RC_PC_Software_Manual_V2

PC Software
,
Operation Manual
2nd Edition
IAI America Inc.
CAUTION
Disconnection of the Teaching Pendant from the PCON, ACON,
SCON or ERC2 Controller
* After disconnecting the Teaching Pendant from the PCON, ACON or SCON controller with the AUTO/MANU
switch, always turn the AUTO/MANU switch to AUTO.
* For the PCON, ACON or 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.
Software License Agreement
Thank you for purchasing the PC software for IAI’s RC/PCON, ACON, and SCON controller.
This software is provided strictly with your consent to this agreement. Before opening the software package,
please read this Agreement. If you do not agree to any of the terms and conditions specified herein, please return
the unopened software to IAI, and we will refund you the purchase price. (Regardless of the reason, opening the
software package will be regarded as your acknowledgement of consenting to this Agreement.)
IAI Corporation (hereinafter referred to as “IAI”) shall grant to the user (hereinafter referred to as “the User”), and
the User shall accept, a non-transferable, non-exclusive right to use the software program supplied with this
Agreement (hereinafter referred to as “the Licensed Software”), based on the following terms and conditions.
1.
Term of the Agreement
This Agreement shall take effect the moment the User opens the Licensed Software and remain effective until
the User submits a termination request to IAI in writing or the Agreement is otherwise terminated pursuant to
the provision of Section 5.
2.
Right to Use the Licensed Software
The User may use the Licensed Software that has been licensed to the User under this Agreement, on a single
computer system (hereinafter referred to as “system”) in a machine-readable format. A separate license must
be obtained in order to use the Licensed Software on a different system.
The User may not assign, sublicense or transfer to a third party the right to use the Licensed Software granted
under this Agreement, the software specified hereunder, or any other item relating thereto, without obtaining a
prior written consent from IAI. Unless otherwise specified expressly in this Agreement, the User is not given any
right to print or reproduce the Licensed Software in whole or in part.
3.
Duplication of the Licensed Software
The User may not duplicate any part of the documentation provided by IAI in accordance with this Agreement.
Creation of a duplicate of the Licensed Software provided by IAI in a machine-readable format shall be
permitted solely for the purpose of backing up the software.
4.
Protection of the Licensed Software
The User may not provide the Licensed Software to any individual other than the employees of the User or IAI,
without obtaining a prior written consent from IAI.
5.
Termination of the Agreement
In the event of breach by the User of any of the terms and conditions hereunder, or upon discovery of a material
cause that makes continuation of this Agreement impossible, IAI may immediately terminate this Agreement
without serving any prior notice to the User. If the Agreement is terminated for the above reason, the User must
destroy the Licensed Software received from IAI and all duplicates thereof within ten (10) days after the lapse of
the Agreement and send a confirmation of such destruction to IAI.
6.
Scope of Protection
IAI reserves the right to change any and all specifications relating to the Licensed Software without prior notice.
IAI shall make no warranty whatsoever with respect to the Licensed Software. The User agrees not to claim
compensation for damage from IAI for any loss suffered by the User as a result of installing the Licensed
Software in the User’s system.
CAUTION
Support Models
The PC software RCM-101-MW and RCM-101-USB supports the following controller models of the specified
versions and later.
Table 1 List of Support Models
Model Name
Support Started Version
1
RCP *
V1.0.0.0
1
RCS *
V3.0.0.0
E-Con *1
V3.0.5.0
RCP2 *1
V4.0.0.0
ERC *1
V4.0.0.0
ERC2
V6.0.0.0
PCON
V6.0.0.0
ACON
V6.0.0.0
SCON
V6.0.0.0
*1: This PC software also supports the RCP, RCS,
E-Con, RCP2, and ERC controllers.
*
Confirm the connected model and version of this application (8.1 Initial Window During Power-UP).
If any unsupported model is connected, it may operate unexpectedly.
* ERC2, PCON, ACON, or SCON cannot be used by linking to any model of those shown in *1.
* The software reset function is effective for models corresponding to 4.0.0.0 or later of the supported version.
A Word of Caution
[1] This software is copyrighted by IAI Corporation (IAI).
[2] This software and the accompanying manual may not be used or duplicated in part or in whole without a
permission of IAI.
[3] A separate software program must be purchased for each PC in which it is run.
[4] The software and the manual can only be used under the terms and conditions of the license agreement.
[5] IAI cannot assume responsibility for any damage or loss resulting from the use of this software or the manual.
[6] Please note that the version or edition number printed on the face of this manual does not correspond to the
software version number.
[7] The content of this manual is subject to change without notice.
[8] This software runs on Windows shown below. This manual has been written on the assumption that the user
already has a basic understanding of Windows operations.
(However, this software does not contain Windows.)
Port used
RS-232C
USB
Type
RCM-101-MW
RCM-101-USB
Operable Windows
Windows 95, Windows 98, Windows NT, Windows Me, Windows 2000
Windows 98SE, Windows Me, Windows 2000
Microsoft, MS, MS-DOS, Windows, Windows 95, Windows 98, Windows NT, Windows Me and Windows 2000 are
registered trademarks of Microsoft Corporation.
Copyright© October 2006. IAI Corporation. All rights reserved.
Table of Contents
1.
Before You Begin ..................................................................................................................................................1
1.1
Items Supplied with This Software (Product Components) .....................................................................1
1.2
What You Will Need (System Requirements)..........................................................................................2
1.3
Installing the Software .............................................................................................................................3
1.3.1
1.3.2
1.3.3
How to Install the PC Interface Software for RC .....................................................................................3
How to uninstall PC Interface Software for RC .......................................................................................8
How to Install the USB Conversion Adapter Driver Software..................................................................9
1.4
Starting the Software .............................................................................................................................18
1.5
Setting of communication window .........................................................................................................20
2.
Checking for Connected Axes.............................................................................................................................21
3.
Main Window.......................................................................................................................................................22
3.1
Operating from the Main Menu..............................................................................................................24
3.2
Operations Using the Toolbar Buttons ..................................................................................................27
3.3
Tree View...............................................................................................................................................29
3.4
Status Bar ..............................................................................................................................................29
4.
Selecting an Axis.................................................................................................................................................30
5.
Editing Position Data...........................................................................................................................................31
5.1
Online Mode ..........................................................................................................................................31
5.2
Offline Mode ..........................................................................................................................................50
6.
Editing Parameters..............................................................................................................................................51
7.
Monitoring............................................................................................................................................................54
7.1
Status Monitor Window..........................................................................................................................54
7.2
Controller Error List................................................................................................................................58
7.3
Velocity/Current Monitor Window ..........................................................................................................59
7.4
Setting of Application Window ...............................................................................................................61
8.
Version Information .............................................................................................................................................62
9.
File Extensions ....................................................................................................................................................62
Appendix Parameter (factory default setting) initializing method ...............................................................................63
1. Before You Begin
1.1
Items Supplied with This Software (Product Components)
Please check to make sure that the following items are included in your software package.
[1] Operation manual (1)
[2] CD-ROM containing the software (1)
[3] External connection cables
External connection cables vary depending on the PC interface software type.
The types and external connection cables are shown in the table below.
Connection
Configuration
Type
RCM-101-MW
Connection
Configuration
Type
RCM-101-USB
External Connection Cable
RS232C conversion unit (RCB-CV-MW): 1 cable
Communication cable (CB-RCA-SIO050): 1 cable
Compatible controller
PCON, etc.
RS232C conversion unit
RCB-CV-MW
Communication cable:
CB-RCA-SIO050
External Connection Cable
USB conversion unit (RCB-CV-USB): 1 cable
Communication cable (CB-RCA-SIO050): 1 cable
USB cable (CB-SEL-USB010): 1 cable
USB conversion unit
RCB-CV-USB
USB cable
CB-SEL-USB010
Compatible controller
PCON, etc.
Communication cable
CB-RCA-SIO050
1
1.2
What You Will Need (System Requirements)
The following PC and peripherals will be necessary to run this software program.
[1] PC and compatible keyboard
A PC *1 running Windows and a compatible keyboard.
(*1: Personal computer. Abbreviated as “PC” throughout this manual.)
[2] Memory
Enough memory to run Windows.
[3] Display: VGA or higher-resolution monitor
(XGA or better is recommended)
[4] Mouse or other pointing device and mouse driver
The mouse or other pointing device with which you can operate this software comfortably, and an applicable
driver.
[5] Windows
Windows 95, Windows 98, Windows NT, Windows 2000 or Windows Me.
