IAI SCON-CA Instruction Manual
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IAI SCON-CA Instruction Manual

Linear servo actuator position controller
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SCON-CA/CAL/CGAL
Controller
Instruction Manual
Eighth Edition

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Summary of Contents for IAI SCON-CA

  • Page 1 SCON-CA/CAL/CGAL Controller Instruction Manual Eighth Edition...
  • Page 3 • The product cannot be operated in any way unless expressly specified in this Instruction Manual. IAI shall assume no responsibility for the outcome of any operation not specified herein. • Information contained in this Instruction Manual is subject to change without notice for the purpose of product improvement.

  • Page 5: Table Of Contents

    SCON-CAL/CGAL··················································································· 31 1.4 I/O Specifications ·························································································· 32 1.4.1 PIO Input and Output Interface ·································································· 32 1.4.2 Pulse Train Input Output Interface (Dedicated for SCON-CA) ··························· 33 1.5 Options ······································································································· 33 1.5.1 Pulse Converter : AK-04 (Dedicated for SCON-CA) ········································ 33 1.5.2 Pulse Converter : JM-08 (Dedicated for SCON-CA)········································...
  • Page 6 2.2 Pulse Train Control Mode (SCON-CA Type) ························································ 67 2.2.1 Wiring Diagram (Connection of Construction Devices) ···································· 67 2.2.2 I/O Signals in Pulse Train Control Mode······················································· 69 2.2.3 Circuit Diagram ······················································································ 70 Main Power Circuit ················································································· 70 Brake Power Supply Circuit ······································································ 70 Emergency Stop Circuit ···········································································...
  • Page 7 Operation Ready for Pressing Operation Using Force Sensor (Calibration of Loadcell) (Dedicated for SCON-CA) ······································· 156 Initial Setting ························································································ 157 Calibration of Loadcell (CLBR, CEND) ······················································· 158 3.3 Operation in Pulse Train Control Mode (Dedicated for SCON-CA)··························· 160 3.3.1 I/O Signal Controls ················································································· 161 3.3.2 Operation Ready and Auxiliary Signals ·······················································...
  • Page 8 8.3 Servo Adjustment ························································································· 244 Chapter 9 Troubleshooting ············································································ 247 9.1 Action to Be Taken upon Occurrence of Problem················································· 247 9.1.1 WRG LED (Specified only for SCON-CA/CGAL) ··········································· 248 9.2 Fault Diagnosis···························································································· 249 9.2.1 Impossible Operation of Controller····························································· 249 9.2.2 Positioning and Speed of Poor Precision (Incorrect Operation) ························...
  • Page 9 10.5 List of Specifications of Connectable Actuators ··················································· 304 10.5.1 List of Specifications for Actuator Operation Conditions ·································· 304 10.5.2 Specifications and Limitations in Pressing Operation of RCS2-RA13R (Dedicated for SCON-CA)········································································ 348 Pressing Force and Current-Limiting Value ················································· 348 Limitation in Operation············································································ 349 Chapter 11 Warranty ···············································································...

  • Page 11: Safety Guide

    Safety Guide “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product. Safety Precautions for Our Products The common safety precautions for the use of any of our robots in each operation. Operation Description Description...
  • Page 12 Operation Description Description Transportation ● When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. ● When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
  • Page 13 Operation Description Description Installation (2) Cable Wiring and Start ● Use our company’s genuine cables for connecting between the actuator and controller, and for the teaching tool. ● Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil it around.
  • Page 14 Operation Description Description Installation (4) Safety Measures and Start ● When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. ●...
  • Page 15 Operation Description Description Trial ● When the work is carried out with 2 or more persons, make it clear who Operation is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. ●...
  • Page 16 Operation Description Description Maintenance ● When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well Inspection with each other to ensure the safety of the workers. ●...
  • Page 17 Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the Instruction Manual for each model. Level Degree of Danger and Damage Symbol This indicates an imminently hazardous situation which, if the Danger Danger product is not handled correctly, will result in death or serious...

  • Page 18: Difference Between Scon-Ca And Scon-Cal/Cgal

    Difference between SCON-CA and SCON-CAL/CGAL Shown in the table below is the list of differences in the main features between SCON-CA Controller Places with bolded letters are the differences. and SCON-CAL/CGAL Controller. Comparison Table for Main Features of SCON-CA and SCON-CAL/CGAL...

  • Page 19: Precautions In Operation

    (2) Hard-copy the information of position tables and parameters on paper 3. Set the operation patterns. SCON-CA controller is capable for 9 types of control logics (including 8 types of PIO patterns and pulse train control) and SCON-CAL/CGAL Controller is capable for 6 types of PIO patterns to meet various ways of usage and changes the role of each PIO signal following the selected control logic.
  • Page 20 Attempt not to exceed the actuator specifications in the pulse train control mode (dedicated for SCON-CA). In the pulse train control, the acceleration/deceleration speed is also controlled by the change of the command pulse frequency from the host controller. The use of the actuator with exceeding acceleration/deceleration speed may cause a malfunction.
  • Page 21 10. Limitations on operation of rotary actuator in index mode Rotary actuators of 360-degree specification can select the normal mode for finite rotations or the index mode enabling multi-rotation control by using parameter No.79 “Rotational axis mode selection”. [Refer to Chapter 8 I/O Parameter.] The following limitations are applied to the index mode: Controllers of absolute specification cannot select the index mode.
  • Page 22 • IAI products equip a built-in drive cutoff relay considering customer’s usage. However, as described above, whether it can be used or not relies on such facts as the safety demand level and frequency of drive cutoff.

  • Page 23: International Standards Compliances

    International Standards Compliances SCON-CA/CAL/CGAL comply with the following international standards: Refer to Overseas Standard Compliance Manual (ME0287) for more detailed information. Controller RoHS Directive CE Marking SCON-CA (Note) SCON-CAL/CGAL × (Note) (Note) Except for MECHATROLINK Connection Type UL (Dedicated for SCON-CA) 1.

  • Page 24: Name For Each Parts And Their Functions

    Name for Each Parts and Their Functions SCON-CA 8) Status Indicator LEDs 9) Connector for Pulse 7) Axis Number Train Control Setting Switch 6) Operation Mode Changeover Switch 10) PIO Connector 5) System I/O Connector 11) Operation Mode Setting Switch...
  • Page 25 SCON-CAL/CGAL 5) System I/O Connector 8) Status Indicator LEDs 4) Regeneration 10) PIO Connector Unit Connecting Connector 11) Operation Mode Setting Switch 12) SIO Connector 3) Motor Connector 13) Brake Release Switch 14) Brake Power Supply Connector 2) Power Supply 15) Encoder Connector Connector 1) FG Connection...
  • Page 26 Operation Mode Changeover Switch SCON-CAL/CGAL is not equipped with this switch. [Refer to 3.3 Operation in Pulse Train Control Mode.] This switch is used to change from the positioner mode to the pulse train control mode or vice versa. Front Panel Name Description Operation mode changeover switch...
  • Page 27 8) Status Indicator LEDs (PWR, SV, ALM, EMG, WRG) SCON-CA is not equipped with WRG. Following show the controller operation status: ○ : Illuminating × : OFF Δ : Illuminating or OFF Operation status PWR (GN) SV (GN) ALM (OR)
  • Page 28 17) Absolute Battery Holder (for absolute type) This is the holder for the storage of the absolute battery. Caution : If it is Pulse Train Control, it would not comply with absolute type.

  • Page 29: Actuator Axes

    Actuator Axes Refer to the pictures below for the actuator axes that can be controlled by SCON-CA. 0 defines the home position, and items in ( ) are for the home-reversed type (option). Caution : There are some actuators that are not applicable to the origin reversed type. Check further on the catalog or the Instruction Manual of the actuator.
  • Page 30 (5) Gripper Type Finger Attachment (6) Rotary Type (300° Rotation Specification) (360° Rotation Specification) 0° 300° (360° Rotation Specification) For Multiple Rotation Type with the origin reversed type, the directions of + and – are the other way around.

  • Page 31: Starting Procedures

    Starting Procedures 1. Positioner Mode When using this product for the first time, make sure to avoid mistakes and incorrect wiring by referring to the procedure below. “PC” stated in this section means “PC software”. No → Check of Packed Items Contact us or our distributor.
  • Page 32 2. Pulse Train Control Mode (SCON-CA Dedicated) This product is capable for the positioning control using the pulse train of IAI actuators. It is necessary to have the positioning control function able to output the pulse train on the host controller (PLC).

  • Page 33: Chapter 1 Specifications Check

    *** : 020 = 2 [m] Service Connector for Plug : 10114-3000PE (Supplier : 3M) Enclosed in Pulse Train Control Shell : 10314-52F0-008 (Supplier : 3M) SCON-CA System I/O Plug FMC1.5/4-ST-3.5 (Supplier : Phoenix Contact) Applicable Cable Size 0.5mm Brake Power Supply Plug MC1.5/2-ST-3.5 (Supplier : Phoenix Contact)

  • Page 34: Instruction Manuals Related To This Product, Which Are Contained In The Instruction Manual (Dvd)

    Instruction Manual for the Serial Communication [for Modbus] ME0162 ROBONET Instruction Manual ME0208 1.1.4 How to Read the Model Plate [1] SCON-CA, SCON-CAL/CGAL (side surface) Model MODEL : SCON-CA-60A-NP-2-1 SERIAL No. : 800056144 L11 INPUT : 1 φ, 100-115v, 50/60Hz, 0.9A...

  • Page 35: How To Read The Model Of The Controller

    PRT : PROFINET-IO Connection Type : Absolute (Note 1) : Spurious Absolute <Option> Not Indication : Standard Type : High Accel/Decel Type (Note 1) : Index Absolute Type (DD) (Note 1) : Multi-Rotation Absolute Type (DD) (Note 1) Specified only for SCON-CA...

  • Page 36: Basic Specifications

    Basic Specifications 1.2.1 Specifications SCON-CA Item SCON-CAL/CGAL Less than 400W 400W or more (Note 4) Corresponding Motor Capacity 12W to 399W 400W to 750W 12W to 200W Single-Phase 100 AC to Single-Phase 100 to 115V 115V AC ±10% Single-Phase 200 to 230V...
  • Page 37 SCON-CA Item SCON-CAL/CGAL Less than 400W 400W or more (Note 4) Pulse Train Input Pulse Differential System (Line Driver System) : MAX. 2.5Mpps Interface Frequency Open Collector Type : MAX. 200Kpps (under condition (Dedicated AK-04 is used) for PIO Command Pulse 1/50 <...

  • Page 38: Power Capacity And Heat Generation

    1.2.2 Power Capacity and Heat Generation Rated Power Capacity = Motor Power Capacity + Control Power Capacity Peek Max. Power Capacity = Peek Max. Motor Power Capacity + Control Power Capacity Actuator Motor Motor Power Peek Max. Motor Control Power Rated Power Peek Max.

  • Page 39: Selection Of Leak Current Breaker

    1.2.4 Selection of Leak Current Breaker • A ground fault circuit interrupter needs to be selected carefully considering the purposes of prevention of fire and protection of human. • Leak current varies depending on the capacity of connected motor, cable length and the surrounding environment.

  • Page 40: Appearance

    (Absolute Encoder Type) It is not necessary when using Pulse Train Control because it does not comply with it. 1.3.2 SCON-CA 400W or More min80 In Absolute Battery Attachment (Absolute Encoder Type) It is not necessary when using Pulse Train Control...

  • Page 41: Scon-Cal/Cgal

    1.3.3 SCON-CAL/CGAL DIN Rail (8.5) 130.7 φ4.5 For DIN Rail 22.5 * There is no DIN rail part on the type with screw attachment. Mounting Type For Screw-fixed Type...

  • Page 42: I/O Specifications

    I/O Specifications 1.4.1 PIO Input and Output Interface Input Section Output Section Input Voltage 24V DC ±10% Load Voltage 24V DC Peak Load 50mA/1 point Input Current 4mA 1circuit Electric 400mA/(Load current total) Current Specification ON Voltage MIN. 18V DC ON/OFF Voltage Leakage Current MAX.

