IAI America IA-T-XD - Manual (Page 23)

5. Connection to Controller
14
1. Connect actuators, I/O 24VDC power source, and system I/O to the controller first. Then
connect the cable connector of the teaching pendant to the controller’s teaching connector when
the main power supply of the controller is OFF.
2. After you flip the mode switch to MANU side, supply power to the controller.




./
/BF
Displays the version of the teaching pendant and
moves to the following page, the mode selection
screen.
If the mode is switched to AUTO side, the teaching
pendant does not connect to the controller and the
screen on the left will be displayed. Press ESC key
and make it reconnected.
8@@

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@


Turn on the mode switch to MANU side and press
the F1 (Yes) key to execute re-connection.
This is the basic screen for all operations.
15
When the X-SEL controller J/K type executes “OPEN 1” (channel 1 shared for the teaching
pendant) within the SEL program in the MANU (manual) mode, the right of use of the serial
port channel 1 is forcefully moved to the SEL program and communication with the teaching
pendant is disconnected. The program in the controller is running. (*Error No. A5D “SCIF open
error non-auto mode”)
Afterwards, if you wish to stop movement, press ON the Emergency Stop Button (Be especially
careful during Jog operation).
*In a case prior to Ver 0.16 of controller main application.
For the controller P/Q type as well as the J/K type with the controller main application ver. 0.16
or later, the following are applied regarding OPEN of the TP port (teaching connector)
according to the servo not in use or in use:
<MANU mode, servo not in use>
Before execution of OPEN After execution of OPEN
Connection of TP port Connection to Teaching
Pendant
Forced movement to SEL program connection
(Message error) Program is executing
Error occurring after OPEN command execution: Error No. A50 “SCIF open error during non-AUTO mode”
<MANU mode, servo in use>
Before execution of OPEN After execution of OPEN
Connection of TP port Connection to Teaching
Pendant
Connection to Teaching Pendant
(Cold start error) Program is ending
Error occurring after OPEN command execution: Error No. E.89 “SCIF open error during non-AUTO mode (servo ON)
The channel No. of the TP port varies according to the controller’s type.
J/K type: 1 ch “OPEN 1”
P/Q type: 0 ch “OPEN 0”
E
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The above “Extra Caution” notes pertain to all other than “MANU mode with I/O parameter No. 90
= 2 (IAI Protocol).