[6] CD-ROM drive unit
[7] Hard disk
The hard disk should have 5 MB or more of free disk space. (The software is run from the hard disk.)
[8] Serial port: Type RCM-101-MW
An RS232C serial port. (Only a 9-pin port is supported.)
[9] USB port: Type RCM-101-USB
[10] Printer
A printer compatible with the PC.
2
1.3
Installing the Software
This software is run from the hard disk. This section explains how to install the software.
1.3.1
How to Install the PC Interface Software for RC
[1] Insert the CD-ROM containing this software into your CD-ROM drive.
[2] The installed data selection window (Fig. 1.1) will be displayed.
Select data among “PC Interface Software for RC (JAP),” “PC Interface Software for RC (ENG)” and “PC
Interface Software for RC (EUR)” which you want to install, and click a corresponding button. (Some items are
not indicated depending on the version.)
Fig. 1.1 Installed Data Selection Window
(The displayed window may vary depending on the version or other factor.)
[3] A previous version install check window (Fig. 1.2) is displayed.
Click Yes if no previous version has been installed.
Click No if any previous version has been installed.
Install is interrupted, then uninstall using an icon [Program add/remove] on the control panel.
Fig. 1.2 Previous version install check window
* How to uninstall is described at the end of how to install PC Interface Software for RC. Refer to it.
3
[4] You can move to an install window (Fig. 1.3) for PC Interface Software for RC
Click Next >.
Fig. 1.3 Installation Window
[5] Customer information register window (Fig. 1.4) is displayed. Enter customer information and click Next >.
Fig. 1.4 Customer Information Registration
4
[6] Specify a destination folder to install the PC interface software for RC. (Fig. 1.5)
Normally, you can install it to the displayed folder.
After specifying it, click Next >.
Fig. 1.5 Specification of Destination Folder
[7] The wizard is ready to begin installation. Clicking Install will begin actual installation.
Fig. 1.6 Installation Preparation
5
The window shown in Fig. 1.7 will be displayed during installation.
Fig. 1.7 Installation Progress
[8] When installation is completed, the window shown in Fig. 1.8 will be displayed.
Fig. 1.8 Installation Completion
6
[9] When the install program is ended, an item of Program → IAI → RoboCylinder → PC Interface Software for
RC is displayed on the start menu. This software starts by selecting those items.
[10] Remove the CD-ROM.
* If install is completed with the previous version installed, two kinds of shortcuts may be prepared in the
item of Program → IAI → RoboCylinder on the start menu. In this case, only a short cut corresponding
to the present version is deleted when uninstalled. Manually delete the short cut for the previous
version (PC Interface software for RC&E-Con) by right clicking and clicking Delete.
Fig. 1.9 Shortcut Delete Window for Previous Version
7
1.3.2
How to uninstall PC Interface Software for RC
[1] Open the application add and delete window on the control panel.
[2] Select RcPc on the application add and delete window, and click Change/Remove.
Fig. 1.10 Application Add and Delete
[3] When a file delete check window (Fig. 1.11) is displayed, click Yes.
Fig. 1.11 File Delete Check
8
1.3.3
How to Install the USB Conversion Adapter Driver Software
When a USB port is used, it is required to install USB conversion adapter driver software.
[Compatible software]
- RCM-101-USB (with USB conversion adaptor 2 + cable)
[1] Insert the CD-ROM of this software into your CD-ROM drive.
[2] The installed data selection window (Fig. 1.12) will be displayed.
Click USB conversion adapter.
Fig. 1.12 Installed Data Selection Window
(The displayed window may vary depending on the version, data in the CD or other factors.)
[3] You are prompted to set the folder of the copy destination. If you use the displayed folder as it is, click Copy. To
change it, enter it manually or click Browse to set the folder of the copy destination.
On the browse for folder window (Fig. 1.14), click the folder of the copy destination to select it and then click OK.
Once you have clicked OK, the browse for folder window (Fig. 1.14) will disappear and the selected folder path
will be displayed on the window to specify the folder of the copy destination (Fig. 1.13).
Fig. 1.13 Window to Specify Folder of Copy Destination
9
Fig. 1.14 Browse for Folder Window
[4] When the folder of IAI USB (copy data) already exists in the copy destination, you are prompted to overwrite it.
Click OK to overwrite it, or click Cancel to stop copying.
Fig. 1.15 Overwrite Confirmation Window
[5] The complete window (Fig. 1.16) will be displayed.
Fig. 1.16 Complete Window
[6] Once the complete window (Fig. 1.16) has been displayed, click OK. The complete window (Fig. 1.16) will
disappear. Then, click Cancel on the window to specify the folder of the copy destination (Fig. 1.13). The
window to specify the folder of the copy destination (Fig. 1.13) will disappear.
Finally, click Exit on the data selection window (Fig. 1.12). The data selection window (Fig. 1.12) will disappear.
[7] Remove the CD-ROM.
10
[8] Then, insert the USB conversion adapter (RCB-CV-USB) into the USB port of your PC.
[9] Windows will open the Found New Hardware Wizard.
Click Next >.
Fig. 1.17 Found New Hardware Wizard Start Window
[10] The driver search select window will open.
Check the Search for a suitable driver for my device (recommended).
Click Next >.
Fig. 1.18 Driver Search Select Window
11
[11] The locate driver files window will open.
Select Specify a location.
Click Next >.
Fig. 1.19 Specify the Locate Driver Files Window
[12] The copy manufacturer’s files from window will open.
Click Browse… and find K:¥iai usb and set it.
Click OK.
Fig. 1.20 Specify the Copy manufacturer’s files from Window
12
[13] The driver files search results window will open.
Click Next >.
Fig. 1.21 Driver Files Search Results Window
[14] When the IAI USB Composite Device driver installation finish is displayed, the installation of the driver is
completed.
Click Finish.
Fig. 1.22 IAI USB Composite Device Installation Finish Window
13
[15] Subsequently, the found new hardware wizard window will open.
Click Next >.
Fig. 1.23 Found New Hardware Wizard Window
[16] The install hardware device drivers window will open.
Select the Search for a suitable driver for my device [recommended].
Click Next >.
Fig. 1.24 Install Hardware Device Drivers Window
14
[17] The locate driver files window will open.
Select Specify a location.
Click Next >.
Fig. 1.25 Locate Driver Files Window
[18] The copy manufacturer’s files from window will open.
Click Browse… and find K:¥iai usb and set it.
Click OK.
Fig. 1.26 Specify the Copy manufacturer’s files from Window
15
[19] The driver files search results window will open.
Click Next >.
Fig. 1.27 Driver Files Search Results Window
[20] When the IAI USB to UART bridge controller driver installation finish window is displayed, the driver installation
is completed.
Click Finish.
Fig. 1.28 IAI USB to UART Bridge Controller Installation Finish Window
[21] The installation of all drivers is completed.
16
[22] Click Start on the Windows taskbar, Settings, and then Control Panel to open the Control Panel.
Double-click System to open System Properties.
Click the Hardware tab in System Properties to open it.
Click Device Manager in Hardware to open it.
Double-click Ports (COM & LPT) in Device Manager to expand the folder tree.
If there is IAI USB to UART Bridge Controller (COM?) under Ports (COM & LPT) in Device Manager, the
driver has normally been installed and operated.
(Note) The number added to the end of COM? becomes the number of the inserted COM port.
Fig. 1.29 Device Manager Window
17
1.4
Starting the Software
[1] Turn off the power to the controller and PC, and connect the controller to the PC using the standard RS232C
cable or USB cable that comes with the software.
Set the mode switch on the controller to the MANU side.
[2] Turn on the power to the controller and PC, and start Windows.
[3] Start this software after turning ON the port switch of the controller.
* This software judges whether the mode is online or offline depending on whether the controller and personal
computer are connected or not. A controller equipped with a PORT switch does not operate in the online
mode even if the port switch of the controller is turned ON after this software is started. In this case, the online
mode is turned on by performing [Reconnect] (Refer to 3.1 (5) [2] [Setting of controller]).
[4] A check for connected axis appears and a check for connected axis is started. (Refer to 2. Checking for
Connected Axes).
[In the case of PCON, ACON, SCON, ERC2]
[5] When a check for the connected axis is completed, the main window is displayed, and at the same time, a
window to select manual operation mode shown in Fig. 1.30 is displayed.
Select the operation mode according to the purpose and press OK.
Hereinafter, perform correct input while following the indication on the window according to the purpose of
operation.
