IAI America ACON-CY User Manual
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1. Overview
6
Turn on the servo
Confirm that the slider or rod is not contacting a mechanical end.
If the slider/rod is contacting a mechanical end, move it away from the mechanical end.
If the actuator is equipped with a brake, turn on the brake forced-release switch to forcibly release the brake
before moving the actuator.
The load may suddenly drop when the brake is released, so exercise due caution not to pinch your hand or
damage the robot hand by the falling load.
Turn on the servo from the PC or teaching pendant.
If the actuator enters a servo lock mode and the monitor LED [SV/ALM] on the front face of the controller
illuminates in green, the controller is functioning properly.
7
Check the operation of the safety circuit
Confirm that the emergency stop circuit (or motor drive-power cutoff circuit) operates properly.
o Chapter 3, “Installation and Wiring”
8.
Setting a target position
Use the teaching pendant or PC to set a target position in the “Position” field of the position table (rear end, front
end, intermediate point).
* If any movement operation is started without setting a target position first, the message “No movement data”
will be displayed. Determine an appropriate target position by fine-tuning the load or robot hand.
* Once a target position is set, other items (speed, acceleration/deceleration, positioning band, etc.) will be set
to their defaults automatically.
o Chapter 4, “Position Table Settings”
9.
Adjustment by test operation
Input a move command from the PLC to perform positioning.
If necessary, perform the following fine adjustments:
x Depending on the weight, material and/or shape of the load, vibration or noise may occur. If you notice
undesirable vibration or noise, lower the speed, acceleration and/or deceleration.
x You may also want to adjust the zone output signal limits and positioning band to prevent contact with
peripheral equipment or reduce the tact time.
o Chapter 4, “Position Table Settings”
o Chapter 5, “Operation Using I/O Signals”