  • Page 43: Pulse Train Input Output Interface (Dedicated For Scon-Ca)

    1.4.2 Pulse Train Input Output Interface (Dedicated for SCON-CA) Line Driver Input Output Input pulse equivalent to Line Driver 26C31 Output pulse equivalent to Line Receiver 26C32 26C31 or equiv Controller 26C32 or equiv Controller Specification Pulse Train Including active high and active low...

  • Page 44: Pulse Converter : Jm-08 (Dedicated For Scon-Ca)

    1.5.2 Pulse Converter : JM-08 (Dedicated for SCON-CA) The pulse converter converts feedback pulses in the differential mode into those in the open collector mode. Use this converter if the host controller sends input pulses in the open collector mode.

  • Page 45: Regenerative Unit (Option)

    1.5.3 Regenerative Unit (Option) This is a unit that converts the regenerative current to heat when the motor decelerates. Refer to 2.3.6 Connection of Regenerative Unit for the number of connectable units. [Model Codes and Specifications of Enclosed Items] Item Enclosed Items SCON controller connection Screw attachment standard type...

  • Page 46: Brake Box: Rcb-110-Ra13-0 (Option)

    1.5.4 Brake Box: RCB-110-RA13-0 (Option) 1 unit of Brake Box possesses brakes for 2 shafts. [Specification] Item Specification Body Size 162 × 94 × 65.5mm Power Voltage and Current 24V DC ±10% 1A Connection Cable Encoder Cable (Model Code CB-RCS2-PLA010) 1m Number of Controlled Axes [Appearance] Primary...

  • Page 47: Loadcell (Dedicated For Scon-Ca Option)

    1.5.5 Loadcell (Dedicated for SCON-CA Option) This is the pressing force detection unit that is used for the pressing operation using force sensor. This is used by connecting to the actuator corresponding to the pressing operation using force sensor. [Specification]...

  • Page 48: Installation And Storage Environment

    Installation and Storage Environment This product is capable for use in the environment of pollution degree 2 or equivalent. *1 Pollution Degree 2 : Environment that may cause non-conductive pollution or transient conductive pollution by frost (IEC60664-1) [1] Installation Environment Do not use this product in the following environment.

  • Page 49: Noise Elimination And Mounting Method

    1.7 Noise Elimination and Mounting Method (1) Noise Elimination Grounding (Frame Ground) Other Controller equipment Controller Connect using FG connection terminal on the main unit. Field wiring terminals shall be Other Other Controller marked with wire range (More equipment equipment than AWG14), conductor material (Cu), insulation temperature rating (More than...
  • Page 50 Design and Build the system considering the size of the controller box, location of the controller and cooling factors to keep the ambient temperature around the controller below 40°C Please fan to make the ambient temperature even. SCON-CA 10mm or more Air Flow...
  • Page 51 SCON-CAL/CGAL 10 mm 10 mm 10 mm 1 mm 1 mm or more or more or more or more or more 150 mm or more Air flow Apply screws sized M4 × 10mm when attaching the product with screws. Caution for DIN Rail Type Insertion and removal of a connector is assumed for the external force applied to the product.

  • Page 53: Chapter 2 Wiring

    Chapter 2 Wiring 2.1 Positioner Mode (PIO Control) 2.1.1 Wiring Diagram (Connection of Construction Devices) 2.1.1.1 SCON-CA Basic Wiring Diagram LED Display (Note1) Regenerative Resistor Unit (RESU-2 : option) Power Source for (Note1) I/O Control Required depending Teaching pendant (option)
  • Page 54 Wiring Layout for RCS-RA13R or NS Type with Option (between actuator and controller) (1) RCS2-RA13R Equipped with Brake, with no Loadcell, or NS Actuators with Brake Power Supply for Brake 24V DC CB-RCS2-PLA010 (enclosed to Brake Box) Connect to Back Side For LS (option) Brake Box Absolute Battery...

  • Page 55: Scon-Cal/Cgal

    2.1.1.2 SCON-CAL/CGAL Basic Wiring Diagram LED Display Host Teaching Pendant Control (Option) EMG Switch System Regenerative Resistor Unit Changeover Required in some conditions of use. Switch Brake Release Switch Dummy Plug Brake Power DP-5 24V DC Supply Noise Filter Required for noise prevention.

  • Page 56: Pio Pattern Selection And Pio Signal

    PIO Pattern Selection and PIO Signal (1) PIO Pattern (Control Pattern) Selection SCON-CA Controller possesses 8 types of control logics, PIO Patterns 0 to 7, while SCON-CAL/CGAL Controller possesses 6, PIO Patterns 0 to 5. Set the most suitable PIO pattern with the actual use to Parameter No.
  • Page 57 Selectable PIO Patterns for SCON-CA Value set in Type parameter Mode Overview No. 25 • Number of positioning points : 32 points Pressing Operation Using • Position command : binary code Pattern 6 Force Sensor • Position zone signal output...
  • Page 58 (2) PIO Patterns and Signal Assignment The signal assignment of I/O flat cable by the PIO pattern is as shown below. Follow the following table to connect the external equipment (such as PLC). Parameter No.25 (PIO Pattern) Selection Category PIO Functions Positioning Mode Teaching mode 256-point mode...
  • Page 59 Parameter No.25 (PIO Pattern) Selection (Note3) (Note3) Category PIO Functions Pressing Operation Pressing Operation Solenoid Valve Mode 1 Solenoid Valve Mode 2 Using Force Sensor Using Force Sensor Mode 1 Mode 2 Number of positioning 7 points 3 points 32 points 5 points points Home return signal...
  • Page 60 ST0 to ST6 Start Signal 3.2.5 signal ON during the electromagnetic valve mode. Signal with “*” expresses the signal of active low. In the controller, the process is held when the input signal is turned OFF. (Note) Dedicated for SCON-CA...
  • Page 61 (and before home-return 3.2.5 operation in PIO Pattern 5). Signal with “*” expresses the signal of active low. It is ON when the power is applied to the controller, and turns OFF when the signal is output. (Note) Dedicated for SCON-CA...

  • Page 62: Circuit Diagram

    2.1.3 Circuit Diagram Sample circuit diagrams are shown below. [1] Main Power Circuit L1 L2 Circuit Breaker SCON Power Supply Input Connector Noise Filter Earth Leakage Breaker Motor Power Unit [Refer to 2.3.1] Control Power Supply Surge Protector (Note) The power voltage of the controller (100V AC or 200V AC) cannot be changed. [2] Brake Power Supply Circuit 24V DC SCON...

  • Page 63: Emergency Stop Circuit

    [3] Emergency Stop Circuit It is the example of circuit layout when an emergency switch of the touch panel teaching or the teaching pendant is used to the emergency stop circuit of the equipment. SCON-CA/CAL Emergency stop switch for the teaching pendant...
  • Page 64 SCON-CGAL Emergency stop switch for the teaching pendant Emergency stop Emergency stop reset switch switch System I/O SIO connector connecter (Note 3) Emergency stop circuit exclusive use 24V EMG+ (Note 1) EMG- AC power supply AC100V (Note 2) input connector AC200V Motor power supply...

  • Page 65: Motor • Encoder Circuit

    [4] Motor • Encoder Circuit Connection of Short-Axis Robot (excluding RCS2-RA13R equipped with brake/loadcell and NS Series equipped with brake) SCON Encoder Encoder Cable Note 1 Connector Motor Connector Motor Cable Note 2 Note 1 Applicable Encoder Cable types □□□ : cable length Example) 030 = 3m Actuator Type Cable...
  • Page 66 Connection of RCS2-RA13R actuator equipped with brake or NS-type equipped with brake Brake Box 24V DC 24V DC (RCB-110-RA13) CB-RCS2 CONTROLLER1 -PLA□□□ SCON Encoder Input Connector Brake Power • NS Type Supply Connector Limit Switch • RCS2-RA13R (Equipped with brake) Connector PWR- ACTUATOR1...
  • Page 67 Connection of actuator RCS2-RA13R equipped with loadcell but not equipped with brake RCS2-RA13R SCON (Equipped with loadcell) Brake Power Supply Connector Encoder CB-RCS2-PLLA□□□ Connector CB-RCC-MA□□□ Motor Connector CB-LDC-CTL□□□ (Cable in the cable track) Connection of actuator RCS2-RA13R equipped with loadcell and brake Brake Box 24V DC 24V DC...

  • Page 68: Pio Circuit

    [5] PIO Circuit PIO Pattern 0 ············ Positioning Mode (Standard Type) 0V(NPN Type) 24V DC(NPN Type) 24V DC(PNP Type) 0V(PNP Type) SCON PIO Connector BR- 1 BR- 3 Completed Position No.1 24V DC RD- 1 RD- 3 Completed Position No.2 Supply OR- 1 OR- 3...
  • Page 69 PIO Pattern 1 ············ Teaching mode (Teaching type) 0V(NPN Type) 24V DC(NPN Type) 24V DC(PNP Type) 0V(PNP Type) SCON PIO Connector BR- 1 BR- 3 Completed Position No.1 24V DC RD- 1 RD- 3 Completed Position No.2 Supply OR- 1 OR- 3 Completed Position No.4 YW- 3...
  • Page 70 PIO Pattern 2 ············ 256-point mode (Number of positioning points : 256-point type) 0V(NPN Type) 24V DC(NPN Type) 24V DC(PNP Type) 0V(PNP Type) SCON PIO Connector BR- 1 BR- 3 Completed Position No.1 24V DC RD- 1 RD- 3 Completed Position No.2 Supply OR- 1 OR- 3...
  • Page 71 PIO Pattern 3 ············ 512-point mode (Number of positioning points : 512-point type) 0V(NPN Type) 24V DC(NPN Type) 24V DC(PNP Type) 0V(PNP Type) SCON PIO Connector BR- 1 BR- 3 Completed Position No.1 24V DC RD- 1 RD- 3 Completed Position No.2 Supply OR- 1 OR- 3...
  • Page 72 PIO Pattern 4 ············· Solenoid Valve Mode 1 (7-point type) 0V(NPN Type) 24V DC(NPN Type) 24V DC(PNP Type) 0V(PNP Type) SCON PIO Connector BR- 1 BR- 3 Current Position No.0 24V DC RD- 1 RD- 3 Current Position No.1 Supply OR- 1 OR- 3 Current Position No.2...
  • Page 73 PIO Pattern 5 ············· Solenoid Valve Mode 2 (3-point type) 0V(NPN Type) 24V DC(NPN Type) 24V DC(PNP Type) 0V(PNP Type) SCON PIO Connector BR- 3 BR- 1 Backward End Detection 24V DC RD- 1 RD- 3 Forward End Detection Supply OR- 1 OR- 3 Intermediate Position Detection...
  • Page 74 PIO Pattern 6 ············· Pressing Operation Using Force Sensor Mode 1 (Standard type) (Dedicated for SCON-CA) 0V(NPN Type) 24V DC(NPN Type) 24V DC(PNP Type) 0V(PNP Type) SCON PIO Connector BR- 1 BR- 3 Completed Position No.1 24V DC RD- 1 RD- 3 Completed Position No.2...
  • Page 75 PIO Pattern 7 ············· Pressing Operation Using Force Sensor Mode 2 (Solenoid valve type) (Dedicated for SCON-CA) 0V(NPN Type) 24V DC(NPN Type) 24V DC(PNP Type) 0V(PNP Type) SCON PIO Connector BR- 1 BR- 3 Current Position No.0 24V DC RD- 1 RD- 3 Current Position No.1...

  • Page 76: Regenerative Units Circuit

    [6] Regenerative Units Circuit Regenerative Units SCON REU2 (RESU-2, RESUD-2) CB -SC -REU010 RB IN Regenerative Units Connector CB -ST -REU010 RB OUT Regenerative Units REU1 (RESU-1, RESUD-1) RB IN RB OUT...

  • Page 77: Pulse Train Control Mode (Scon-Ca Type)

    2.2 Pulse Train Control Mode (SCON-CA Type) 2.2.1 Wiring Diagram (Connection of Construction Devices) [1] Basic Wiring Diagram Power Source for (Note1) I/O Control 24V DC AK-04 (option) AK-04 (option) Necessary when PLC is Necessary when PLC is open collector output...
  • Page 78 RCS2-RA13R Equipped with Brake, with no Loadcell, or NS Actuators with Brake Power Supply for Brake 24V DC CB-RCS2-PLA010 (enclosed to Brake Box) Connect to Back Side For LS (option) Brake Box Absolute Battery For LS (option) (for Absolute Type) •...