Fig. 1.30 Manual Operation Mode Select Window
Select the manual operation mode from the following four menus.
- Teach mode 1 (Safety speed effective/PIO start prohibition)
PIO start prohibition:
Position data and parameter, etc., are allowed to be written in the controller and
actuator operation system is commanded.
Safety speed effective: Maximum speed becomes safety speed set to the parameter regardless of speed
designation of position data.
18
- Teach mode 2 (Safety speed ineffective/ PIO start prohibition)
PIO start prohibition:
Position data and parameter, etc., are allowed to be written in the controller and
actuator operation system is commanded.
Safety speed ineffective: Allows to operate at a speed described on the speed designation of the position
data (safety speed or higher).
- Monitor mode 1 (Safety speed effective/PIO start permission)
PIO start permission:
Monitoring is only allowed. Position data and parameter, etc., are not allowed to be
written in the controller and actuator operation system is not commanded. Operation
command (jog, homing, etc.) cannot be performed from the PC Interface software.
Safety speed effective: Maximum speed becomes safety speed set to the parameter regardless of speed
designation of position data.
- Monitor mode 2 (Safety speed ineffective/PIO start permission)
PIO start permission:
Monitoring is only allowed. Position data and parameter, etc., are not allowed to be
written in the controller and actuator operation system is not commanded. Operation
command (jog, homing, etc.) cannot be performed from the PC Interface software.
Safety speed ineffective: Allows to operate at a speed (safety speed or higher) as commanded from the PLC.
A communication setting window (Fig. 1.32) is displayed only at a first start after the software is installed.
(Refer to next page)
If a warning of “Baudrate of personal computer is not supported” is given and connection with the controller
cannot be performed, select other baudrate.
- Click setting of main menu, and select “Setting of application” (Fig. 7.9).
- Change baudrate on the “Setting of application” window (Fig. 7.9).
● When PCON, ACON, SCON and ERC2 are connected, the operation mode is in “Safety speed effective
(with safety limit speed)” when this software is started. For this reason, the maximum speed by performing
position move (test operation mode) from PC Interface Software is 250mm/sec or less.
To operate a speed command of 250mm/sec or more described on the position data, it is necessary to
change the status to “Safety speed ineffective (without safety limit speed).”
For switching between with safety speed and without safety speed, refer to “3.2 Operations using toolbar
buttons.”
[In the case of RCP, RCS, E-Con, RCP2 and ERC2]
[5] When checking if the connected axis is completed, a warning window is displayed.
When OK is clicked, a main window is displayed.
Fig. 1.31 Warning
19
1.5
Setting of communication window
The “Setting of communication” window (Fig. 1.32) is displayed only at the initial start after the software has been
installed. In this window, setting for communication with the controller is made.
Fig. 1.32 Setting of Communication Window
[1] Port
From the list, select the serial port to be used to communicate with the controller.
[2] Baudrate
From the list, select the baudrate.
* The baudrate selected here is used only in the communication between this application and
controller. It does not affect the communication speed parameters of the controller.
* If baudrate is not supported by the port selected in [1], occurs when connection is checked.
[3] Last axis No.
Select the axis number of the last axis to be checked for connection.
* Axes of numbers greater than the value selected here will not be checked for connection. Select an
appropriate axis number after checking the axis numbers of the connected axes.
[4] Unit of display at pulse-train mode
Select unit of display (mm/pulse) for the current position, etc., when SCON pulse sequence mode,
PCON-PL/PO, ACON-PL/PO are connected.
After setting the above items, click the OK button, then checking for connected axes is performed. (From the next
start, checking for connected axes will be automatically performed by this setting.)
* Contents set here can be changed on the setting of application window (Fig. 7.9).
If the Cancel button is clicked, application is ended without performing checking for connected axes (this setting of
communication window will be displayed again.)
20
2. Checking for Connected Axes
The software checks for connection of all axes up to the axis specified in the Last Axis NO. box of the “Setting of
application” window (Fig. 1.32) or “Setting of application” window (Fig. 7.10).
After the check, “(Connecting)” will be shown for those axes whose connection has been confirmed, while “-” will be
shown for all other axes.
Fig. 2.1 Check for Connected Axes Window (Checking for Connection)
Fig. 2.2 Check for Connected Axes Window (Connection Check Completed)
Check for connected axes can be cancelled by pressing the [ESC] key. (In this case, offline mode is set.)
21
3. Main Window
(1) PCON, ACON, SCON controllers and ERC2
As shown in Fig. 3.1, the main window consists of main menu, toolbar buttons, tree view and status bar. The tree
view on the left side of the window can be displayed by operation of “Window” → “Tree view” on the menu. (Initial
window: Main menu)
Main menu
Toolbar buttons
Tree view
Fig. 3.1 Main Window
Status bar
You can select the following items from the main menu or toolbar buttons available in the main window (Fig. 3.1).
22
(2) RCP, RCS, E-Con, RCP2 controller and ERC
As shown in Fig. 3.2, the main window consists of main menu, toolbar buttons, tree view, status bar. The tree view
on the left side of the window can be displayed by operation of “Window” → “Tree view” on the menu. (Initial window:
Main menu)
Main menu
Toolbar buttons
Tree view
Fig. 3.2 Main Window
You can select the following items from the main menu or toolbar buttons available in the main window (Fig. 3.2).
23
3.1 Operating from the Main Menu
(1) File
[1] [New]
Create new position data.
[2] [Open]
Load position data or parameters from a file.
[3] [Close]
Close the active file.
[4] [Send to Controller] (Available in the online mode)
[Position Data]
Write position data in a file to the controller.
[Parameter]
Write parameters in a file to the controller.
[5] [Backup] (Available in the online mode)
[Save from Controller to File]
Save all position data and parameters in the controller to a file.
[Send from File to Controller]
Send all position data and parameters in a file to the controller.
[Backup data print]
Print backup data.
[6] [Recently used file]
History of recently read files are displayed, and you can select file name from these to read.
[7] [Exit]
Exit this application.
(2) Position (Available in the online mode)
[1] [Edit/Teach]
Load position data from the controller for editing or use in teaching.
* In the case of pulse sequence mode of PCON-PL/PO, ACON-PL/PO and SCON, position data cannot
be inputted. For this reason, jog window on which position input area, toolbar button and simple
program are not displayed is displayed.
[2] [Send to Controller]
Transfer (write) edited position data to the controller.
* In the case of pulse sequence mode of PCON-PL/PO, ACON-PL/PO and SCON, position data cannot
be sent to the controller.
Even when you attempt to send position data to the controller, it is not displayed as select controller
on the select axis number window.
[3] [Print]
Print the position data you are currently editing.
* In the case of pulse sequence mode of PCON-PL/PO, ACON-PL/PO and SCON, position data cannot
be printed.
24
(3) Parameter (Available in the online mode)
[1] [Edit]
Load parameters from the controller for editing.
[2] [Send to Controller]
Transfer (write) edited parameter to the controller.
[3] [Print]
Print the parameter you are currently editing.
(4) Monitor (Available in the online mode)
[1] [Status]
You can check the various statuses of each axis (axis status, internal flags and I/O ports).
[2] [CTL Alarm List]
Display the CTL alarm list window.
[3] [Velocity/Current]
Display the velocity/current monitor window.
* This menu item is available only when the controller supports the velocity/current monitor function.
Refer to “Supported Models.”
(5) Setup
[1] [Application Setup]
Set up the application (baud rate and ports).
[2] [Controller Setup]
Reconnect: Reconnect the axes.
If the software connects to multiple controllers linked by controller link cables, always select Reconnect after
turning off and then on again the power to a connected controller to which the teaching pendant is not
connected directly.
Assign Axis Number: Available only for types not equipped with axis number setup rotary SW.
Reset Software: Reset (restart) the software.
* RCP, RCS and E-Con cannot reset the software.
(6) Window
[1] [Cascade]
Rearrange all open windows in such a way that they are cascaded (staggered) on top of each other.
[2] [Tile Vertical]
Rearranges all open windows as vertical tiles.
[3] [Tile Horizontal]
Rearranges all open windows as horizontal tiles.
[4] [Arrange Icons]
Arrange all window icons (minimized windows).
25
[5] [Minimize All]
Minimize all open windows.
[6] [Maximize All]
Restore all window icons (minimized windows) to their original size.
[7] [Tree View]
Show/hide the tree view (Fig. 3.4).
