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ID : 3374
Control of IAI PCON Series
Overview
You can control IAI position controller PCON series from the robot controller by using dedicated commands. This function is available in Ver.2.7.* or higher.
System Configuration
RC8 connects with IAI PCON (hereafter, PCON) through RS485 communication.
Connecting an RS422A micro-converter into RC8 allows RS485 communication. RS485 communication can be established by an RS485 board though, the communication method is different, therefore, do not use an RS485 board.
One robot controller can connect to several PCONs with daisy chain connection though, you need to set different ID for each PCON. This ID is used to identify each PCON at the command execution.
License
To use this function, you need to prepare the IAI PCON provider license.
For how to enter a license key, refer to “Registering License” in OPTION.
Setting Procedure
Using WINCAPSIII or the teach pendant, specify “VRC” parameters for the robot controller as follows. For details of the operation procedures, refer to “Configuring Parameters” or “VRC Setting”.
| No. | Name | Setting value |
|---|---|---|
| 84 | IAI Enable/Disable Setting | Enable |
| 94 | IAI device address0 Enable/Disable Setting | Enable |
| 110 | IAI device address0 device type | 2 (PCON) |
List of Commands
The following table shows the command list.
For an asterisk written after IAI, enter an ID of the control target PCON.
| Command Name | Function | Command name in IAI |
|---|---|---|
| IAI*.ReadAlarmInfo | Obtains the latest alarm information. | ALAO, ALCO, ALTO |
| IAI*.ReadPositionData | Obtains position data. | PCMD, INP, VCMD, ZNMP, ZNLP, ACMD, DCMD, PPOW, LPOW, CTLF |
| IAI*.ReadCurrentPosition | Obtains the current position. | PNOW |
| IAI*.ReadCurrentAlarmCode | Obtains the alarm code currently issued. | ALMC |
| IAI*.ReadDSS1 | Obtains the value of device status register 1. | DSS1 |
| IAI*.ReadDSS2 | Obtains the value of device status register 2. | DSS2 |
| IAI*.ReadDSSE | Obtains the value of the expansion device status register. | DSSE |
| IAI*.SwitchServo | Turns ON/OFF the servo. | SON |
| IAI*.ResetAlarm | Resets the alarm. | ALRS |
| IAI*.Pause | Pause and release. | STP |
| IAI*.Home | Returns to the home position. | HOME |
| IAI*.SwitchJogInching | Switches between jogging and inching. | JISL |
| IAI*.GetCurrentPositionData | Obtains the position data. | TEAC |
| IAI*.JogPlus | Executes jogging or inching motion to the opposite to the home direction. | JOG+ |
| IAI*.JogMinus | Executes jogging or inching to the home direction. | JOG- |
| IAI*.SwitchPIOModbus | Enables/disables the Modbus command. | PMSL |
| IAI*.Stop | Starts deceleration to a stop. | STOP |
| IAI*.MovePTP | Moves to a target position by entering a numerical value. | PCMD, INP, VCMD, ACMD, PPOW, CTLF |
| IAI*.WritePositionData | Writes position data. | PCMD, INP, VCMD, ZNMP, ACMD, PPOW, LPOOW, CTLF |
Example
'!TITLE "IAI Sample:PCON ID=1"
Sub Main
' Reset the alarm
IAI1.ResetAlarm False
IAI1.ResetAlarm True
' Enable the Modbus command
IAI1.SwitchPIOModbus False
IAI1.SwitchPIOModbus True
' Servo ON
IAI1.SwitchServo True
' Return to the home position
IAI1.Home False
IAI1.Home True
Delay 3000
' Move 5.00mm
IAI1.MovePTP 500, 10, 1000, 30, 0, 8 ' target position 500x0.01mm
Delay 1000
' Move -5.00mm
IAI1.MovePTP -500, 10, 1000, 30, 0, 8 ' target position -500x0.01mm
Delay 1000
' Servo OFF
IAI1.SwitchServo False
' Disable the Modbus command
IAI1.SwitchPIOModbus False
End SubID : 3374