  • Page 79: I/O Signals In Pulse Train Control Mode

    2.2.2 I/O Signals in Pulse Train Control Mode The table below shows the signal assignment of the flat cable in the pulse train control mode. Follow the following table to connect the external equipment (such as PLC). Signal Relevant Category I/O No.

  • Page 80: Circuit Diagram

    2.2.3 Circuit Diagram Sample circuit diagrams are shown below. [1] Main Power Circuit L1 L2 Circuit Breaker SCON Power Supply Input Connector Noise Filter Earth Leakage Breaker Motor Power Unit [Refer to 2.3.1] Control Power Supply Surge Protector (Note) The power voltage of the controller (100V AC or 200V AC) cannot be changed. [2] Brake Power Supply Circuit 24V DC SCON...

  • Page 81: Emergency Stop Circuit

    [3] Emergency Stop Circuit It is the example of circuit layout when an emergency switch of the touch panel teaching or the teaching pendant is used to the emergency stop circuit of the equipment. Emergency stop switch for the teaching pendant Emergency stop Emergency stop reset switch...

  • Page 82: Motor • Encoder Circuit

    [4] Motor • Encoder Circuit Connection of Short-Axis Robot (excluding RCS2-RA13R equipped with brake/loadcell and NS Series equipped with brake) SCON Encoder Encoder Cable Note 1 Connector Motor Connector Motor Cable Note 2 Note 1 Applicable Encoder Cable types □□□ : cable length Example) 030 = 3m Actuator Type Cable...

  • Page 83: Pio Circuit

    [5] PIO Circuit 0V(NPN Type) 24V DC(NPN Type) 24V DC(PNP Type) 0V(PNP Type) SCON PIO Connector BR- 1 BR- 3 System Ready 24V DC RD- 1 RD- 3 Servo ON Status OR- 1 OR- 3 Position Completion YW- 1 YW- 3 Home Return Completion HEND GN- 1...

  • Page 84: Circuits For Pulse Train Control

    [6] Circuits for Pulse Train Control When Host Unit is Differential System ● SCON PULSE Connector for Pulse Train Control Host Unit CB-SC-PIOS□□□ Positioning Unit Pulse Command (Line Driver : 26C31 or equiv.) Counter Unit A-Phase Feedback Pulse /AFB (Line Receiver B -Phase Feedback Pulse /BFB : 26C32 or equiv.)

  • Page 85: Regenerative Units Circuit

    [7] Regenerative Units Circuit Regenerative Units SCON REU2 (RESU-2, RESUD-2) CB -SC -REU010 RB IN Regenerative Units Connector CB -ST -REU010 RB OUT Regenerative Units REU1 (RESU-1, RESUD-1) RB IN RB OUT...

  • Page 86: Wiring Method

    Wiring Method 2.3.1 Wiring of Power Circuit Supply the appropriate power from the following considering the controller type. Power Supply Type Specifications Reference Motor Power Supply 100V Specification : 100 to 115V AC ±10% 50/60Hz Control Power Supply 200V Specification : 200 to 230V AC ±10% 50/60Hz I/O Power Supply 24V DC ±10% When the PIO is used...
  • Page 87 Power Supply Connector Model Remarks Cable Side MSTB2.5/6-STF-5.08 Enclosed in standard package Controller Side MSTB2.5/6-GF-5.08 Note 1 The input power voltage cannot be changed after the delivery. Supply the power voltage that meets the specification. Pin No. Signal Name Contents Applicable cable diameter Motor AC power input (AWG14)

  • Page 88: Wiring For Emergency Stop Circuit (System I/O)

    2.3.2 Wiring for Emergency Stop Circuit (System I/O) Make sure to construct the wiring of the emergency stop circuit considering the suitability to the Safety Category of the whole system. System I/O Connector Model Remarks Cable Side FMC1.5/4-ST-3.5 Enclosed in standard package Controller Side MC1.5/4-G-3.5 Pin No.

  • Page 89: Connection To Actuator

    Motor Connector (MOT) Model Remarks Cable Side GIC2.5/4-STF-7.62 Controller Side GIC2.5/4-GF-7.62 Pin No. Signal Name Contents Applicable cable diameter Protective ground line Motor drive phase U Cable dedicated for IAI actuators Motor drive phase V Motor drive phase W...
  • Page 90 SRD+ (Pulse/Magnetic Pole Changeover +) Send/Receive Difference - SRD- (Pulse/Magnetic Pole Changeover -) LC_SRD+ Loadcell Communication + Cable dedicated for IAI LC_SRD- Loadcell Communication - encoders Unconnected E24V Sensor Power Output 24V Power Supply GND BAT+ Backup Battery Power Supply...
  • Page 91 Communication + Serial Encoder SRD- Communication - Unconnected 24VOUT Sensor 24V Power Supply + Cable dedicated for IAI Sensor 24V Power Supply - encoders BAT+ ABS Battery Power Supply + BAT- ABS Battery Power Supply - Encoder Power Supply +...

  • Page 92: Connection Of Pio

    2.3.4 Connection of PIO Conduct the connection of I/O to the controller is to be carried out using the dedicated I/O cable. Cable length is to be indicated in the controller model code. Please check the controller model code. A desired I/O cable can be selected from 2m (standard), 3m, and 5m cables. Up to 10m I/O cables are sold separately.

  • Page 93: Connection Of Pulse Train Signal (Dedicated For Scon-Ca)

    2.3.5 Connection of Pulse Train Signal (Dedicated for SCON-CA) Only the plug and the shell are equipped for the standard type. Perform the same cable layout as the optional connector cable for the pulse train control. [1] Standard Type (Plug + Shell) The plug and shell are standard accessory.
  • Page 94 The pulse converter converts command pulses in the open collector mode to those in the differential mode. Use this converter if the host controller sends output pulses in the open collector mode. Host Controller SCON-CA (PLC etc.) e-CON Connector e-CON Connector...
  • Page 95 Use this converter in the case the pulse input of the host controller is open collector (24V) type. Host Controller SCON-CA (PLC etc.) Caution 1) Pay attention not to insert wrongly because it is the same e-CON connector as input and output.

  • Page 96: Connectable Regenerative Units

    2.3.6 Connectable Regenerative Units Connect regenerative unit (s) with attached cables as shown in the figure below. 1) When connecting 1 unit : Connect with enclosed cable (CB-SC-REU) 2) When connecting 2 or more units : Connect with enclosed cable (CB-ST-REU) Regeneration Unit SCON Regeneration Unit...
  • Page 97 Less than 400W · · · · ·SCON-CA : 2 units, SCON-CAL/CGAL : 1 unit 400W or more · · · · · · 4 units (Never attempt to connect more than described above since it may cause a malfunction.)

  • Page 98: Sio Connector Connection

    Teaching Tool Power Supply Enable Signal Input Cable dedicated for EMGA Emergency Stop Signal A IAI products Power Supply for Teaching Tool EMGB Emergency Stop Signal B Shell Caution : If the controller is connected with a teaching tool, set the operation mode setting switch to MANU.

  • Page 99: Chapter 3 Operation

    Basic Operation Methods There are two types, Positioner Mode and Pulse Train Control Mode, for the operation of SCON-CA. Select the suitable one considering the system function. The operation method for SCON-CAL/CGAL is Positioner Mode. There are various types of actuators including slider, rod, rotary and gripper types. The same operation control method is applicable unless particular descriptions are contained in this manual.

  • Page 100: Parameter Settings

    (2) Pulse Train Control Mode (Dedicated for SCON-CA) Command Complete Pulse Signal Signal Enter an electronic gear ratio. Edit Parameters of controller Teaching Pendant or Actuator Controller PC software Set the pulse train format and the electric gear ratio (the distance of actuator movement in mm against 1 pulse) to the parameters in the controller with using a teaching tool such as PC software.

  • Page 101: Operation In Positioner Mode

    3.2 Operation in Positioner Mode SCON-CA controller has a function to switch over the mode between Positioner Mode and Pulse Train Control Mode with the switch on the front of the controller. In the positioner mode, the following 8 types of PIO pattern can be selected with a proper parameter. Six types of PIO Patterns are available to select from for SCON-CAL/CGAL Controller.

  • Page 102: Pio Pattern Selection And Main Functions

    Pressing (tension) × Δ Δ Pressing in use of force sensor × × × × × × (dedicated for SCON-CA) Pitch Feeding × (relative moving feed) Home return signal × input Pause Δ Jog moving signal × × × ×...

  • Page 103: Overview Of Major Functions

    Pressing in use of force sensor Highly precise pressing enabled by measuring the current pressing force by (dedicated for SCON-CA) using a force sensor (loadcell) to control it Pitch Feeding Pitch feed by an arbitrary moving distance set in the position table enabled...

  • Page 104: Set Of Position Table

    3.2.1 Set of Position Table (This section is not required in selection of pulse train control mode.) The values in the position table can be set as shown below. For only positioning, only the position data may be written if specifying the speed, acceleration, and deceleration is not required.
  • Page 105 (3) If the carriage weight is extremely lighter than the rating carriage weight, acceleration/deceleration larger than their rating values to shorten the tact time. Please contact IAI for the settings in such situation. Inform us of the weight, shape and mounting method of the work and the installation conditions of the actuator.
  • Page 106 Positioning width [mm] ·····For positioning in PIO patterns 0 to 4, 6 or 7, the positioning complete signal is output if the remaining moving distance is entered within the zone set here. The unit is in 0.001mm when the DD motor is connected, and in 0.01mm for other cases. For pressing, the actuator is moved at the setup velocity and acceleration/deceleration in the same way as normal positioning to the position of the coordinate value set in 2) and...
  • Page 107 11) Acceleration / deceleration mode ····· Select a proper acceleration/deceleration pattern depending on the load. Acceleration/ Operation Value Deceleration Pattern Trapezoid Velocity Time S-motion Velocity (Refer to Caution at S-shaped Motion) Time Set the S-motion rate with parameter No.56. First-Order Velocity Delay Filter (Refer to Caution at...
  • Page 108 12) Incremental ··········· Set to 1 for pitch feed (relative movement = incremental feed). The value set for the position in 1) indicates the pitch feed distance. With the value set to 0, positioning is defined to the position in 1) based on the absolute coordinate system.
  • Page 109 14) Stop mode ············ Automatic servo OFF is enabled after a certain period from the completion of positioning for power saving. A proper period can be selected from three parameters. Setting Operation after completion of operation parameter No. Servo ON not changed –...

  • Page 110: Control Of Input Signal

    3.2.2 Control of Input Signal The input signal of this controller has the input time constant of 6ms considering the prevention of wrong operation by chattering and noise. (Note) Therefore, input each input signal for 6ms or more continuously. The signal cannot be identified if it is less than 6ms.

  • Page 111: Operation Mode (Rmod, Rmds)

    [2] Operation Mode (RMOD, RMDS) Input Output PIO signal RMOD RMDS Common to Patterns 0 to 7 : Available, ×: Unavailable Two operation modes are provided so that the operation by PIO signals does not overlap with the operation by a teaching tool such as PC software through SIO (serial) communication. The mode change is normally done by the operation mode setting switch ON the front panel of the controller.

  • Page 112: Servo On (Son, Sv, Pend)

    [3] Servo ON (SON, SV, PEND) Input Output PIO signal PEND Other than pattern 5 Pattern 5 × : Available, ×: Unavailable Servo ON signal SON is the input signal making the servo motor of the actuator operable. If the servo-on is performed to enable operation, the SV output signal is turned ON. Concurrently positioning completion signal PEND is turned ON.

  • Page 113: Home Return (Home, Hend, Pend, Move)

    [4] Home Return (HOME, HEND, PEND, MOVE) Input Output PIO signal HOME HEND PEND MOVE Patterns 0 and 1 Patterns 2 to 4 × Note1 Pattern 5 × × × Patterns 6 and 7 × : Available, ×: Unavailable Note 1: For pattern 5, the home return by the HOME signal is not allowed. Refer to 3.2.6 [1] Home Return (ST0, HEND) for how to perform a home-return operation.
  • Page 114 [Operation of Slider Type/Rod Type Actuator] Mechanical end Home With the HOME signal being ON, the actuator moves toward the mechanical end at the home return speed. The moving speed is 20mm/s for most actuators but less than 20mm/s for some actuators. Refer to the instruction manual of each actuator.
  • Page 115 [Operation of Rotary Actuator] Home = 0° Home sensor The actuator rotates in CCW (counterclockwise) direction from the view point of the load side. The velocity is either 20deg/s or 5deg/s. (It depends on the setting of each actuator.) At the home sensor input, the actuator is turned in the reverse direction and stopped at the home position.