[8]
[Font size]
Change font size on the position edit window (Fig. 5.1, Fig. 5.3) and the editing parameters window (Fig. 6.3),
etc.
Select font size from largest, large, medium, small and smallest.
(7) Help
[1] [Help]
Display the help file.
[2] [About]
Display the version information of this application.
* The menu items shown in gray cannot be selected.
26
3.2
Operations Using the Toolbar Buttons
[1] [2] [3] [4] [5] [6] [7] [8] [9][10]
Fig. 3.3 Toolbar Buttons
[1] New position data
Same as clicking File, pointing to New, and then selecting Position Data.
[2] Open file
Same as clicking File, and then selecting Open.
[3] Edit/teach position data
Same as clicking Position, and then selecting Edit/Teach.
* In the case of pulse sequence mode of PCON-PL/PO, ACON-PL/PO and SCON, position data cannot
be inputted. For this reason, jog window on which position input area, toolbar button and simple
program are not displayed is displayed.
[4] Edit parameters
Same as clicking Parameter, and then selecting Edit.
[5] Monitor
Same as clicking Monitor, and then selecting Status.
[6] CTL alarm list
Display the CTL alarm list window.
Same as clicking Monitor, and then selecting CTL Alarm List.
Content of CTL alarm list is stored by battery backup.
Even if power is turned off, content of controller alarm list is not erased.
(ERC2, SCON, ACON and PCON)
[7] Velocity/current
Display the velocity/current monitor window.
Same as clicking Monitor, and then selecting Velocity/Current.
* RCP, RCS and E-Con cannot use this function.
[8] Reconnect
Same as clicking Setup, pointing to Controller Setup, and then selecting Reconnect.
[9] Save all data
Same as clicking File, pointing to Backup, and then selecting Save from Controller to File.
[10] Send all data
Same as clicking File, pointing to Backup, and then selecting Send from File to Controller.
* The menu items shown in gray cannot be selected.
27
[11][12][13]
[14]
Fig. 3.4 Toolbar Buttons
[11] Cascade windows
Same as clicking Window, and then selecting Cascade.
[12] Tile windows vertically
Same as clicking Window, and then selecting Tile Vertical.
[13] Tile windows horizontally
Same as clicking Window, and then selecting Tile Horizontal.
[14] Select manual operation mode. Select from the following four menus.
* Menus are not displayed in case of RCP, RCS, E-Con, RCP2 controllers and ERC.
- Teach mode 1 (Safety speed effective/PIO start prohibition)
PIO start prohibition:
Position data and parameter, etc., are allowed to be written in the controller and
actuator operation system is commanded.
Safety speed effective: Maximum speed becomes safety speed set to the parameter regardless of speed
designation of position data.
- Teach mode 2 (Safety speed ineffective/ PIO start prohibition)
PIO start prohibition:
Position data and parameter, etc., are allowed to be written in the controller and
actuator operation system is commanded.
Safety speed ineffective: Allows to operate at a speed described on the speed designation of the position
data (safety speed or higher).
- Monitor mode 1 (Safety speed effective/PIO start permission)
PIO start permission:
Monitoring is only allowed. Position data and parameter, etc., are not allowed to be
written in the controller and actuator operation system is not commanded. Operation
command (jog, homing, etc.) cannot be performed from the PC Interface software.
Safety speed effective: Maximum speed becomes safety speed set to the parameter regardless of speed
designation of position data.
- Monitor mode 2 (Safety speed ineffective/PIO start permission)
PIO start permission:
Monitoring is only allowed. Position data and parameter, etc., are not allowed to be
written in the controller and actuator operation system is not commanded. Operation
command (jog, homing, etc.) cannot be performed from the PC Interface software.
Safety speed ineffective: Allows to operate at a speed (safety speed or higher) as commanded from the PLC.
If the controller has an MANU/AUTO switch, the menus become available when the switch is set to the
MANU.
28
3.3
Tree View
From the main menu, click Window, and then select Tree View.
[1]
Fig. 3.5 Tree View
Axis No. 0 [PCON-CY]
The axis number of each axis and the corresponding controller model are shown.
A light blue icon is shown if the controller is normal. If the controller is in an error state, a red icon is shown.
[2]
Position data
You can double-click this item to open the position data edit window.
* In the case of pulse sequence mode of PCON-PL/PO, ACON-PL/PO and SCON, position data
cannot be inputted. For this reason, jog window on which position input area, toolbar button and
simple program are not displayed is displayed.
[3]
Parameter
You can double-click this item to open the parameter edit window.
[4]
Status monitor
You can double-click this item to open the status monitor window.
[5]
CTL alarm list
You can double-click this item to open the CTL alarm list window.
[6]
Velocity/Current
You can double-click this item to open the velocity/current monitor window.
* The specific tree view will vary depending on the model of the connected controller.
3.4
Status Bar
[1]
[2]
[3]
Fig. 3.6 Status Bar
[1] Tool tip
Bringing the mouse cursor over a toolbar button will display the tool tip on the button.
[2] Port name
The serial port currently in use is indicated.
[3] Baudrate
The baudrate (bps) of the current communication is indicated.
29
4. Selecting an Axis
To perform any of the following operations, select the axis number of the target axis in the “Select axis number”
window (Fig. 4.1).
[1]
[2]
[3]
[4]
[5]
[6]
[7]
[8]
[9]
[10]
Open the position data edit window in the online mode. Refer to 5.1 (Note)
Send position data edited in the offline mode to the controller. Refer to 5.2 (Note)
Open the parameter edit window in the online mode. Refer to 6 (Note)
Send parameters edited in the offline mode to the controller. Refer to 6 (Note)
Collectively save all data from the main window: Refer to 3.1 (Note)
Collectively send all data from the main window: Refer to 3.1 (Note)
Open the status monitor window of the monitor from the main window: Refer to 3.1
Open the CTL alarm list window of the monitor from the main window: Refer to 3.1
Open the velocity/current monitor window of the monitor from the main window: Refer to 3.1
Reset the software: Refer to 3.1
Before the software switches to the applicable mode in each of the above operations, the “Select axis number”
window appears.
The axis numbers corresponding to the operable axes are shown in the box under Connected axes.
Move the cursor to the axis you want to operate, click to > select the axis, and then click OK. To select all axes,
click >> , and then click OK.
Fig. 4.1 Select Axis Number Window
Note: The axes for which the “Position data edit window” or “Parameter edit window” is currently open in the online
mode are not shown. To select any such axis, close the applicable edit window first.
30
5. Editing Position Data
You can edit position data in the online or offline mode.
5.1
Online Mode
This mode reads data from the controller to edit.
For PCON, ACON, SCON and ERC2, Fig. 5.1 is displayed.
However, for pulse sequence mode of the PCON-PL/PO, ACON-PL/PO and SCON controller, position data cannot
be inputted.
This is a jog window (Fig. 5.2) on which the position input area, toolbar button and simple program are not displayed.
For RCP, RCS, E-Con, RCP2 and ERC, Fig. 5.3 is displayed.
31
Click Position and then select Edit/Teach from the main menu, or click
in the toolbar.
In the select axis number window, select the axis number corresponding to the axis whose position data you want to
edit. Refer to 4, “Selecting an Axis.”
In the online mode, you can create position data by “MDI (Mathematical Direct Input),” “Direct Teaching,” “Jogging”
or “Inching” operation.
Created/edited position data will become effective after it has been sent to the controller.
To send position data to the controller, click Position and then select Send to Controller from the main menu, or
click
in the position edit window.
You can also check the teaching positions in two test operation modes: “Positioning” and “Program.”
“Modified” is shown if a
change has been made
to the loaded data.
The input range of each
item is shown.
The input range is determined by soft limit + side and soft
limit – side of the parameter. (Refer to “6. Editing
parameters.”)
Fig. 5.1 Position Edit Window (Detail Window in Online Mode): PCON, ACON, SCON and ERC2
Fig. 5.2 Jog window (Online displaying)
32
“Modified” is shown if a
change has been made
to the loaded data.
The input range of each
item is shown.
Fig. 5.3 Position Edit Window (Detail Window in Online Mode): PCON, ACON, SCON and ERC2
* While the position edit window of a given axis is open in the online mode, the parameter edit window of the same
axis cannot be opened. (You can open the parameter edit window of any other axis.)
* When the MANU operation mode on the main window is monitor mode 1 or monitor mode 2, this online mode
cannot be executed.
Operations of writing into the controller, jog and homing cannot be performed.
