IAI PCON-C - Page 18

 Minimum delay time for slave transmitter activation ................................................. 138
 Silent interval multiplier............................................................................................... 139
8.2.4 Servo Gain Adju
stment ....................................................................................... 140
 Servo gain number .................................................................................................... 140
 Speed loop proportional gain...................................................................................... 140
 Speed loop integral gain............................................................................................. 141
 Torque filter time constant .......................................................................................... 141
9. PC/Teaching Pendant Connection Method in Multi-axis Configurations................ 142
9.1 Connection Example ............................................................................................................... 142
9.2 SIO Converter (Optional)......................................................................................................... 143
9.3 Address Switch........................................................................................................................ 145
9.4 Connection Cables .................................................................................................................. 145
9.5 Detail Connection Diagram...................................................................................................... 146
10. Troubleshooting..................................................................................................... 147
10.1 Action to Be Taken upon Occurrence of Problem ................................................................... 147
10.2 Alarm Level Classification ....................................................................................................... 148
10.3 Alarm Description Output Using PIO....................................................................................... 149
10.4 Alarm Description and Cause/Action....................................................................................... 150
(1) Message level alarms......................................................................................................... 150
(2) Cold-start level alarms........................................................................................................ 155
10.5 Messages Displayed during Operation Using the Teaching Pendant ..................................... 157
10.6 Specific Problems .................................................................................................................... 160
 I/O signals cannot be exchanged with the PLC. ................................................................ 160
 The ALM lamp illuminates when the power is input. .......................................................... 160
 The SV lamp does not illuminate when the servo ON signal is input after the power was
input.................................................................................................................................... 160
 Home return ends in the middle in a vertical application. .................................................. 161
 Noise occurs during downward movements in a vertical application................................. 161
 Vibration occurs when the actuator is stopped. ................................................................. 161
 The actuator overshoots when decelerated to a stop. ....................................................... 161
 The home and target positions sometimes shift................................................................. 161
 The speed is slow during push & hold operation. .............................................................. 161
 The actuator moves only a half of, or twice as much as, the specified movement............ 161
 A servo error occurred while the actuator was moving (ROBO Gripper)........................... 162
 Abnormal operation results when the servo is turned ON after the power ON.................. 163
 The SV lamp blinks. ........................................................................................................... 163
* Appendix ................................................................................................................... 164
List of Supported Actuator Specifications .......................................................................................... 164
Fault check and replacement of the cooling fan ................................................................................ 177
Example of Basic PCON Positioning Sequence................................................................................ 179
Recording of Parameters................................................................................................................... 182