IAI America PCON-CA - Manual (Page 7)

POWER CON
PCON-CA/CFA
3.3 Pulse Train Control Mode (for Pulse Train Type)······················································ 129
3.3.1 I/O Signal Controls····························································································· 130
3.3.2 Operation Ready and Auxiliary Signals ····························································· 130
[1] System Ready (PWR) ························································································· 130
[2] Emergency stop status (*EMGS)········································································· 130
[3] Operation Mode (RMOD, RMDS)········································································ 131
[4] Compulsory Stop (CSTP) ···················································································· 132
[5] Servo ON (SON, SV)··························································································· 132
[6] Home Return (HOME, HEND)············································································· 133
[7] Zone (ZONE1, ZONE2)······················································································· 137
[8] Alarm, Alarm Reset (*ALM, RES)········································································ 138
[9] Binary Output of Alarm Data Output (*ALM, ALM1 to 8) ····································· 138
[10] Brake Forcible Release (BKRL) ·········································································· 139
3.3.3 Pulse Train Input Operation··············································································· 140
[1] Command Pulse Input (PP•/PP, NP•/NP)···························································· 140
[2] Position complete (INP)······················································································· 141
[3] Torque Limit Select (TL, TLR)·············································································· 142
[4] Deviation Counter Clear (DCLR)········································································· 142
3.3.4 Settings of Basic Parameters Required for Operation ······································ 143
[1] Electrical Gear Setting························································································· 143
[2] Format Settings of Command Pulse Train ·························································· 145
3.3.5 Parameter Settings Required for Advanced Operations ··································· 146
[1] Position command primary filter time constant···················································· 146
[2] Torque Limit ········································································································· 146
[3] Clearing deviation during servo OFF or alarm stop ············································ 146
[4] Error monitor during torque limiting ····································································· 147
[5] Deviation Counter Clear Input ············································································· 147
[6] Torque limit command input················································································· 147
[7] Pulse count direction ··························································································· 147
[8] Compulsory Stop Input ························································································ 147
Chapter 4 Field Network ·······························································································149
Chapter 5 Power-saving Function (Automatic Servo-off and Full Servo Functions)·····151
Chapter 6 Absolute Reset and Absolute Battery ··························································155
6.1 Absolute Reset·········································································································· 155
6.2 Absolute Battery········································································································ 159
6.2.1 Absolute encoder backup specifications ··························································· 159
6.2.2 Absolute Battery Charge···················································································· 159
6.2.3 Absolute Battery Voltage Drop Detection ·························································· 160
6.2.4 Replacement of absolute battery······································································· 161
Chapter 7 I/O Parameter ······························································································163
7.1 I/O Parameter List·····································································································164
7.2 Detail Explanation of Parameters ············································································· 168
7.3 Servo Adjustment······································································································ 194
Chapter 8 Troubleshooting ···························································································197
8.1 Action to Be Taken upon Occurrence of Problem····················································· 197
8.2 Fault Diagnosis ········································································································· 198
8.2.1 Impossible operation of controller······································································ 198
8.2.2 Positioning and speed of poor precision (incorrect operation) ·························· 202
8.2.3 Generation of noise and/or vibration ································································· 204
8.2.4 Impossible Communication ··············································································· 205
8.3 Alarm Level ··············································································································· 206
8.4 Alarm List ·················································································································· 207