute Unit Lid closed Lid open Lift the lid. Guideline for battery replacement

20Simple absolute unit Input power supply 24 VDC (300 mA max. per unit) 4.4 Wiring the Power Supply x Wiring the Power Supply Use a power cable satis

215. Operation5.1 Startup Procedure5.1.1 Piano Switch SettingsThese switches are used to set the rotation speed setting and to turn on/off the update

225.1.2 Parameter Setting (High-Order Controller) If the simple absolute unit is purchased separately and connected to an existing controller, one us

235.2 How to Perform an Absolute Reset 5.2.1 Absolute Reset Using PIO Signals x ACON or PCON * Refer to the operation manual for your controller fo

245.2.2 Absolute Reset from the PC Software x ACON or PCON (1) Supply the main power (24 VDC) to the controller and simple absolute unit. (2) Bring

25(7) Click Servo.The servo lamp should illuminate in blue when Servo is clicked. (8) Click Home.The home lamp should illuminate in blue when home ret

26(4) The X-SEL PC Software window is displayed. If an error is detected, the corresponding error message will be displayed. Click the [OK] button to

271(6) From the menu, select Controller (C) and then Absolute Reset (A). (7) When the [Warning] window is displayed, click the [OK] button. (8)

28(9) Click the following process buttons in order. When one process is completed, the red arrow moves to the next. [1] Controller error reset [2]

29(10) When the [Confirmation] dialog box is displayed for a software reset, click the [Yes (Y)] button and restart the controller. (Note) After an

30Select either the or key. Confirm that error No. 0EE, an absolute encoder error, is generated, and press the key. Press the key. Confi

31Removed battery Battery connector 5.3 Replacing the Battery The battery life is three years, and the expiration guideline is printed on the side of

1. Controller Versions Supporting the Simple Absolute Unit The simple absolute unit can be connected to controllers of the following firmware version

32Connect it while lightly pressing it in.Instead of throwing it away, please place a used battery into a recycle box at a collaborating store with a

336. Troubleshooting 6.1 What to Do When a Problem Occurs If a problem occurred, follow the steps below to facilitate speedy recovery and prevent the

34(Reference) How the indicator lamps on the simple absolute unit change in each condition RDY/ALMSteady green Steady red Operation {- The system is

356.2 Alarm Classification by Level Alarms are classified into two levels according to the associated symptoms. Alarm level ALM lamp *ALM signalWha

366.3 Alarms, Causes and Actions (1) Alarms relating to the simple absolute unit (ACON, PCON) Code Error Cause/action Alarm reset0B6 Phase-Z detect

37Code Error Cause/action Alarm reset [3] Check the model number of the encoder cable. (Simple absolute unit  Actuator) Note) RCP2 series only

38(2) Alarms relating to the simple absolute unit (PSEL) (On the panel window, three digits after E become the error numbers.) Error No.Error Conten

39Error No.Error Contents/action, etc. Alarm reset619 ABS unit encoder receivingerrorWhen the simple absolute unit encoder command is issued, the resp

40Change HistoryRevision Date Description of Revision2009.12009.82010.2First editionSecond editionThird editionP19: Changed the method to turn on the

5. Caution on Parameter Change If any of the following parameters is changed, an absolute error will generate. You must perform an absolute reset aga

Manual No.: ME0179-10A (November 2011)The information contained in this document is subject to change without notice for purposes ofproduct improvemen

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

Table of ContentsSafety Guide............................. 11.