The operating methods of buttons and input controls available in this window are explained below.
(1) Toolbar buttons
[1] [2] [3] [4]
[5] [6] [7]
[8] [9]
[10]
Fig. 5.4 Toolbar in Position Data Edit Window
[1] Save to file
Save data to a file.
[2] Send to controller
Send (write) data to the controller.
33
[3] Reload position data
Reload position data from the controller and then refresh the displayed data.
If the position data has been changed in the position edit window (when “Modified” is shown in the status bar),
clicking this button will display the warning message shown in Fig. 5.5.
* Take note that if you select Yes in this window, data that have been edited but not yet been written to
the controller will be lost.
Fig. 5.5 Warning Message
[4] Print
Output position data to the printer.
Print setting window is displayed. Set top, left and row margins (mm)
and printing orientation, and then print.
[5] Cut
Cut the range of data selected in the position data input area and save it to the clipboard.
* You can select data in units of rows.
[6] Copy
Copy to the clipboard the range of data selected in the position data input area.
* You can select data in units of rows.
[7] Paste
Paste the data in the clipboard to the selected position.
[8] Switch display
Change the display mode of the position data input area from normal to detail (or vice versa).
(Fig. 5.18, Fig. 5.19) or (Fig. 5.20, Fig. 5.21)
[9] Show monitor window
Display the status monitor window of the axis you are currently editing.
This window is the same as the one you can open by selecting Status from Monitor in the main menu of the
main window.
[10] Divide position data equally
Clicking this button will display the window shown in Fig. 5.6.
Set appropriate values in Start Position No. and End Position No., select an appropriate option under
Fraction processing, and then click OK. The distance between the specified two positions will be divided
equally. (This function is called “Equal division function”)
34
* Clicking this button while multiple rows are selected in the position data input area will cause the software to
automatically populate the Start Position No. and End Position No. field.
Start Position No.: First position in the selected range
End Position No.: Last position in the selected range
Fig. 5.6 Divide Position Data at Equal Intervals Window
If data has been input between the specified two positions, the warning message in Fig. 5.7 will be displayed.
Fig. 5.7 Warning Message
The input fields of position data generated by the equal division function, other than Position and Comment,
will be populated by the corresponding values for the position specified in Start Position No. The Comment
field will be cleared.
* The equal division function can also be implemented from the pop-up menu (Fig. 5.8) displayed by right-clicking
the position data input area.
Fig. 5.8 Pop-up Menu
35
(2) Current position/alarm code
The current position of the axis you are editing (unit: mm) and the associated alarm code, if any, are shown.
Fig. 5.9 Current Position/Alarm Code
For emergency stop, “Emergency stop” is displayed on the current position and alarm code displaying part.
Fig. 5.10 Emergency stop indication
When motor voltage lowers, “Motor volt. low” is displayed on the current position and alarm code displaying part.
Fig. 5.11 Motor voltage low indication
* When the motor voltage low is displayed, it means a state that the motor drive power is shut off.
(3) Jogging/Inching operation controls
Select Jog or Inc. (by adding a check mark to the corresponding checkbox) and use the Fw (+)/Bw (-) buttons to
move the axis.
Select the jogging speed from “1,” “10,” “30,” “50” and “100” [mm/sec] using the track bar.
In the inching mode, select the feed pitch from “0.03,” “0.10” and “0.50” [mm] using the applicable radio button.
A click will move the axis by the specified pitch, while holding down the mouse button will cause the axis to jog at 1
mm/sec after 2 second. If the mouse button is held continuously, the jogging speed will increase from
“10” to “30” and to “100” [mm/sec] every second.
If homing has been completed, clicking Teach will load the current position to the point data input area.
* In the position data input area, the loaded data will be input to the row where the cursor is located. Check the
cursor position before clicking Teach.
Track bar
Checkbox
Radio buttons
Fig. 5.12 Jogging/Inching Operation Controls
36
(4) Positioning (test operation mode)
You can move the axis to the position corresponding to the cursor row in the position data input area.
The moving speed is calculated by multiplying the speed set in the position data input area with the speed factor.
(The speed factor can also be set by the track bar.)
Speed factor
Track bar
Multiple axes
simultaneous start
Step, continue and stop
buttons from the left
Fig. 5.13 Positioning
(step) will move the axis by one position, while clicking
(continuous move) will cause the axis to
Clicking
move continuously by looping within the block of specified position data.
Clicking
again while the axis is moving continuously will stop the axis when it reaches the next position.
will stop the axis (the axis will start decelerating the moment the button is clicked and continue to
Clicking
decelerate until it finally stops.)
* If the data loaded from the controller has been changed, write the modified data again to the controller
beforehand.
* While this mode is active, data cannot be entered in the jogging/inching control groups or point data input area.
● When PCON, ACON, SCON and ERC2 are connected, the maximum speed becomes the safety speed of
250mm/sec or less if the MANU operation mode is set to the teach mode 1 (safety speed effective).
37
Simultaneous movement of multiple axes
Multiple axes simultaneous start button
You can use this button to simultaneously move the selected axes, from among the multiple axes currently
connected by link cables.
Click the multiple axes simultaneous start button in the positioning setting area.
Fig. 5.14 Multiple Axes Simultaneous Start Button
The “Start multiple axes simultaneously” window will open.
Axis number
Position
Checkbox
Step, continue and stop
buttons from the left
Fig. 5.15 Start Multiple Axes Simultaneously Window
38
Checkbox:
The axes with a check mark in this box will move. The selectable checkboxes are those
of axes whose point edit window is currently open.
Axis:
Axis number.
Position:
Set a position number in one field. This position determines the movement range for
each specified axis based on a routine similar to continuous movement, and the axis will
move over the determined range. All selected axes will move to this position. (If no
position data is set, the axes will not move.)
Location:
The current position of each axis is shown.
Step movement button:
Clicking this button will move the axes to the next position and complete the movement.
Continuous move button: Move the axes continuously. If this button is clicked during continuous movement, the
axes will stop moving after they have reached the current positions.
Stop button:
Clicking this button will cancel the current movement and stop the axes on the spot.
* Step movement and continuous movement are activated at a speed set with the position data of each axis.
Example of use) When the “Start multiple axes simultaneously” window is set as shown in Fig. 5.15 and position
data for each axis is set as follows
Axis number
Position
Clicking
(continuous movement) will move the actuators as follows.
Axis number 0 Axis number 1 Axis number 2 Axis number 3
Does not move.
Does not move.
After all specified axes have completed their
movement, they will move to the next positions.
Does not move.
Does not move.
- The actuator corresponding to axis number 2 does not move, because its checkbox is not selected.
- The actuators do not move if position data is not set for the corresponding axes.
39
(5) Program
Just like positioning, this is also a test operation mode. In the program mode, however, you can set a desired
sequence of movement. In the position number input area, enter position numbers (0 to 15) or “R” (a symbol
specifying a repeat of the preceding numbers), and then click Start.
Up to 17 steps can be specified, including “R.”
If a blank field exists, all subsequent steps are considered invalid. All steps after “R” are also considered invalid.
Position number input area
Start button
Fig. 5.16 Program Mode
Clicking Start will start the specified movement, and the button text will change to Stop. The button text will change
back to Start when the movement ends or the button is clicked again. The sequence set in the program mode will
not be saved to the controller or a file.
(6) Servo, Home and Alarm buttons
Fig. 5.17 Servo, Home and Alarm Buttons
[1] Servo button
This button lets you turn on/off the servo.
When the servo is on, a blue lamp illuminates on the button.
After homing, you can turn off the servo, move the actuator manually and then click Teach to capture a desired
position.
Note: Closing the software when the servo is off will keep the servo in the off state, thus disabling the PIO
operation.
To reset the servo, restart the software with the controller connected, or reconnect the controller power.
[2] Home button
This button lets you perform homing.
Once homing is complete, a green lamp will illuminate on the button.
[3] Alarm button
This button lets you reset an alarm.
Note that an alarm can be reset only when the servo is off and the cause of the alarm has been removed.
While an alarm is present, a red lamp remains lit on the button.
40
(7) Position data input area: PCON, ACON, SCON and ERC2
Input the position data.
It is normally possible to input five items of “Position,” “Speed,” “Acceleration (ACC),” “Deceleration (DCL)” and
“Comment,” however, it becomes further possible to input items of “Push,” “Threshold (LoTh),” “Range,” “Zone+,”
“Zone-“, “Acceleration and deceleration (Acc/Dcl) mode,” “Incremental (ABS/INC),” “Command (Cmnd) mode” and
.
