IAI America XSEL-KX - Manual (Page 46)

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Part 1 Installation
(1) Connect to the controller the motor cable and encoder cable from the actuator.
(2) Connect the teaching-pendant cable to the teaching connector. After the connection, set the mode
switch to MANU (by tilting the switch upward).
(If the mode switch is set to AUTO, the teaching pendant will not operate and RS-232 communication
will not establish after the power is turned on.)
(3) Connect the power cable to the controller.
(4) The panel window will display the code “rdy” to indicate that the preparation is complete.
If “ErG” is displayed, EMERGENCY STOP signal is being input. Reset the emergency stop.
This completes the preparation.
• The RDY terminals (Nos. 1 and 2) on the system I/O connector are relay-contact terminals shorted in
the ready mode.
• The ENB terminals (Nos. 3 and 4) on the system I/O connector are enable terminals. The controller
can operate when these terminals are shorted. The drive source will be cut off when the terminals are
open.
• The EMG terminals (Nos. 5 and 6) on the system I/O connector are emergency-stop switch connection
terminals. An emergency stop will be actuated when these terminals are open.
The controller is shipped with terminal Nos. 3 and 4, and 5 and 6, shorted, respectively.