IAI America PCON-CF - Manual (Page 32)

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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 4, “Wiring”
8 Set a target position
Perform home return first, and then set a target position in the “Position” field for each position in the position
table. Determine a desired position by finely adjusting the load or robot hand.
* Once a target position is set, all other fields (speed, acceleration/deceleration, positioning band, etc.) will be
automatically populated with their default values. o Chapter 6, “Position Table Settings”
* To ensure safety, it is recommended that the safety speed be enabled during initial movements.
To move the actuator at the actual speed set in the “Speed” field of the position table, change the MANU
operating mode to [Teaching mode 2: Disable safety speed/Inhibit PIOs].
9 Trial operation and adjustment
Set the mode selector switch on the front panel of the controller to the “AUTO” side.
Input a movement command from the PLC to perform positioning.
If necessary, perform fine adjustments including the items specified below:
x Vibration or noise may generate depending on the weight, material or shape of the load. If vibration or noise
is observed, lower the speed, acceleration and/or deceleration.
x To prevent contact with surrounding equipment or reduce the tact time, adjust the boundaries for each zone
output signal and also adjust the positioning band.
x Adjust the current-limiting value, judgment time and push speed to be used in push & hold operation.
Caution: Before changing any parameter, set the mode selector switch to the “MANU” side. Or,
keep the mode selector switch on the “AUTO” side and turn on the MODE input signal.