  • Page 116: Zone Signal And Position Zone Signal (Zone1, Pzone)

    [5] Zone Signal and Position Zone Signal (ZONE1, PZONE) Output PIO signal (Note 2) (Note 2) ZONE1 PZONE Pattern 0 Pattern 1 × Pattern 2 × (Note 1) Pattern 3 × × Pattern 4 Pattern 5 Pattern 6 × Pattern 7 ×...
  • Page 117 (2) Position zone signal (PZONE) Accele- Decele- Thresh- Positioning Acceleration/ Position Velocity Pressing Zone+ Zone- Incre- Gain Stop ration ration width Deceleration [mm] [mm/s] [mm] [mm] mental mode [mm] mode 0.00 250.00 0.20 0.20 0.10 50.00 30.00 100.00 250.00 0.20 0.20 0.10 70.00...

  • Page 118: Alarm, Alarm Reset (*Alm, Res)

    [6] Alarm, Alarm Reset (*ALM, RES) Input Output PIO signal *ALM Common to Patterns 0 to 7 : Available, ×: Unavailable Alarm signal *ALM is set to ON in the normal status but turned OFF at the occurrence of an alarm at a level equal to or higher than the operation release level.

  • Page 119: Binary Output Of Alarm Data Output (*Alm, Pm1 To 8)

    [7] Binary Output of Alarm Data Output (*ALM, PM1 to 8) Output PIO signal *ALM PM1 to 8 Common to Patterns 0 to 3 (Note 1) Pattern 4 × (Note 1) Pattern 5 × Pattern 6 (Note 1) Pattern 7 ×...
  • Page 120 :OFF ALM8 ALM4 ALM2 ALM1 *ALM Binary Code Description: Alarm code is shown in ( ). (PM8) (PM4) (PM2) (PM1) Z-Phase Position Error (0B5) Magnetic Pole Indeterminacy (0B7) Home sensor non-detection (0BA) Home return timeout (0BE) Creep sensor not detected (0BF) Actual Speed Excessive (0C0) Overrun detected (0C2) Electromagnetic Brake Unrelease Error (0A5)

  • Page 121: Brake Release (Bkrl)

    [8] Brake release (BKRL) Input PIO signal BKRL Pattern 0 (Note 1) Pattern 1 × Pattern 2 to 7 : Available, ×: Unavailable Note 1 Pattern 1 does not have this feature The brake can be released while BKRL signal is set to ON. If a brake is installed in the actuator, the brake is automatically controlled by servo ON/OFF.

  • Page 122: Operation With The Position No. Input = Operations Of Pio Patterns 0 To 3 And 6

    3.2.4 Operation with the Position No. Input = Operations of PIO Patterns 0 to 3 and 6 This section describes the methods of operations of PIO patterns 0 to 3 and 6. These patterns provide normal controller operation methods in which the controller is operated by turning the start signal ON after a position No.
  • Page 123 Sample use 1) 2) 3) 4) 5) 6) 7) 8) Velocity Positioning Completion Signal Output Positioning Completion Signal Output Accele- Decele- Thresh- Positioning Acceleration/ Position Velocity Pressing Zone+ Zone- Incre- Gain Stop ration ration width Deceleration [mm] [mm/s] [mm] [mm] mental mode [mm]...
  • Page 124 Command position No. PC1 to PC** (PLC→Controller) T1≥6ms Turned OFF by Start signal CSTR turning PEND OFF (PLC→Controller) Completed position (Note 1) PM1 to PM**＝0 (Note 1) PM1 to PM**＝0 PM1 to PM** (Controller→PLC) Turned ON after Target Position entering into Positioning Completion Signal positioning width zone PEND...
  • Page 125 [Shortcut control of rotary actuator of multi-rotation specification] (1) Set of shortcut selection The shortcut selection can be made valid/invalid by Parameter No.80 “shortcut selection during rotation”. If the shortcut selection is made valid, the actuator can be moved only in a single direction.
  • Page 126 (2) Infinite Rotation Control Making the shortcut selection valid and moving the actuator in a specific direction continuously allows the actuator to be rotated continuously as a motor. The continuous operation can be done as described below. [Operation Examples] This example rotates the actuator by 2 turns and finally stops it at position No.4. Position No.1 Position No.

  • Page 127: Speed Change During The Movement

    [2] Speed change during the movement Sample use 1) 2) 6) 7) Positioning complete width at position 2 Velocity Positioning Completion Signal Output Positioning Completion Signal Output Accele- Decele- Thresh- Positioning Acceleration/ Position Velocity Pressing Zone+ Zone- Incre- Gain Stop ration ration width...

  • Page 128: Pitch Feeding (Relative Movement = Incremental Feed)

    [3] Pitch Feeding (relative movement = incremental feed) Sample use 2) 3) Velocity Accele- Decele- Thresh- Positioning Acceleration/ Position Velocity Pressing Zone+ Zone- Incre- Gain Stop ration ration width Deceleration [mm] [mm/s] [mm] [mm] mental mode [mm] mode 100.00 250.00 0.20 0.20 0.10...
  • Page 129 Caution: (1) If the actuator reaches the software limit corresponding to the stroke end in the pitch feed operation, the actuator stops at the position and positioning complete signal PEND is turned ON. (2) Note that, in pitch feed just after pressing operation (to be in the pressing state), the start position is not the stop position at the completion of pressing but the coordinate value entered in “Position”...

  • Page 130: Pressing Operation

    [4] Pressing operation Sample use 1) 2) 4) 5) Positioning width 50 Velocity Press-fitting process Caulking process Accele- Decele- Thresh- Positioning Acceleration/ Position Velocity Pressing Zone+ Zone- Incre- Gain Stop ration ration width Deceleration [mm] [mm/s] [mm] [mm] mental mode [mm] mode 0.00...
  • Page 131 Command position No. PC1 to PC** (PLC→Controller) (Note 1) T1≥6ms Turned OFF by turning PEND OFF Start signal CSTR (PLC→Controller) Completed position PM1 to PM** (Note 2) (Note 2) PM1 to PM**＝0 PM1 to PM**＝0 (Controller→PLC) Not turned ON for Positioning Completion Signal miss-pressing PEND...
  • Page 132 Caution: (1) The speed during pressing operation is set in Parameter No.34. Check the 10.5 List of Specifications of Connectable Actuators for the pressing operation speed. Do not set any value larger than the value in the list. If the speed set in the position table is equal to or less than the pressing speed, the pressing is performed at the setup speed.
  • Page 133 Judging completion of pressing operation (1) Normal case (PIO patterns 0 to 3): The operation monitors the torque (current limit value) in percent in “Pressing” of the position table and turns pressing complete signal PEND ON when the load current satisfies the condition shown below during pressing.
  • Page 134 Force judgment margins are described by percent of the base thrust in pressing operation using force sensor provided by the actuator. They should be set in Parameter No.95 and The pressing complete judging range is, Pressing setting value [%] + Force judgment margin+ [%] to Pressing setting value [%] –...
  • Page 135 Control method This is a function to detect whether the specified load is applied to the actuator by checking the torque while in press-fitting operation when having a press-fitting process with the pressing operation. If there is no resistance in press-fitting, the specified load would not be applied, thus it is defined as the normal pressing is not conducted and an alarm can be issued from PLC.

  • Page 136: Tension Operation

    [5] Tension Operation Warning: Do not perform tension operation by pressing operation using force sensor. The pressing operation using force sensor requires an actuator applicable for dedicated loadcell and pressing operation using force sensor. The tension operation by using an actuation equipped with loadcell causes the loadcell to be damaged.
  • Page 137 stopped by tension (pressing complete). If the actuator cannot be stopped during movement within the setting positioning width (miss-pressing), it moves by the setting distance to stop but PEND is not turned ON. Completed Position No. PM1 to PM** turn on both when the tension operation is complete and when miss-pressing.

  • Page 138: Multi-Step Pressing

    [6] Multi-step pressing Image diagram Position No.1 Position No.2 Position No.3 Accele- Decele- Thresh- Positioning Acceleration/ Position Velocity Pressing Zone+ Zone- Incre- Gain Stop ration ration width Deceleration [mm] [mm/s] [mm] [mm] mental mode [mm] mode 0.00 250.00 0.20 0.20 0.10 0.00 0.00...

  • Page 139: Teaching By Pio (Mode, Modes, Pwrt, Wend, Jisl, Jog+, Jog-)

    [7] Teaching by PIO (MODE, MODES, PWRT, WEND, JISL, JOG+, JOG-) Input Output PIO signal MODE JISL JOG+ JOG- PWRT MODES WEND Other than × × × × × × × pattern 1 Pattern 1 : Existence of signal, ×: No signal (Note) The feature is available only in pattern 1.
  • Page 140 Warning: (1) In home return incomplete state, software limit cannot stop the actuator. Take interlock and prohibit the operation or perform the operation carefully. (2) If the JISL signal is changed during inching operation, the inching being operated is continued. If JISL is changed during job operation, the jog is stopped.

  • Page 141: Pause And Operation Interruption (*Stp, Res, Pend, Move)

    Caution: (1) Set the period taken from entering position No. to turning the PWRT ON to 6ms or longer. In spite of 6ms timer process in the PLC, commands may be input to the controller concurrently to cause writing to another position. Take the scanning time in the PLC into account, set a period as 2 to 4 times as the scanning time.
  • Page 142 Control method Pause is possible during movement. In addition, the remaining moving distance can be cancelled to interrupt the operation. The pause signal is an input signal always set to ON. So, it is normally used to remain ON. Use this function for interlock in case where an object is invaded into the moving direction of the actuator being moved.

  • Page 143: Direct Position Specification (Solenoid Valve Mode 1) = Operation Of Pio Pattern

    3.2.5 Direct Position Specification (Solenoid Valve Mode 1) = Operation of PIO Pattern 4 or 7 The start signal is provided for every position number. Only turning ON the relevant input signal according to the table shown below allows the operation based on the data in the target position number to be performed.
  • Page 144 Control method When start signal ST* is turned ON, the actuator starts acceleration based on the data in the specified position table for positioning to the target position. At the completion of positioning, positioning complete signal PEND is turned ON as well as current position No.

  • Page 145: Pitch Feeding (Relative Movement = Incremental Feed)

    [2] Pitch Feeding (relative movement = incremental feed) Sample use 2) 3) Velocity Accele- Decele- Thresh- Positioning Acceleration/ Position Velocity Pressing Zone+ Zone- Incre- Gain Stop ration ration width Deceleration [mm] [mm/s] [mm] [mm] mental mode [mm] mode 100.00 250.00 0.20 0.20 0.10...
  • Page 146 Caution: (1) Because pitch feed is repeated, turning ON the ST* signal of the same position after completion of positioning causes both the PE* and PEND signals to be turned OFF at operation start and turned ON again at completion of positioning in the same way as [1] Positioning.

  • Page 147: Pressing Operation

    [3] Pressing operation Sample use 3) 4) Positioning width 50 Press-fitting process Velocity Positioning Completion Caulking process Accele- Decele- Thresh- Positioning Acceleration/ Position Velocity Pressing Zone+ Zone- Incre- Gain Stop ration ration width Deceleration [mm] [mm/s] [mm] [mm] mental mode [mm] mode 0.00...
  • Page 148 Turned OFF by Start signal turning PEND ON (PLC→Controller) Turned on even Current Position No. in miss-pressing (Controller→PLC) Not turned ON for Positioning Completion Signal miss-pressing PEND (Controller→PLC) Pressing Pressing Operation of actuator Approach operation Completion operation Movement by Positioning be setting Stop of positioning of coordinate Value...
  • Page 149 Judging completion of pressing operation (1) Normal case (PIO pattern 4): The operation monitors the torque (current limit value) in percent in “Pressing” of the position table and turns pressing complete signal PEND ON when the load current satisfies the condition shown below during pressing.
  • Page 150 Force judgment margins are described by percent of the base thrust in pressing operation using force sensor provided by the actuator. They should be set in Parameter No.95 and The pressing complete judging range is, Pressing setting value [%] + Force judgment margin+ [%] to Pressing setting value [%] –...
  • Page 151 Control method This is a function to detect whether the specified load is applied to the actuator by checking the torque while in press-fitting operation when having a press-fitting process with the pressing operation. If there is no resistance in press-fitting, the specified load would not be applied, thus it is defined as the normal pressing is not conducted and an alarm can be issued from PLC.