“Stop mode” by switching to detailed indication with the “Indication switching” button
As shown in the table, the zone+, zone-, threshold, acceleration and deceleration mode, stop mode are enabled or
disabled depending on the type of controller.
List of ON/OFF of Position Table According to Model
AccDcl Mode
Zone +/First-order
Position Table
ERC2
ERC2-SE
PCON-C/CG/CF
-CY
-SE
ACON-C/CG
-CY
-SE
SCON positioner
○
○
○
○
○
○
○
○
○
PIO pattern: 3
PIO pattern: 0, 1, 2, 4, 5
PIO pattern: 1
PIO pattern: 0, 1, 2, 4, 5
PIO pattern: 1
PIO pattern: 0, 1, 2, 4, 5
Trapezoid
S-shape
○
○
○
○
○
○
○
○
○
×
×
×
×
×
○
○
○
○
Delay
×
×
×
×
×
○
○
○
○
Stop Mode
Full Servo
○
○
○
○
○
Auto Servo
OFF
○
×
○
○
×
○
○
×
○
41
Fig. 5.18 Position Data Input Area (Normal Mode)
Fig. 5.19 Position Data Input Area (Detail Mode)
[1] No.
Indicates the position data number.
[2] Position:
Input the target position to move the actuator to, in [mm].
- Absolute Coordinates: Input the target location by determining the distance between the
original point and target position. No negative value can be input.
- Relative Coordinates: Input the target location by determining the distance between the
current position and target position. Any negative value can be input (if
coordinates are in the negative direction).
Note: The input value may be rounded off to a multiple of minimum resolution of the controller.
(When obtaining data from the controller )
[3] Vel:
42
- Input the speed at which the actuator will be moved, in [mm/sec].
The initial value will depend on the actuator type.
[4] Acc/Dcl:
Input the acceleration/deceleration at which the actuator will be moved, in [G].
Basically, use acceleration/deceleration within the catalog rated value range.
The input range allows larger value input than the catalog rated values, on the assumption that
the tact time will be reduced if the transfer mass is significantly smaller than the rated value.
Make the numeric value smaller if transfer work vibrates and causes trouble during
acceleration/deceleration.
Speed
Acceleration
Deceleration
Target
position
Target
position
Time
The acceleration will become sudden if the numeric value is made larger, and it
will become gradual if the numeric value is made smaller.
Caution:
Enter appropriate values for Vel and Acc/Dcl in such a way as to prevent excessive impact or
vibration from being applied to the actuator in consideration of the installation conditions and the
shape of transferred work by referring to the “List of Actuator Specifications” in the Appendix.
Increasing such values largely relates to the transfer mass and the actuator characteristics vary
depending on the model, consult IAI regarding the input-limiting values.
[5] Push:
- Select the positioning operation or push operation.
The default value is “0.”
0:
Normal positioning operation
Other than 0: Indicates the current-limiting value and indicates the push operation.
[6] LoTh:
- This field is invalid.
The default value is 0.
43
[7] Range:
- The “positioning operation” and “push operation” have different meanings.
Positioning operation:
However, it defines the width of the position complete signal for the 3-point type of PCON-C/CG,
ACON-C/CG, and SCON and the proximity switch type of PCON-CY and ACON-CY.
It defines the distance to the target position from a position at which the position complete
signal turns ON.
The default value is 0.1 mm.
3-point type and proximity switch type
ON
Position complete signal
OFF
Positioning width
Target
position
Standard type
Timing of position
complete signal turning ON
Since increasing the positioning width value
hastens the next sequence operation, it
becomes a factor for tact time reduction. Set
the optimum value by considering the balance
of the entire equipment.
Positioning width
Target
position
Push operation:
It defines the maximum push amount from the target position in the push operation.
Set the positioning width in such a way as to prevent positioning completion before the actuator
contacts work by considering mechanical variations of work.
Position at which the position complete
signal turns ON when the actuator contacts
work and push completion is judged
Work
Target
position
44
Positioning width
(maximum push amount)
[8] Zone +:
[9] Zone -:
- It defines the zone where the zone output signal of the standard type turns ON.
Individual setting is available for each target position to give flexibility.
[Setting example]
No.
0
1
2
Position [mm]
5.00
380.00
200.00
Zone+ [mm]
100.00
400.00
250.00
Zone- [mm]
0.00
300.00
150.00
Note
Backward end
Forward end
Midpoint
Movement command to backward end
Zone output signal
Home
Backward
end
Movement command to forward end
Forward
end
+ side limit
Zone output signal
Movement command to midpoint
Zone output signal
Midpoint
[10] Acc/Dcl Mode:
- It defines the acceleration/deceleration characteristics.
The default value is 0.
0: Trapezoid pattern
1: S-shaped motion
2: First-order delay filter
Trapezoid pattern
Speed
Acceleration
Deceleration
Time
* Set the acceleration and deceleration in the “Acc” and “Dcl” fields of the position table.
45
S-shaped motion
A curve, which is gradual at the beginning of acceleration but rises sharply halfway, is drawn.
Use it in the applications for which you want to set the acceleration/deceleration high due to
tact time requirement but desire a gradual curve at the beginning of movement or immediately
before stop.
Speed
Time
* Set the degree of the S-shaped motion with the parameter No. 56 [S-shaped motion
ratio setting]. The setting unit is % and the setting range is between 0 and 100.
(The above is the image graph when 100% setting is made.)
If “0” is set, the S-shaped motion becomes invalid.
However, it will not be reflected in jogging/increment movement by PC or Teaching
Pendant operation.
(Note) It cannot be set for the ERC2 or PCON controller. The parameter No. 56 is
reserved.
First-order delay filter
More
gradual
acceleration/deceleration
curves
are
drawn
than
the
linear
acceleration/deceleration (trapezoid pattern).
Use this in the applications by giving micro vibrations to work during acceleration/deceleration
not desired.
Speed
Time
* Set the degree of the first-order lag with the parameter No. 55 (constant for the position
command first-order filtering). The setting unit is 0.1 msec and the setting range is between
0.0 and 100.0.
If “0” is set, the first-lag filter will become invalid.
However, it will not be reflected in jogging/increment movement by PC or Teaching Pendant
operation.
(Note) It cannot be set for the ERC2 or PCON controller. The parameter No. 55 is reserved.
46
[11] ABS/INC
- Select either the absolute or incremental positioning.
The factory setting is 0.
0: Absolute positioning
1: Incremental positioning
Warning: Always specify absolute coordinates for the 3-point type of PCON-C/CG,
ACON-C/CG, and SCON-C and the proximity switch type of PCON-CY and
ACON-CY.
If you specify relative coordinates, a position data error will occur.
[12] Cmnd Mode: - This field is invalid.
The factory setting is 0.
[13] Stop Mode: - It defines the power saving method on standby after completion of positioning to the target
position set in the “Position” field of the position number.
0: Invalid power saving method
* The default setting is 0 (invalid).
1: Auto servo OFF method. Delay time defined with the parameter No. 36
2: Auto servo OFF method. Delay time defined with the parameter No. 37
3: Auto servo OFF method. Delay time defined with the parameter No. 38
4: Full servo control method
Full servo control method
The holding current can be reduced by servo-controlling the pulse motor.
The degree of reduction varies depending on the actuator model, load condition, etc., but the holding
current decreases approximately by a factor of 1/2 to 1/4.
No displacement occurs since this method maintains the servo ON status.
The actual holding current can be checked on the monitoring window of PC software.
Auto servo OFF method
When a given length of time has elapsed after completion of positioning, the servo OFF status is
automatically entered.
(Since the holding current does not flow, the power consumption can be saved by the same amount.)
When a movement command is subsequently given from PLC, the status returns to the servo ON and
the actuator starts to move.
Movement
command
Auto servo OFF
(Green LED flashing)
Servo status
Servo ON status
Actuator movement
Target position
T: Delay time (sec) until the servo OFF
status is entered after completion of
positioning
It is set with the parameter.
47
(8) Position data input area: RCP, RCS, E-Con, RCP2 and ERC
Enter position data in this area.
It is normally possible to input four items of “Position,” “Speed,” “ACC” and “Comment,” however, it becomes further
possible to input items of “Push,” “Pos. band,” “MAX ACC,” “ABS INC” by switching to detailed indication with the
.
