IAI America RCS-E - Manual (Page 54)

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4. Using the Controller <Practical Steps>
4.1 How to Start (Standard Type)
(Refer to 4.2, “How to Execute An Absolute Reset,” for the absolute specification.)
(1) Confirm that both Nos. 5 and 6 of piano switch are set to OFF. If these switches are set to ON, tilt them back
to the OFF positions.
(2) Connect the motor/brake cables and encoder cable to the controller.
(3) Connect the host PLC to the PIO connector using the supplied flat cable.
(4) If two or more axes are connected, set the necessary items using the piano switches. For details, refer to
“Names and Functions of Parts.”
(5) Supply the main power to the controller’s terminal block.
(6)
Turn ON the pause and servo ON inputs at the PIO connector.
(7) The controller is working properly if the RDY LED is lit. If the ALM LED is lit, there is an error. Refer to the
alarm table and take an appropriate action.
Note: PIO inputs/outputs must be issued after the position complete signal turns ON following the
power ON.
The controller is ready once the above operation is completed.
4.1.1 When the Controller Can/Cannot Operate
(1) The moment the power is turned on, the servo turns on. When the controller becomes ready, the PIO
position complete output will turn ON.
(2) The following chart shows the timing relationships of the PIO alarm/emergency-stop outputs and controller’s
operating status.
Alarm
Emergency stop
Reset
Controller
cannot operate
Emergency-stop
switch is pressed.
Alarm occurs.
Controller
can operate Controller
cannot operate Controller
can operate Controller
can operate