  • Page 152: Tension Operation

    [4] Tension Operation Warning: Do not perform tension operation by pressing operation using force sensor. The pressing operation using force sensor requires an actuator applicable for dedicated loadcell and pressing operation using force sensor. The tension operation by using an actuation equipped with loadcell causes the loadcell to be damaged.
  • Page 153 First define the positioning in position No.1. Next, the operation in position No.2 moves the actuator to the position of 80mm at the setting speed and rating torque and change to the tension operation. The actuator moves by 50mm in the negative direction in the tension operation.

  • Page 154: Multi-Step Pressing

    [5] Multi-step pressing Image diagram Position No.1 Position No.2 Position No.3 Accele- Decele- Thresh- Positioning Acceleration/ Position Velocity Pressing Zone+ Zone- Incre- Gain Stop ration ration width Deceleration [mm] [mm/s] [mm] [mm] mental mode [mm] mode 0.00 250.00 0.20 0.20 0.10 0.00 0.00...

  • Page 155: Pause And Operation Interruption (St*, *Stp, Res, Pe*, Pend)

    [6] Pause and Operation Interruption (ST*, *STP, RES, PE*, PEND) Pause is possible during movement. In this mode, the following two methods are possible for pause. Use of pause signal *STP Turning reset signal RES ON during the pause allows the remaining moving distance to be cancelled to interrupt the operation.
  • Page 156 Note 1 Caution: (1) At occurrence of an alarm in the release level , RES can reset the alarm. Cancel the remaining moving distance after confirmation that alarm signal *ALM (being ON in normal state and OFF at occurrence of an alarm) is set to ON.

  • Page 157: Direct Position Specification (Solenoid Valve Mode 2) = Operation Of Pio

    3.2.6 Direct Position Specification (Solenoid Valve Mode 2) = Operation of PIO Pattern 5 The start signal is provided for every position number. Only turning ON the relevant input signal according to the table shown below allows the operation based on the data in the target position number to be performed.
  • Page 158 [Operation of Slider Type/Rod Type Actuator] Mechanical end Home If ST0 Signal gets turned ON when the home-return operation is incomplete, the actuator moves toward the mechanical end at the home return speed. The moving speed is 20mm/s for most actuators but less than 20mm/s for some actuators. Check the instruction manual of actuator.
  • Page 159 [Operation of Rotary Actuator] Home = 0° Home sensor If ST0 Signal gets turned ON when the home-return operation is incomplete, the rotary part turns in CCW (counterclockwise) from the view of load side. The velocity is either 20deg/s or 5deg/s. (It depends on the setting of each actuator.) At the home sensor input, the actuator is turned in the reverse direction and stopped at the home position.

  • Page 160: Features Of Ls Signals (Ls0 To 2)

    [2] Features of LS signals (LS0 to 2) The LS* signals are not complete signals for positioning commands such as those for other PIO patterns. Despite the specified position No., the corresponding LS* signal is turned ON when the actuator is entered into the setup value range as if the actuator were detected by a sensor installed.

  • Page 161: Positioning [Basic] (St0 To St2, Ls0 To Ls1)

    [3] Positioning [Basic] (ST0 to ST2, LS0 to LS1) Position No. Input Output [Caution] Pressing and pitch feed are unavailable. Sample use 200mm/s 100mm/s 2) 3) 5) 6) Velocity Accele- Decele- Thresh- Positioning Acceleration/ Position Velocity Pressing Zone+ Zone- Incre- Gain Stop ration...
  • Page 162 (Example) Repetition of ST1 → ST2 → ST1 → Insert timer Δt if necessary. Start signal Δt Δt (PLC→Controller) Δt Start signal (PLC→Controller) Position sensing output (Controller→PLC) Turned ON after Position sensing output entering into positioning width zone (Controller→PLC) Target Position Δt : Time required to certainly reach the target position after the position sensing output LS1 or 2 is turned on.

  • Page 163: Speed Change During The Movement

    [4] Speed change during the movement Sample use 2) 3) 4) 5) Positioning complete width at position 1 Velocity Accele- Decele- Thresh- Positioning Acceleration/ Position Velicoty Pressing Zone+ Zone- Incre- Gain Stop ration ration width Deceleration [mm] [mm/s] [mm] [mm] mental mode [mm]...
  • Page 164 The timing chart shown below indicates that the actuator changes its speed while it moves to position No.1 after the completion of positioning at position No.2 and moves to position No.0. Start signal (PLC→Controller) Start signal (PLC→Controller) Start signal (PLC→Controller) Position sensing Output (Controller→PLC) Position sensing Output...

  • Page 165: Pause And Operation Interruption (St*, *Stp, Res, Pe*, Pend)

    [5] Pause and Operation Interruption (ST*, *STP, RES, PE*, PEND) Turning start signal ST* OFF allows the actuator to be paused while it is moved. To restart it, turn the same ST* signal ON. Velocity 4) 5) Control method If start signal ST* is turned OFF during movement, the actuator can be paused. Use the control method for interlock in case where an object is invaded into the moving direction of the actuator being moved.

  • Page 166: Operation Ready For Pressing Operation Using Force Sensor (Calibration Of Loadcell) (Dedicated For Scon-Ca)

    3.2.7 Operation Ready for Pressing Operation Using Force Sensor (Calibration of Loadcell) (Dedicated for SCON-CA) The operation by pressing operation using force sensor (PIO patterns 6 and 7) provides feedback control for pressing force by the loadcell to allow highly precise pressing operation using force sensor.

  • Page 167: Initial Setting

    [1] Initial Setting Pressing by pressing operation using force sensor uses a loadcell. Before the operation can be started, parameters must be initialized. Set the four parameters listed in the table below as shown in the area enclosed by the thick frame. Set value for Set value for pressing...

  • Page 168: Calibration Of Loadcell (Clbr, Cend)

    [2] Calibration of Loadcell (CLBR, CEND) A loadcell with no load is set to 0 [N] at shipment. Do not fail to conduct a calibration when the condition that a pressing tool such as a pusher is attached is set to the origin (0 [N]). Just before highly precise pressing, provide readjustment and inspection depending on the condition.
  • Page 169 Stop the operation. (Calibration is disabled during axis motion, pressing or pause. If calibration signal CLBR is set to ON, alarm 0E1 “Loadcell calibration error” occurs.) Turn loadcell calibration signal CLBR ON. At the completion of calibration, calibration complete signal CEND is turned ON. Set the CLBR signal to OFF.

  • Page 170: Operation In Pulse Train Control Mode (Dedicated For Scon-Ca)

    Operation in Pulse Train Control Mode (Dedicated for SCON-CA) SCON-CA controller can switch over the setting between Pulse Train Control Mode and Positioner Mode with the switch on the controller front side. In Pulse Train Mode, the actuator can be operated by the pulse train output of the host controller (PLC) positioning control function.

  • Page 171: I/O Signal Controls

    Main Functions Function Name Name (Note 1) 1 Dedicated home return signal When this function (signal) is used, home return can be performed without using a complex sequence or an external sensor, etc. 2 Brake control function Since the controller controls the brake, there is no need to program a separate sequence.

  • Page 172: Operation Ready And Auxiliary Signals

    3.3.2 Operation Ready and Auxiliary Signals [1] System Ready (PWR) Output PIO signal The signal is turned ON if the controller can be controlled after main power-on. It is turned ON once the initialization terminates normally after main power-on and SCON can be controlled regardless of alarm and servo status.

  • Page 173: Operation Mode (Rmod, Rmds)

    [3] Operation Mode (RMOD, RMDS) Input Output PIO signal RMOD RMDS : Available, ×: Unavailable Two operation modes are provided so that the operation by PIO signals does not overlap with the operation by a teaching tool such as PC software through SIO (serial) communication. The mode change is normally done by the operation mode setting switch on the front panel of the controller.

  • Page 174: Compulsory Stop (Cstp)

    [4] Compulsory Stop (CSTP) Input PIO signal CSTP This signal is used to forcibly stop the actuator. Input the CSTP signal continuously for 16ms continuous or longer. Once CSTP Signal is received, the actuator decelerates and stops with the emergency stop torque, turns the servo OFF and cut the drive source.

  • Page 175: Home Return (Home, Hend)

    [6] Home Return (HOME, HEND) Input Output PIO signal HOME HEND The HOME signal is intended for home return. When the HOME signal is turned ON, the command will be processed at the leading edge (ON edge) of the signal and the actuator will perform home return operation. Once the home return is completed, the HEND (home return completion) signal will turn ON.
  • Page 176 [Operation of Rotary Actuator] (1) 300° Rotation Specification Home = 0° Home sensor The actuator rotates in CCW (counterclockwise) direction from the view point of the load side. The velocity is either 20deg/s or 5deg/s. (It depends on the setting of each actuator.) At the home sensor input, the actuator is turned in the reverse direction and stopped at the home position.
  • Page 177 [Operation of actuator of gripper type] If the HOME signal is turned ON, the actuator moves toward the mechanical end at the home return speed (20mm/s). The actuator is turned at the mechanical end and stopped at the home position. The rotation angle is the value set by Parameter No.22 “Home return offset level”...

  • Page 178: Zone (Zone1, Zone2)

    [7] Zone (ZONE1, ZONE2) Output PIO signal ZONE1 ZONE2 Each of the signals turns ON when the current actuator position is inside the range specified by the relevant parameter. Two zones, ZONE1 and ZONE2, can be set. When the current position of the actuator is in ZONE1, it is turned ON if it is in the range of Parameter No.1 “Zone 1 Positive Side”...

  • Page 179: Alarm, Alarm Reset (*Alm, Res)

    [8] Alarm, Alarm Reset (*ALM, RES) Input Output PIO signal *ALM Alarm signal *ALM is set to ON in the normal status but turned OFF at the occurrence of an alarm at a level equal to or higher than the operation release level. Turning reset signal RES ON under occurrence of an alarm at the operation release level (Note 1) allows the alarm...
  • Page 180 : ON : OFF *ALM ALM8 ALM4 ALM2 ALM1 Binary Code Description: Alarm code is shown in ( ). Electromagnetic Brake Unrelease Error (0A5) Dynamic brake not released (0A6) Overcurrent (0C8) Overheat (0CA) Current Sensor Offset Adjustment Error (0CB) Emergency stop relay fused (0CD) Drop in control supply voltage (0CE) I/O 24V Power Supply Error (0CF) Command counter overflow (0A4)

  • Page 181: Brake Forcible Release (Bkrl)

    [10] Brake Forcible Release (BKRL) Output PIO signal BKRL The brake can be released while BKRL signal is turned ON. For the actuator equipped with a brake, the brake can be controlled by turning the servo ON/OFF, however, a release of the brake may be necessary in the case of installing the unit to a system so the slider or rod can be moved by hand.

  • Page 182: Pulse Train Input Operation

    3.3.3 Pulse Train Input Operation [1] Command Pulse Input (PP•/PP, NP•/NP) Pulses of up to 200kpps in the open-collector mode or up to 2.5Mpps in the differential mode can be input. 6 types of command pulse train can be selected. Set the pulse train format in Parameter No.63 and active high/low in Parameter No.64.

  • Page 183: Position Complete (Inp)

    Caution: Consider the electric gear ratio of the host side and that on this controller side when having a calculation. (Reference) Acceleration/deceleration settings of general positioning device Motor Rotation Velocity [mm/s] Motor Rotation [rpm] = × 60 Ball Screw • Lead Length [mm/rev] Time Constant 1G=9800mm/s : Acceleration capable to accelerate up to 9800mm/s per second...