“Indication switching” button
Fig. 5.20 Position Data Input Area (Normal Mode)
Fig. 5.21 Position Data Input Area (Detail Mode)
[1] No.
Shows position data No.
[2] Position:
The desired move location from home in millimeters.
- Absolute Positioning:
Moves the actuator to the desired location in reference to the home location. Inputting negative
values is not possible.
- Relative Positioning:
Moves the actuator to the desired position in reference to the current position. Inputting
negatives values is possible. (during negative direction of the display coordinate)
Caution:
There are cases when the input value may be rounded off to the least common denominator
multiple of the controller.
[3] Vel
- The speed when moving the actuator (mm/sec).
The default value will depend on the actuator type.
[4] Acc/Dcl
- The acceleration/deceleration setting for the move to the corresponding position (in G’s).
The default value will depend on the actuator type.
48
- Selects the positioning mode or push mode.
The default value is set as 0.
0:
Positioning Mode (normal movement)
Besides 0: Push Mode (%)
- In the case of push mode, data number is the motor current control value during push.
Uses a value that matches the actuator type with a maximum value of 100%.
[6] Range
- As for the range, depending on the setting in the push as either 0 or other than 0, this function
will vary. [mm]
- The positioning mode uses range value as a location to turn ON the position complete output
prior to reaching the actual data.
The default value will depend on the actuator type. (see diagram A)
- The push mode uses the range value as the distance of the push. [mm] (see diagram B)
- When the push direction is towards home, a “minus” sign should be placed in the range column.
[5] When push = 0
Speed
Speed
[5] Push
[1] Distance up to the position
Transfer distance
Diagram A
[5] When push ≠ 0
[1] Distance up to the position
Transfer distance
[6] Range Value
Diagram B
[6] Range Value
[7] When acceleration only MAX = 0
[4] The value set in
acceleration/deceleration
Speed
Speed
[7] MAX Acceleration
- Selects either the assigned acceleration or the maximum acceleration. Inputs are either 1 or 0.
The default value is set as 0.
0: Assigned acceleration
The value placed in (4) will be used as the actual acceleration value and deceleration
value.
1: Maximum acceleration
This will automatically utilize the maximum acceleration matched to the load.
Deceleration remains as the assigned value in (4).
[7] When acceleration only MAX = 1
The maximum acceleration
matches the load
Transfer
distance
[8] ABS/INC
[4] The value set in
acceleration/deceleration
Transfer
distance
- Select either the absolute or incremental positioning.
0: Absolute positioning
1: Incremental positioning
49
5.2
Offline Mode
When editing data after creating new data or loading data from a file, you are editing the data in the offline mode.
In this mode, the window controls relating to axis operation are grayed out, and only the toolbar and point data input
area become active.
To read position data from file, click File and then select Open to display a “File open” window. Or click File, point to
Send to controller and then select Position, to display the “File Open” window.
Select folder in which
position data is saved.
Saved file name
Select controller.
Fig. 5.22 “File open” window
Select (click) the “File name” you want to open, and click Open on the “File Open” window, then the position edit
window is displayed.
Once data has been edited, you can save the data to a file or send it to the “connected” controller.
To send the position data read from the file to a controller in “connect” status, click Position and then select Send to
button on the position edit window.
controller, or click the
Select axis number window is displayed, then select axis No. of the controller.
(Refer to 4. Selecting an axis.)
Click OK on the select axis number window, then the position data is sent to the controller.
* The Comment field can only be saved to a file. It cannot be saved to the controller.
50
6. Editing Parameters
To load parameter data from the controller, click Parameter and then select Edit from the main menu, or click
in the toolbar. In the “Select axis number” window, select the axis number corresponding to the axis whose
parameters you want to edit. (Refer to 4, “Selecting an Axis.”)
To read a parameter from the file, click File and then select Open to display a “File open” window. Or click File,
point to Send to controller and then select Parameter, to display the “File Open” window.
Select folder in which
parameter data is saved.
Saved file name.
Select controller.
Fig. 6.1 “File open” window
Select (click) “File name” you want to open, and click Open on the “File Open” window, then the editing parameters
window is displayed.
You can load data from the controller or a file and edit the loaded data.
Fig. 6.3 is a display example when the PCON-CY controller is connected.
You can also print the loaded data.
Edited data can be sent to the controller or saved to a file.
Edited parameters that have been sent to the controller will become effective after the controller power is
reconnected.
To send data to the controller, click Parameter and then select Send to Controller from the main menu, or click
in the toolbar of the parameter edit window.
51
To send parameter read from the file to the controller, click Parameter and then select Send to controller, or click
the
button on the editing parameters window.
Select axis number window is displayed, then select axis No. of the controller.
(Refer to “4. Selecting an axis.”)
Click OK on the select axis number window, then the following warning window is displayed. Click Yes, then the
parameter is sent to the controller.
Fig. 6.2 Warning
Fig. 6.3 Editing parameters window
Note: While the position edit window is open, the editing parameters window cannot be opened.
When the
button is clicked, the select axis number window is displayed, but axis to be selected is not
displayed.
52
Depending on the controller model, a confirmation window (Fig. 6.4) may be displayed after parameters have been
sent to the controller, asking if you want to restart the controller (reset the software).
(This window appears only when the controller to which data has been written supports the software reset
function. (Except RCP, RCS and E-Con controllers.))
Fig. 6.4 Controller Restart Confirmation Window
- If you want to change the soft limits, set values corresponding to 0.3 mm outside of the desired effective range.
Example) To set the effective range to 0 to 80 mm
+ soft limit: 80.3
- soft limit: -0.3
Soft Limit set in controller
Approx.
0.3mm
Approx.
0.3mm
Effective area
Approx.
0.1mm
Jog Increment allowable range after homing
Approx.
0.1mm
- In the case of the RCP, RCS, E-Con, RCP2 and ERC controller, if the homing direction is changed, all position
data currently input will be cleared. Before changing the homing direction, therefore, back up the data, if
necessary.
- The homing direction cannot be reversed for rod-type actuators (RS/RM type) only.
Note: After parameters have been changed, reconnect the controller power or reset the software (if the controller
supports the software reset function).
Parameters will be rewritten simply by turning the emergency stop switch or PORT switch to OFF and then
ON again, but the new value may not become effective depending on the parameter.
* For detail of each parameter, refer to the controller operation manual.
53
7. Monitoring
You can monitor various statuses, controller error list, and velocity/current waveforms (Except RCP, RCS and
E-Con controllers).
7.1
Status Monitor Window
To monitor various statuses, click Monitor and then select Status in the main menu, or
click in the toolbar. In
the “Select axis number” window, select the axis number corresponding to the axis whose statuses you want to
monitor. (Refer to 4, “Selecting an Axis.”) (Fig. 7.1 shows an example of the display when a PCON-CY controller is
connected. Fig. 7.2 shows an example of the display when a RCP2 controller is connected. The displayed
information will vary depending on the controller type.)
54
[In the case of P-CON, ACON, SCON and ERC2]
Axis status
- Location
- Speed (moving speed)
- Alarm code
Internal flags
- Power: Main controller power ON/OFF status
- Servo: Servo command status
- Home Cmplt: Homing completion flag ON/OFF
status
- Run: Actual servo status
- Home check sensor: Indicates that the home check
sensor is ON. This is displayed when the actuator is
provided with a home check sensor.
Inputs
The ON/OFF status of each PIO input port is shown.
- MANU: Status (MANU or AUTO) of the manual
switch is displayed. Even some machine types
which are not equipped with manual switch, such as
PCON-CY, indicate MANU.
- Emergency stop, motor voltage low indication
* As shown in Fig. 7.2 and 7.3, this is displayed in
the case of emergency stop and motor voltage
low. Motor voltage low means a status in which
the motor drive source is shut off.
Outputs
The ON/OFF status of each PIO output port is shown.
Indication ON/OFF button (axis status, internal flags, current, input, output, special input port)
Indicates ratio to the present current
command and rated value.
Indicates status of mode SW etc.
(Indicated content depends on machine
type.)
Note) The following outputs are not shown
even when the controller supports
these functions:
- Emergency stop
- Moving
- Battery alarm
Fig. 7.1 Status Monitor
The currently selected PIO pattern number is displayed only when the controller supports the “PIO pattern
selection function” (parameter).
* The displayed input and output port names will vary depending on the value set in the PIO pattern selection
parameter.
