IAI PCON-CA Series User Manual

POWER CON
PCON-CB/LC
3.3.2 Operation Ready and Auxiliary Signals .............................................................. 139
[1] System Ready (PWR) ....................................................................................... 139
[2] Emergency Stop Status (*EMGS) ..................................................................... 139
[3] Operation Mode (RMOD, RMDS) ..................................................................... 140
[4] Compulsory Stop (CSTP).................................................................................. 141
[5] Servo ON (SON, SV) ........................................................................................141
[6] Home Return (HOME, HEND) .......................................................................... 142
[7] Datum Position Move (RSTR, REND)............................................................... 145
[8] Zone (ZONE1, ZONE2)..................................................................................... 146
[9] Alarm, Alarm Reset (*ALM, RES)...................................................................... 147
[10] Binary Output of Alarm Data Output (*ALM, ALM1 to 8) ................................... 147
[11] Brake Forcible Release (BKRL)........................................................................ 148
3.3.3 Pulse Train Input Operation................................................................................ 149
[1] Command Pulse Input (PP•/PP, NP•/NP) .........................................................149
[2] Position Complete (INP).................................................................................... 150
[3] Torque Limit Select (TL, TLR) ........................................................................... 151
[4] Deviation Counter Clear (DCLR).......................................................................151
3.3.4 Settings of Basic Parameters Required for Operation .......................................152
[1] Electronic Gear Setting ..................................................................................... 152
[2] Format Settings of Command Pulse Train ........................................................ 154
[3] Pulse Train Datum Position (Parameter No. 167)............................................. 154
3.3.5 Parameter Settings Required for Advanced Operations .................................... 155
[1] Position Command Primary Filter Time Constant ............................................. 155
[2] Torque Limit....................................................................................................... 155
[3] Clearing Deviation During Servo OFF or Alarm Stop........................................ 155
[4] Error Monitor During Torque Limiting ................................................................ 156
[5] Deviation Counter Clear Input........................................................................... 156
[6] Torque Limit Command Input ............................................................................ 156
[7] Pulse Count Direction .......................................................................................156
[8] Compulsory Stop Input......................................................................................156
Chapter 4 Field Network .............................................................................................157
[1] PCON-CB/CFB Type......................................................................................... 157
Chapter 5 Collision Detection Feature........................................................................161
5.1 Collision Detection Judgement.................................................................................161
5.2 Settings..................................................................................................................... 162
5.3 Adjustment................................................................................................................ 162
Chapter 6 Power-saving Function...............................................................................163
6.1 Automatic Servo-off and Full Servo Functions ......................................................... 163
6.2 Automatic Current Reduction Feature...................................................................... 166
Chapter 7 Absolute Reset and Absolute Battery.........................................................167
7.1 Absolute Reset ......................................................................................................... 167
[1] Absolute Reset Procedure from Teaching Tool .................................................167
[2] Absolute Reset Using PIO ................................................................................170
7.2 Absolute Battery (for Simple Absolute Type)............................................................ 172
[1] For the Type to Attach Battery to Controller Side.............................................. 172
[2] When Using Absolute Battery Unit.................................................................... 172
7.2.1 Absolute Encoder Backup Specifications ........................................................... 172
7.2.2 Absolute Battery Charge..................................................................................... 172
7.2.3 Absolute Battery Voltage Drop Detection ........................................................... 173
7.2.4 Replacement of Absolute Battery ....................................................................... 174
[1] For the Type to Attach Battery to Controller Side.............................................. 174
[2] When Using Absolute Battery Unit.................................................................... 175
Chapter 8 Parameter ..................................................................................................177
8.1 Parameter List .......................................................................................................... 178
8.2 Detail Explanation of Parameters............................................................................. 182
8.3 Servo Adjustment ..................................................................................................... 210

IAI PCON-CA Series Specifications

General

Brand	IAI
Model	PCON-CA Series
Category	Controller
Language	English