  • Page 184: Torque Limit Select (Tl, Tlr)

    [3] Torque Limit Select (TL, TLR) Input Output PIO signal This signal is used to limit the torque of the motor. While the TL signal is ON, the actuator thrust (motor torque) can be limited to the torque set in Parameter No.57 “Torque limit”. With the TL signal being ON, the TLR signal (torque limiting) will turn ON when the actuator thrust reaches the torque limit.

  • Page 185: Feedback Pulse Output (Afb•/Afb, Bfb•/Bfb, Zfb•/Zfb)

    [5] Feedback Pulse Output (AFB•/AFB, BFB•/BFB, ZFB•/ZFB) Data of detected positions are output using differential pulses (phases A, B and Z of up to 2.5Mpps). The host controller can read the current actuator position in real time using a counter function, etc.

  • Page 186: Settings Of Basic Parameters Required For Operation

    3.3.4 Settings of Basic Parameters Required for Operation It is a mandatory parameter to perform an operation. (The parameters listed in the table below may only be set if the actuator performs only positioning operation.) Parameter No. Parameter Name Details Electronic Gear Numerator This parameter determines the unit travel distance of the actuator per command pulse train input 1 pulse.
  • Page 187 Examples of electronic gear calculations: To set the unit travel distance to 0.01 (1/100) mm for an actuator a ball screw lead of 10mm, equipped with an encoder of 16384pulses/rev. Electronic Gear Numerator (CNUM) No. of Encoder Pluses [pulse/rev] × Unit Travel Distance [deg/pulse] Electronic Gear Ball Screw Lead Length [mm/rev] Denominator (CDEN)

  • Page 188: Format Settings Of Command Pulse Train

    [2] Format Settings of Command Pulse Train Set the format of command pulse train in Parameter No.63 and active high/low in No.64. (1) Command Pulse Mode User Parameter No.63 Command PulseInput Mode Name Symbol Unit Input Range Initial Value Command Pulse CPMD –...

  • Page 189: Output Settings Of Feedback Pulse

    3.3.5 Output Settings of Feedback Pulse This is a parameter to set when outputting the feedback pulse to the host controller (PLC, etc.). This function is also available in Positioner Mode. [1] Setting Feedback Pulse Output Effective Set it if the feedback pulse is to be used. Input Initial Name...

  • Page 190: Format Settings For Feedback Pulse

    [2] Format Settings for Feedback Pulse Set the format of output pulse in Parameter No.69 and active high/low in No.70. (1) Feedback Pulse Train Input Initial Name Symbol Unit Range Value Feedback Pulse Train FBPT – 0 to 2 Setting Value Input Command Pulse In Normal Rotation...

  • Page 191: Electric Gear Settings For Feedback Pulse

    [3] Electric Gear Settings for Feedback Pulse This is the parameter to determine the output pulse corresponding to the actuator movement amount. Determine the movement amount per pulse to define how many millimeters you would like the actuator to move with the output of 1 pulse. Movement in line axis per pulse = Minimum output unit (1, 0.1, 0.01mm etc.)/pulse Movement in rotary axis per pulse = Minimum output unit (1, 0.1, 0.01deg etc.)/pulse...
  • Page 192 Examples of electronic gear calculations: When outputting the feedback pulse of the actuator equipped with an encoder with 10mm ball screw lead and 16384pulse/rev in 0.02mm movement per pulse: Electronic Gear Numerator (FNUM) Ball Screw Lead Length [mm/rev] × Electronic Gear No.

  • Page 193: Parameter Settings Required For Advanced Operations

    3.3.6 Parameter Settings Required for Advanced Operations Depending on systems and/or loads, set the following parameters if necessary. [1] Position command primary filter time constant Input Initial Name Symbol Unit Range Value Position command primary 0.0 to PLPF msec filter time constant 100.0 The acceleration/deceleration of the actuator can be set in S-shaped curve with this parameter setting.

  • Page 194: Error Monitor During Torque Limiting

    [4] Error monitor during torque limiting Input Initial Name Symbol Unit Range Value Error monitor during torque limiting FSTP – 0 to 1 You can select whether to enable or disable the function to monitor deviation while torque is being limited (the TL signal is ON). By enabling this function, you can have the controller output an error while torque is being limited, if a deviation equal to or exceeding the specified value 0: Enable...

  • Page 195: Chapter 4 Field Network

    “MODBUS”. volume. (Note 1) (Note 1) • SCON-CA/CAL/CGAL is handled as a slave unit. For details of each network, check the Instruction Manuals of the master unit provided by the manufacturer and that of the installed PLC. • The Instruction Manuals describing how to use SCON-CA/CAL/CGAL field networks...

  • Page 197: Chapter 5 Vibration Suppress Control Function

    Chapter 5 Vibration Suppress Control Function The vibration suppress control function suppresses vibrations of loads induced by our actuators. The function can suppress vibrations in the same direction as the movement of the actuator in the frequency range from 0.5Hz to 30Hz. Measure the frequency of the generated vibration and set it to the parameter.
  • Page 198 Please contact IAI for the key file. • Vibrations subject to vibration suppress control It is the vibration of the load generated by IAI actuator, and is in the same directions as the actuator movement. • Vibrations not subject to vibration suppress control...

  • Page 199: Setting Procedure

    Measure the Natural frequency by any of the following methods: • Use of PC software installation tool (specified only for SCON-CA function) [Refer to the Instruction Manual of the PC software.] • Use of measuring instrument such as vibration meter or acceleration pickup •...

  • Page 200: Settings Of Parameters For Vibration Suppress Control

    5.2 Settings of Parameters for Vibration Suppress Control Set the parameters associated with vibration suppress control, which are listed in the table below. Parameter Factory Parameter Parameter Name Unit Input Range Set No. Setting Damping characteristic Rate 0 to 1000 coefficient 1 Damping characteristic Rate...

  • Page 201: Default Vibration Suppress No. (Parameter No.109)

    [4] Default Vibration Suppress No. (Parameter No.109) When a position is written into a position table not registered yet, the value set to this parameter is automatically entered in the “Vibration suppress No.” field. To change the setting, edit the position table later.

  • Page 203: Chapter 6 Power-Saving Function (Auto Servo-Motor Off Function)

    Chapter 6 Power-saving Function (Auto Servo-motor OFF Function) The controller has the automatic servo OFF function to save power consumption while the actuator is stopped. Read the description in this chapter carefully to save power so that the controller can be operated safely. The servo is automatically turned OFF after a certain period from completion of positioning.
  • Page 204 (3) Status of positioning complete signal in selection of automatic servo OFF Automatic servo OFF causes the actuator to be in other than the positioning complete state due to the servo OFF. Positioning complete signal (PEND) is turned OFF. Changing the PEND signal to the in-position signal judging whether the actuator is stopped within the positioning width zone instead of the positioning complete signal allows PEND not to be turned OFF during servo OFF.

  • Page 205: Chapter 7 Absolute Reset And Absolute Battery

    Chapter 7 Absolute Reset and Absolute Battery 7.1 Absolute Reset The controller of absolute specification holds encoder position information by battery backup. It is not necessary to perform the home-return operation every time the power is turned ON. In order to hold the encoder position information, absolute reset is required. Provide absolute reset in the following cases: (1) Initial activation (2) Replacement of absolute battery...
  • Page 206 (2) For CON-PTA/TB01 For CON-PT, press Reset Alm. Press Trial Operation on the Menu 1 screen. Press Jog_Inching on Trial screen. Touch SV ON → HOME in Jog/Inching Window. (3) For CON-T For CON-T, press the key. Press the key on the Edit/Teach screen. Press the key on the Mode Select screen.
  • Page 207 [Absolute Reset Process] Emergency stop actuated or cancelled Safety Circuit Condition (Status of power supply to the motor drive source) (Note 1) 24V DC PIO Power Input Brake Power Input (Note 2) Control Power Input Motor Power Input Alarm reset [Procedures 4] Alarm Signal (*ALM)

  • Page 208: Absolute Reset Using Pio

    Servo-on Signal (SON) Home Return Signal (HOME (ST0)) Alarm reset (RES) 100ms or more Home Return Completion (Absolute Reset Complete) Signal from PLC to SCON-CA Home return command Signal from SCON-CA to PLC Waiting for servo ON Alarm Reset Command...

  • Page 209: Absolute Battery

    7.2.1 Absolute Encoder Backup Specifications Item Specifications Battery classification Thionyl chloride lithium batteries Battery manufacturer’s name TOSHIBA HOME APPLIANCES CORP Battery model (IAI model) AB-5 Battery nominal voltage 3.6V Current standard capacity 2000mAh Reference for battery replacing timing(Note 1) 2 years after use (if left unused without power supply to controller) (Ambient temperature 40℃)
  • Page 210 Voltage PIO Signals Alarm (Note 2) 3.1V (Reference value) Voltage drop alert signal *BALM – (Note 2) 2.5V (Reference value) Alarm signal *ALM OEE Absolute Encoder Error Detection 2 OEF Absolute Encoder Error Detection 3 (Note 2) *BALM and *ALM are the signals of active low. After the power is supplied to the controller, they are usually on and turned OFF when an error is detected.

  • Page 211: Replacement Of Absolute Battery

    7.2.2 Replacement of Absolute Battery For the battery replacement, remove the battery connector while keeping the power to the controller ON, and change the battery installed in the battery holder. There is a locking feature on the absolute battery holder for SCON-CAL/CGAL. Make sure to lock when attaching and unlock when detaching.
  • Page 212 [Attachment] Plug in connector to absolute battery connector. Put battery into battery holder.

  • Page 213: Chapter 8 I/O Parameter

    Chapter 8 I/O Parameter Parameters are the data to set up considering the system and application. When a change is required to the parameters, make sure to back up the data before the change so the settings can be returned anytime. With using PC software, it is able to store the backup to the PC.

  • Page 214: I/O Parameter List

    8.1 I/O Parameter List The categories in the table below indicate whether parameters should be set or not. There are five categories as follows: A : Check the settings before use. B : Use parameters of this category depending on their uses. C : Use parameters of this category with the settings at shipments leaving unchanged as a rule.
  • Page 215 I/O Parameter List (Continued) The part with (area shaded in green) shows the parameters dedicated for SCON-CA for Pulse Default factory Relevant (Note1) Name Symbol Unit Input Range Positioner Train setting sections Mode Mode mm/s 1 to Actuator’s PIO jog velocity IOJV 8.2 [21]...
  • Page 216 I/O Parameter List (Continued) The part with (area shaded in green) shows the parameters dedicated for SCON-CA for Pulse Default factory Relevant (Note1) Name Symbol Unit Input Range Positioner Train setting sections Mode Mode B Electronic Gear Denominator CDEN –...
  • Page 217 I/O Parameter List (Continued) The part with (area shaded in green) shows the parameters dedicated for SCON-CA for Pulse Default factory Relevant Name Symbol Unit Input Range Positioner Train setting sections Mode Mode Damping characteristic DC11 – 0 to 1000...
  • Page 218 Note 2: The setting values vary in accordance with the specification of the actuator. At shipment, the parameters are set in accordance with the specification. Caution: When the controller is operated via serial communication while SCON-CA Controller is used, always set the controller in “Positioner Mode” (Piano Switch 1: Off).