55
Fig. 7.2 Emergency stop indication
Fig. 7.3 Motor voltage low indication
56
[In the case of RCP, RCS, E-Con, RCP2 and ERC]
Axis status
- Location
- Speed (moving speed)
- Alarm code
Inputs
The ON/OFF status of each PIO input port is shown.
Internal flags
- Power: Main controller power ON/OFF status
- Servo: Servo command status
- Home Cmplt: Homing completion flag ON/OFF
status
- Run: Actual servo status
Outputs
The ON/OFF status of each PIO output port is shown.
Indication ON/OFF button (axis status, internal flags, current, input, output from left)
Note) The following outputs are not shown even when the
controller supports these functions:
- Emergency stop
- Moving
- Battery alarm
Fig. 7.4 Status Monitor
The currently selected PIO pattern number is displayed only when the controller supports the “PIO pattern
selection function” (parameter).
* The displayed input and output port names will vary depending on the value set in the PIO pattern selection
parameter.
57
7.2
CTL Alarm List
To monitor the controller error list, click Monitor and then select CTL alarm list from the main menu, or click
in
the toolbar. In the “Select axis number” window, select the axis number corresponding to the axis whose controller
error list you want to monitor. (Refer to 4. Selecting an Axis.)
Fig. 7.5 Controller Alarm List Window
(1) Error list
Indicates finally detected warning code, alarm codes for past 8 times and address in which data error occurred in
execution (for maker investigation), detail code and occurred time.
(2) Toolbar
[1]
[2]
[3]
[4]
Fig. 7.6 Toolbar
[1] Save as
Save the error list to a file (CSV format).
* The saved file cannot be read in this application.
[2] Print
Print the error list.
[3] Refresh
Acquire the error list from the controller again to refresh the information displayed in the window.
[4] Alarm list clear
Content of the alarm list is not deleted even if the power is turned OFF (ERC2, SCON, ACON and PCON). For
this reason, content of the alarm list is deleted by using the alarm list clear. When the alarm list clear is pressed,
a warning in Fig. 7.7 is displayed. When Yes is clicked, the content of the alarm list is deleted.
Fig. 7.7 Warning
58
7.3
Velocity/Current Monitor Window
To monitor velocity/current, click Monitor and then select Velocity/Current from the main menu, or click
in the
toolbar. In the select axis number window, select the axis number corresponding to the axis whose velocity/current
you want to monitor. (Refer to 4. Selecting an Axis.)
The software will start monitoring velocity/current when is
clicked.
Monitor start button
Rated current ratio checkbox
Fig. 7.8 Velocity/Current Monitor Window
* The RCP, RCS and E-Con series do not support this function.
It is supported by the RCP2, ERC, ERC2, ACON and SCON series.
(1) Current data display
[1] Current (command value) display (When the Rated current ratio checkbox is not selected)
The vertical axis represents current (command value) [mA], while the horizontal axis represents elapsed
time after the start of monitoring [100msec].
[2] Rated current ratio display (When the Rated current ratio checkbox is selected)
The vertical axis represents rated current ratio [%], while the horizontal axis represents elapsed time after
the start of monitoring [100msec].
(2) Velocity data display
The vertical axis represents velocity [mm/s], while the horizontal axis represents elapsed time after the start of
monitoring [100msec].
* Current data and velocity data are acquired from the controller at the intervals of approx. 100msec.
Therefore, changes in current/velocity occurring within these intervals cannot be monitored accurately.
59
(3) Toolbar
[1] [2]
[3] [4]
[5]
[6]
[7]
[8]
Fig. 7.9 Toolbar
[1] Save as
Save the displayed current data and velocity data to a file (CSV format).
* Only the range of data displayed in the data display area will be saved.
* The saved file cannot be read in this application.
[2] Print
Print the displayed current and velocity data.
[3] Monitor start button
Start monitoring.
[4] Monitor stop button
Stop monitoring.
[5] Vertical axis magnification change button (current)
Change the vertical axis magnification in the current data display area.
[6] Vertical axis magnification change button (velocity)
Change the vertical axis magnification in the velocity data display area.
[7] Current/speed horizontal axis record number change button
Changes horizontal axis record number of current data indicating part and speed data indicating part.
[8] Rated current ratio indicating check box
Changes data type indicated on the current data indicating part.
- When checked
Rated current ratio indication [%]
- When not checked
Current value (Command value) [mA]
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7.4
Setting of Application Window
Click Setting from the main menu, and then select Application.
Fig. 7.10 Setting of Application Window
[1] Port
is clicked, the serial port list to communicate with the controller is displayed.
When
Select port from the list.
[2] Baudrate
When
is clicked, the communication baudrate the serial port list is displayed. Select baudrate from the list.
* The baudrate selected here is used only in the communication between this application and
controller. It does not affect the communication speed parameters of the controller.
[3] Last axis No.
When
is clicked, the axis No. list is displayed. Select axis No. intended for connected axis check.
* Axes of numbers greater than the value selected here will not be checked for connection. Select an
appropriate axis number after checking the axis numbers of the connected axes.
[4] Unit of display at pulse-train mode
When
is clicked, units of display [mm], [pulse] in pulse-train mode are displayed.
For pulse sequence input controller such as PCON-PL/PO, units such as the current position on the status
monitor window (Fig. 7.1) can be changed.
Changing any of the items in [1] to [4] and then clicking OK will display the re-connection confirmation window
shown in Fig. 7.11. To reflect the change, click Yes to reconnect the axes.
* The change will become effective once the application is restarted or the axes are reconnected.
Fig. 7.11 Re-connection Confirmation Window
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8. Version Information
[1]
[2]
Fig. 8.1 Version Information
[1] Application version
The version of this application is shown.
[2] Controller version
The software version and manufacturing information of each connected controller are shown.
(Manufacturing information may not be displayed depending on the controller type.)
9. File Extensions
Model name
RCP
RCS
E-Con
RCP2
ERC
ERC2
PCON
ACON
SCON
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Table 2 List of File Extensions
Position data file
Parameter file
*.ptr
*.pmr
*.ptr
*.prr
* pte
*.pre
*.ptr2
*.pmr2
*.ptre
*.pmre
*.ptre2
*.pmre2
*.ptpc
*.prpc
*.ptac
*.prac
*.ptsc
*.prsc
Backup file
*.bkr
*.bur
*.bue
*.bkr2
*.bkre
*.bkre2
*.bkpc
*.bkac
*.bksc
Appendix
Parameter (factory default setting) initializing method
Note: Parameters (factory default setting) can be initialized only for PCON, ACON, SCON and ERC2 controller.
Note: Note that parameters set by user are changed to the factory default parameters when parameters (factory
default setting) are initialized.
(1) Click a blank part of the toolbar (Appendix Fig. 1) while pressing the Ctrl key, then password input window as
shown in the Appendix Fig. 1 is displayed.
Appendix Fig. 1 Menu bar
Right-click the blank part of the
tool bar while pressing Ctrl.
Appendix Fig. 2 Password input window
(2) Input the password (5119) on the displayed password input window, then the “Controller Initialization” (factory
default setting) menu is displayed (Appendix Fig. 3).
* The password inputted once is effective until the application ends.
Appendix Fig. 3 Menu bar (Controller Initialization) (factory default setting)
(3) When the menu “Controller Initialization” (factory default setting) displayed in (2) is selected, a dialog in
appendix Fig. 4 is displayed. Click “OK” when one axis is connected. Set axis No. and click “OK” when multiple
axes are connected.
Appendix Fig. 4 Initialization dialog
63
(4) Then, a warning dialog in appendix Fig. 5 is displayed. If there is no problem, click Yes.
Appendix Fig. 5 Warning dialogs
A warning dialog in appendix Fig. 6 is further displayed when the servo is ON.
If there is no problem, click Yes.
Appendix Fig. 6 Warning dialog
Note: The encoder parameters cannot be initialized. For this reason, if any actuator different from the factory
default setting is connected, an unexpected error may be detected.
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Catalog No.: MJ0155-2A (October 2006)
IAI America Inc.
Head Office: 2690W 237th Street Torrance, CA 90505
TEL (310) 891-6015 FAX (310) 891-0815
Chicago Office: 1261 Hamilton Parkway Itasca, IL 60143
TEL (630) 467-9900 FAX (630) 467-9912
Home page: www.intelligentactuator.com
IAI Industrieroboter GmbH
Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany
TEL 06196-88950 FAX 06196-889524
The prices, specifications, dimensions and other information provided in this manual are subject to change without notice for
purposes of product improvement.
Copyright © October 2006. IAI Corporation. All rights reserved.