IAI America ACON-CG - Manual (Page 98)

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7. Operation <Practical Steps>
„ Procedure of Normal Operation
The operating procedure in normal condition is specified below:
[1] Reset the emergency stop or enable the supply of motor drive power.
[2] Supply the 24-VDC I/O power.
[3] Supply the 24-VDC controller power.
* If the monitor LED [SV/ALM] on the front panel illuminates for 2 seconds initially and then turns off, the
controller is normal. If [SV/ALM] illuminates in red, an alarm is present. In this case, connect a PC or
teaching pendant to check the nature of the alarm and remove the cause by referring to Chapter 10,
“Troubleshooting.”
[4] Check the actuator position.
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 slider/rod is
not contacting a mechanical end but is closer to the home position, move the slider/rod away from the home
position.
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 slider/rod may suddenly drop due to its dead weight when the brake is released, so exercise caution
not to damage the robot hand or work part by the falling slider/rod.
Warning
If the servo is turned ON while the slider/rod is contacting the mechanical end, excitation
phase detection may not be performed correctly and an abnormal operation or excitation
detection error may result.
[5] Set the mode selector switch on the front panel of the controller to the “AUTO” side.
[6] Input the servo ON signal/pause signal from the PLC.
[7] Input the home return signal from the PLC to perform home return operation.
[8] Start automatic operation.
Caution: When operating the actuator using the PLC and I/O signals, be sure to set the mode
selector switch on the front panel to the “AUTO” side.