  • Page 219: Detail Explanation Of Parameters

    8.2 Detail Explanation of Parameters Caution: • If parameters are changed, provide software reset or reconnect the power to reflect the setting values. • The unit (deg) is for rotary actuator and lever type gripper. Pay attention that it is displayed in mm in the teaching tools. Zone 1+, Zone 1- (Parameter No.1, No.2) Zone 2+, Zone 2- (Parameter No.23, No.24) Default factory...
  • Page 220 Soft limit +, Soft limit – (Parameter No.3, No.4) Default factory Name Symbol Unit Input Range setting -9999.99 to Actual stroke on + Soft limit + LIMM (deg) 9999.99 side -9999.99 to Actual stroke on - Soft limit – LIML (deg) 9999.99 side...
  • Page 221 Press & hold stop judgment period (Parameter No.6) Default factory Name Symbol Unit Input Range setting Press & hold stop judgment period PSWT msec 0 to 9999 Judging completion of pressing operation (1) For Standard type (PIO pattern 0 to 3) The operation monitors the torque (current limit value) in percent in “Pressing”...
  • Page 222 Normally this parameter need not be changed. If the home return should be completed before the correct position depending on the affixing method, load condition or other factors when the actuator is used in a vertical application, the setting value must be increased. Please contact IAI.
  • Page 223 [10] Dynamic brake (Parameter No.14) Default factory Name Symbol Unit Input Range setting 0 : Disabled, Dynamic brake FSTP – 1 : Enabled This parameter defines whether the dynamic brake is enabled or disabled while the actuator is at standstill. Normally it need not be changed.
  • Page 224 [14] Home position check sensor input polarity (Parameter No.18) Default factory Name Symbol Unit Input Range setting Home position check sensor In accordance with AIOF – 0 to 2 input polarity actuator The home sensor is an option. Set Value Description Standard specification (sensor not used) Input is a contact...
  • Page 225 Caution : If the home return offset has been changed, the soft limit parameters must also be adjusted accordingly. In case the there is a necessity of setting a value more than the initial setting, contact IAI. [19] Zone 2+, Zone 2– (Parameter No.23, No.24) [Refer to 8.2 [1].]...
  • Page 226 [20] PIO pattern selection (Parameter No.25) Default factory Name Symbol Unit Input Range setting PIO pattern selection IOPN – 0 to 7 0 (Standard Type) Select the PIO operation pattern in Parameter No.25. Check the 3.2 Operation in Positioner Mode for details of PIO patterns. Value set in Pattern type Parameter...
  • Page 227 [21] PIO jog velocity (Parameter No.26), PIO jog velocity 2 (Parameter No.47) Default factory Name Symbol Unit Input Range setting mm/s 1 to Actuator’s PIO jog velocity IOJV (deg/s) max. speed (Note1) This is the jog operation velocity setting with PIO signal (jog input command) when PIO pattern = 1 (Teaching Mode) is selected.
  • Page 228 [23] Velocity Loop Proportional Gain (Parameter No.31) Default factory Name Symbol Unit Input Range setting In accordance with Velocity Loop Proportional Gain VLPG – 1 to 27661 actuator This parameter determines the response of the speed control loop. When the set value is increased, the follow-up ability to the velocity command becomes better (the servo-motor rigidity is enhanced).
  • Page 229 [25] Torque Filter Time Constant (Parameter No.33) Default factory Name Symbol Unit Input Range setting In accordance with Torque Filter Time Constant TRQF – 0 to 2500 actuator This parameter decides the filter time constant for the torque command. When vibrations and/or noises occur due to mechanical resonance during operation, this parameter may be able to suppress the mechanical resonance.
  • Page 230 [28] Auto Servo Motor OFF Delay Time 1, 2, 3 (Parameter No.36, No.37, No.38) Default factory Name Symbol Unit Input Range setting Auto Servo Motor OFF Delay ASO1 0 to 9999 Time 1 Auto Servo Motor OFF Delay ASO2 0 to 9999 Time 2 Auto Servo Motor OFF Delay ASO3...
  • Page 231 [31] Operating mode input disable (Parameter No.41) Default factory Name Symbol Unit Input Range setting 0: Enabled Operating mode input disable FPIO – 1: Disabled This parameter defines whether the operation mode input signal is disabled or enabled. Normally this parameter need not be changed. Set Value Description Enabled (Use the input signal)
  • Page 232 [35] PIO jog velocity 2 (Parameter No.47) Refer to Section 8.2 [21] for details. [36] PIO inch distance, PIO inch distance 2 (Parameter No.48, No.49) Default factory Name Symbol Unit Input Range setting PIO inch distance IOID 0.01 to 1.00 (Note1) PIO inch distance 2 IOD2...
  • Page 233 [40] Current control width number (Parameter No.54) Default factory Name Symbol Unit Input Range setting In accordance with Current control width number CLPF – 0 to 4 actuator This parameter is for the manufacturer’s use only to determine the response capability of the current loop control.
  • Page 234 [42] S-motion rate (Parameter No.56) Default factory Name Symbol Unit Input Range setting S-motion rate SCRV 0 to 100 This parameter is used when the value in the “Acceleration/deceleration mode” field of the position table is set to “1 [S-motion]”. This enables to ease the impact at acceleration and deceleration without making the takt time longer.
  • Page 235 This parameter is exclusively used for the pulse-train control mode. [Refer to 3.3.4 Settings of Basic Parameters Required for Operation.] [50] Command Pulse Input Mode Polarity (Parameter No.64) dedicated for SCON-CA This parameter is exclusively used for the pulse-train control mode.
  • Page 236 This parameter defines the output pattern of feedback pulses. [Refer to 3.3.6 Settings of Parameters Required for Applicable Operations.] [56] Feedback Pulse Form Polarity (Parameter No.70) dedicated for SCON-CA Refer to 3.3.5 Output Settings of Feedback Pulse for the details. The setting is the same for the cases other than Pulse Train Control Mode.
  • Page 237 [58] Timer period for emergency stop relay fusing monitor (Parameter No.72) Default factory Name Symbol Unit Input Range setting Timer period for emergency EMWT msec 0 to 60000 3000 stop relay fusing monitor This parameter defines the timer period in which fusing of the emergency stop relay for cutting off the motor drive power is detected.
  • Page 238 [61] Electromagnetic brake power monitor (Parameter No.75) Default factory Name Symbol Unit Input Range setting Electromagnetic brake power 0: Disabled In accordance with FSTP – monitor 1: Enabled actuator A power monitor function is provided to prevent actuator malfunction or breakdown of parts caused by an abnormal voltage of the 24V DC brake power supply when an actuator with brake is used.
  • Page 239 [64] Axis operation type (Parameter No.78) Default factory Name Symbol Unit Input Range setting 0: Line Axis In accordance with Axis operation type ATYP – 1: Rotary Axis actuator This parameter defines the type of the actuator used. Connected Actuator Set Value Reference Line Axis...
  • Page 240 [66] Rotational axis shortcut selection (Parameter No.80) Default factory Name Symbol Unit Input Range setting Rotational axis shortcut 0: Disabled In accordance with ATYP – selection 1: Enabled actuator Select whether valid/invalid the shortcut when positioning is performed except for when having the relative position movement in the multiple rotation type rotary actuator.
  • Page 241 This restricted current value locks the servo till the next moving command. Parameter No.91 Description Current limit value during movement (2.8 to 4 times of rating value depending on actuator characteristics) Press-motion current-limiting value [75] Use of loadcell (Parameter No.92) dedicated for SCON-CA Default factory Name Symbol Unit Input Range setting...
  • Page 242 The table below shows the relationship among the rigidity of pressing target, the response of pressing operation using force sensor system and pressing operation using force sensor gain. Please contact IAI in case there is a necessity of changing this setting. Reference setting value of pressing operation using force sensor gain Rigidity of pressing target Hard ←...
  • Page 243 [78] Force judgment margin + / - (Parameter No.95, No.96) dedicated for SCON-CA Default factory Name Symbol Unit Input Range setting 1 to Maximum In accordance with Force judgment margin + FJMM Pressing Force actuator 1 to Maximum In accordance with...
  • Page 244 0 second. The time data retainable duration with no power supply to the controller is approximately 10 days. Set Value Description Unused [83] Monitoring mode (Parameter No.112) dedicated for SCON-CA Default factory Name Symbol Unit Input Range...
  • Page 245 [84] Monitoring period (Parameter No.113) dedicated for SCON-CA Default factory Name Symbol Unit Input Range setting Monitoring period FMNT msec 1 to 100 This is the parameter to set up the frequency of time to obtain data (Sampling Frequency) when the monitoring mode is selected.
  • Page 246 [87] Automatic loadcell calibration at start (Parameter No.117) dedicated for SCON-CA Default factory Name Symbol Unit Input Range setting Automatic loadcell calibration at 0: Does not perform FFRC – start 1: Perform This parameter is exclusively used for pressing operation using force sensor.
  • Page 247 [92] Velocity Loop Proportional Gain 1 (Parameter No.122) This parameter determines the response of the speed control loop. [Refer to description of Parameter No.31.] [93] Velosity Loop Integral Gain 1 (Parameter No.123) This parameter determines the response of the speed control loop. [Refer to description of Parameter No.32.] [94] Torque Filter Time Constant 1 (Parameter No.124) This parameter decides the filter time constant for the torque command.
  • Page 248 [103] Feed forward gain 3 (Parameter No.133) This parameter defines the feed forward gain of the position control system. [Refer to description of Parameter No.71.] [104] Velocity Loop Proportional Gain 3 (Parameter No.134) This parameter determines the response of the speed control loop. [Refer to description of Parameter No.31.] [105] Velocity Loop Integral Gain 3 (Parameter No.135) This parameter determines the response of the speed control loop.
  • Page 249 [109] Home preset value (Parameter No.139) Default factory Name Symbol Unit Input Range setting -9999.99 to In accordance Home preset value PRST 9999.99 with actuator For the actuator of absolute specification, set this parameter so that (home return offset + value of this parameter) is within the range between 0 and the ball screw lead.
  • Page 250 [110] IP Address (Parameter No.140) Default factory Name Symbol Unit Input Range setting 0.0.0.0 to IP Address IPAD – 192.168.0.1 255.255.255.255 It is the parameter dedicated for Fieldbus (EtherNet/IP). [For details, refer to Fieldbus Instruction Manual.] [111] Subnet Mask (Parameter No.141) Default factory Name Symbol...
  • Page 251 [116] Zone Output Changeover (Parameter No.149) Default factory Name Symbol Unit Input Range setting 0: Not to change Zone Output Changeover FPIO 1: To change When there is PZONE signal to the current PIO pattern or the Fieldbus Operation Mode and no ZONE1 or ZONE2 signal, it is available to change the PZONE signal to either ZONE1 or ZONE2 signal.
  • Page 252 When a change is required to the home position, do a calculation following the formula below and input the calculated value to the parameter. 1) Setting for Single Slider Type: Parameter setting value = Initial parameter at delivery from factory (Parameter No.150) + Desired offset amount Desired offset amount...
  • Page 253 [119] FB Half Direct Mode Speed Unit (Parameter No.159) Default factory Name Symbol Unit Input Range setting FB Half Direct Mode Speed 0: 1mm/s unit FBVS Unit 1: 0.1mm/s unit It is the parameter dedicated for Field Network Type. ［Refer to the Fieldbus instruction manual for more details.］ [120] Delay Time after Shutdown Release!(Parameter No.165) Default factory Name...

  • Page 254: Servo Adjustment

    Take sufficient note on the setting. Record settings during servo adjustment so that prior settings can always be recovered. When a problem arises and the solution cannot be found, please contact IAI.
  • Page 255 Situation that requires How to Adjust adjustment Takes time to finish • Set Parameter No.55 “Position command primary filter time positioning constant” to “0” if it is set. • Increase the value of Parameter No.7 “Servo gain number”. By Positioning accuracy is setting a larger value, the follow-up ability to the position not appropriate command becomes better.
  • Page 256 Situation that requires How to Adjust adjustment Trace precision is desired • Make the condition optimized with Parameter No.7 “Servo gain to be improved. number” and Parameter No.31 “Velocity loop proportional gain” adjusted by referring to the way to adjust stated in No. 1 to 3 in Equi-speed performance the previous page.

  • Page 257: Chapter 9 Troubleshooting

    Chapter 9 Troubleshooting 9.1 Action to Be Taken upon Occurrence of Problem Upon occurrence of a problem, take an appropriate action according to the procedure below in order to ensure quick recovery and prevent recurrence of the problem. Check the status indicator LEDs on the controller. Indication Status Green Light is turned ON.

  • Page 258: Wrg Led (Specified Only For Scon-Ca/Cgal)

    9.1.1 WRG LED (Specified only for SCON-CAL/CGAL) WRG LED is a feature to prompt regular maintenance works for consumables such as absolute battery and fan unit. It flashes when following causes are occurred. (1) When the battery voltage has dropped below the normal voltage in the absolute type actuator (2) When the rotation speed of the fan attached on the top of the product has dropped below the specified value (degradation)

  • Page 259: Fault Diagnosis

    LEDs If the PWR LED does not go on despite does not go ON. normal power voltage and correct wiring, Please contact IAI. [Refer to 2.3.1 Wiring of Power Circuit.] EMG on the status During emergency-stop. 1) Release the emergency stop switch.
  • Page 260 [In the case of Positioner Mode] Situation Possible cause Check/Treatment Both position No. and There is a problem either in PIO 1) Is the status display LED SV turned start signal are input to signal treatment, position table ON? [Refer to Name for Each Parts the controller, but the setting or operation mode selection.
  • Page 261 [Startup Adjustment with Teaching Tool when Control Circuit Incomplete] Situation Possible cause Check/Treatment Operation is not Cable treatment or mode selection Make a short circuit between performed even though 1) Emergency stop condition EMG + and -. the teaching tool is The status display LED EMG is Warning connected, and power to...

  • Page 262: Positioning And Speed Of Poor Precision (Incorrect Operation)

    Instruction 1) A load exceeding its rating Manual. weight is installed on the 4) Please contact IAI. actuator. 2) It is touched to interference in the way of the run. 3) Torsion stress is applied to guide...
  • Page 263 [In the case of Pulse String Control Mode] Situation Possible cause Check/Treatment The actuator does not PIO signal processing or parameter 1) Check the setting of electronic gear stop at the command setting is incorrect. ratio. The host controller also has position.

  • Page 264: Generation Of Noise And/Or Vibration

    9.2.3 Generation of Noise and/or Vibration Situation Possible cause Check/Treatment Generation of noise Noise and vibration are generated Servo adjustment may improve the and/or vibration from by many causes including the situation. actuator itself status of load, the installation of the [Refer to 8.3 Servo Adjustment.] actuator, and the rigidity of the unit on which the actuator is installed.

  • Page 265: Impossible Communication

    9.2.4 Impossible Communication Situation Possible cause Check/Treatment 1) Communication rates do not match. 1) Set the communication rate to • Not connectable with 2) The machine number (station match that of the host machine. host machine number) is set to be duplicate with [Refer to the Instruction Manual •...

  • Page 266: Alarm Level

    Caution: Reset each alarm after identifying and removing the cause. If the cause of the alarm cannot be removed or when the alarm cannot be reset after removing the cause, please contact IAI. If the same error occurs again after resetting the alarm, it means that the cause...

  • Page 267: Alarm List

    No.112 “Monitoring mode” to “0”. 3) If the operation is not improved in use of the servo monitoring function in spite of measures against noise, Please contact IAI. Detection of realtime clock Cause : The calendar function is stopped and the current oscillation stop time data is lost.
  • Page 268 Alarm Alarm Alarm Name Cause/Treatment Code Level Move command in servo Cause : A move command was issued when the servo is OFF. Treatment : Issue a movement command after confirming the servo is ON (servo ON signal (SV) or position complete signal (PEND) is ON).
  • Page 269 Alarm Alarm Alarm Name Cause/Treatment Code Level Parameter data error Cause : The data input range in the parameter area is not appropriate. This error occurs when the magnitude relationship is apparently inappropriate such as when 300mm Cold start was incorrectly input as the value of the soft limit negative side while the value of the soft limit positive side was 200.3mm.
  • Page 270 If the error occurs even when the servo is ON, the cable breakage or disconnection is considered. Check the cable connection. Please contact IAI if there is no failure in the cable and connector connections.
  • Page 271 Operation return operation, is out of the specified range. release Cause : Encoder Error Treatment : Please contact IAI. Magnetic pole Cause : The controller detects the magnetic pole phase indeterminacy when the servo is tuned ON for the first time after turning ON the power.
  • Page 272 Alarm Alarm Alarm Name Cause/Treatment Code Level Creep sensor not detected Cause : This indicates the actuator detected the creep sensor (option) before detecting the origin sensor (option except for rotary actuator), or the actuator reached the mechanical end (or the actuator cannot move anymore because the load is too large).
  • Page 273 If 3) is suspected, check the home position. Conduct the absolute reset again if it is the absolute type. If 4) or 5) is suspected, please contact IAI. Exceeded allowable time Cause : The continuous pressing time exceeds the time set of exceeding torque for parameter No.89 “Allowable time of exceeding...
  • Page 274 2) Review wiring of actuator and loadcell cables. 3) The actuator, controller or loadcell may be faulty. Please contact IAI. Overcurrent Cause : The output current in the power circuit section is increased abnormally.
  • Page 275 Cold start Belt breaking sensor Cause : The belt of the ultra-high thrust RCS2-RA13R is detected broken. Treatment : Belt must be replaced. Please contact IAI. Deviation overflow Cause : This alarm indicates that the position deviation counter has overflowed.
  • Page 276 If the brake is not released, the brake itself may be faulty, cable may be disconnected, or the Cold start controller may be faulty. Please contact IAI. 3) In the case that the work can be moved by hand, move it. Then, check that there is no location where a sliding resistant is too large.
  • Page 277 If 2) or 3) is the case, the encoder or controller must be replaced. If the cause cannot be specified, please contact IAI. Encoder receipt error Cause : This shows the data was not received in normal condition from the encoder side to the controller.
  • Page 278 For the case of 2), 3) or 4), it is necessary either to clean the code wheel, adjust the installation position, replace the motor unit or replace the actuator. In any case, please contact IAI. A-, B- and Z-phase wire Cause : Encoder signals cannot be detected correctly.
  • Page 279 Cause : The actuator may not match the controller. Check the model. Treatment : Should this error occur, please contact IAI. Nonvolatile memory write It is verified at the data writing process to the non-volatile verify error memory that the data inside the memory and the data to be written are matched.

  • Page 281: Chapter 10 Appendix

    [1] System Configuration When it is necessary to construct a system complied with Safety Category (ISO12100-1), use SCON-CA or SCON-CGAL Controller. Also, choose one from below for a teaching pendant. (1) TB-01D/-01DR (Touch Panel Teaching) (2) CON- PGAS (Touch Panel Teaching) Also, TP adapter (Model : RCB-LB-TGS) is required.

  • Page 282: Wiring And Setting Of Safety Circuit

    [2] Wiring and Setting of Safety Circuit (1) Power supply To use safety relays and/or contactors of 24V DC specification in the safety circuit, the control power supply should be used only for the circuit as much as possible. For example, to supply power to the safety circuit, do not use the power supply driving our robo-cylinder controller ACON or PCON.
  • Page 283 ● Upper side (EMG) connector ● Lower side (ENB) connector EMG1- ENB1- EMG1+ ENB1+ EMG2- ENB2- EMG2+ ENB2+ EMGIN ENBIN EMGOUT ENBOUT Wiring Color Signal No. Wiring Color Signal No. ENB1- EMG1- ENB1+ EMG1+ ENB2- EMG2- AWG24 AWG24 ENB2+ EMG2+ ENBIN EMGIN ENBOUT...

  • Page 284: Examples Of Safety Circuits

    [3] Examples of Safety Circuits 1) In case of category 1 TB-01D(R) (or Dummy plug : DP-4S) Controller ● SCON Connection Cable CB-CON-LB*** RCB-LB-TGS Solenoid Contactor Motor Power Supply SCON : 100V AC/200V AC Motor Power Supply...
  • Page 285 • Detailed category 1 circuit example RCB-LB-TGS SCON EMGSTR Emergency Stop SW EMGA EMG1- VP24 EMG1+ TP Connection Detecting T24V EMG2- (Note 1) TP Detection EMG2+ T24V…Output EMGB Bypass relay…OPEN Enable SW TP Not Detected EMB1- T24V…Not Output Bypass relay…CLOSE EMB1+ System I/O Connector...
  • Page 286 In case of category 2 TB-01D(R) (or Dummy plug: DP-4S) Controller ● SCON Connection Cable CB-CON-LB*** RCB-LB-TGS Enable SW Enable SW Emergency stop SW Reset SW G9SA-301 (OMRON) 41 33 23 13 T11 A2 A1 42 34 24 14 T21 PE G9SA-301 (OMRON) T11 A2 A1...
  • Page 287 • Detailed category 2 circuit example RCB-LB-TGS SCON EMGSTR Emergency Stop SW EMGA EMG1- VP24 EMG1+ TP Connection Detecting T24V EMG2- (Note 1) TP Detection EMG2+ T24V…Output EMGB Bypass relay…OPEN Enable SW TP Not Detected EMB1- T24V…Not Output Bypass relay…CLOSE EMB1+ System I/O Connector...
  • Page 288 In case of category 3 or 4 TB-01D(R) (or Dummy plug: DP-4S) Controller ● SCON Connection Cable CB-CON-LB*** RCB-LB-TGS For Category 4, insert Reset Switch as shown in the diagram. For Category 3, layout Emergency Stop SW Emergency Stop SW the wiring without inserting Reset Switch.
  • Page 289 • Detailed category 3 or 4 circuit example RCB-LB-TGS SCON EMGSTR Emergency Stop SW EMGA EMG1- VP24 EMG1+ TP Connection Detecting T24V EMG2- (Note 1) TP Detection EMG2+ T24V…Output EMGB Bypass relay…OPEN Enable SW TP Not Detected EMB1- T24V…Not Output Bypass relay…CLOSE EMB1+ System I/O...

  • Page 290: Tp Adapter And Related Components

    [4] TP Adapter and Related Components TP adapter external dimensions RCB-LB-TGS 2-φ3.5...
  • Page 291 Connection Cable (Accessories) ● Controller/TP Adaptor Connection Cable Use this cable to connect the controller and TP adapter (RCB-LB-TGS). Model : CB-CON-LB005 (standard cable length : 0.5m) Maximum cable length : 2.0m Color Signal No. Signal Color Shield Shield 8PIN MIN DIN Connector (mold casting) 8PIN MIN DIN Connector (mold casting) Contact : MD-SP2240 (J.S.T.
  • Page 292 Dummy plug (Accessories) Connect a dummy plug to the teaching pendant connecting connector. Make sure to connect a dummy plug if the AUTO mode is specified. Without the connection, it will be the emergency stop condition. Model : DP-4S Signal DP-4S Plug : HDR-E26MAG1+ Short-circuit processing.

  • Page 293: Way To Set Multiple Controllers With 1 Teaching Tool

    10.2 Way to Set Multiple Controllers with 1 Teaching Tool It is usually necessary to connect the teaching tool to the controllers one by one when making a setup to multiple controllers with one unit of teaching tool. In this section, explains how to perform the settings without connecting and disconnecting the plug.

  • Page 294: Detailed Connection Diagram Of Communication Lines

    10.2.2 Detailed Connection Diagram of Communication Lines Double Shield Cable (Note 1) SIO Converter 4-way Junction (Manufactured by : 5-1473574-4) Recommended : Taiyo Cabletec Corp. HK-SB/20276XL (AWG22) J4, J5 (SGA) A (SGB) B Touch Panel Teaching Teaching Pendant Mini DIN Personal Shield 8 pin...

  • Page 295: Axis No. Setting

    10.2.3 Axis No. Setting [1] SCON-CA Set an axis number by using the axis number setting switch on the front panel. Adjust the arrow to a desired position using a flathead screwdriver. [2] SCON-CAL/CGAL Setting is to be established on teaching tools.

  • Page 296: Handling Of E-Con Connector (How To Connect)

    10.2.4 Handling of e-CON Connector (How to Connect) Clamp Lever 1) Check the applicable cable size. Pin No. Check the applicable cable. If it is not applicable, it may cause a connection failure or a breakage of the connector. 2) Check the pin numbers, do not reveal the sheath, and insert the cable till it reaches the end.

  • Page 297: Sio Converter

    10.2.5 SIO Converter The SIO converter converts the communication mode from RS232C to RS485 or vice versa. 7) e-CON Connector 2) Link-connection 1) Power/Emergency Stop Terminal Board (TB1) Terminal Board (TB2) 6) LED Indicators for Monitoring 3) D-sub, 9-pin Connector 5) PORT Switch 4) Mini DIN, 8-pin Connector 1) Power/Emergency Stop Terminal Board (TB2)
  • Page 298 2) Link-connection Terminal Board (TB1) This is the connection port to obtain communication connection with the controller. Connect terminal “A” on the left side to communication line SGA of the controller. (Terminal A is connected to pin 1 of (7) internally.) Connect terminal “B”...

  • Page 299: Communications Cable

    10.2.6 Communications Cable 1) Controller Link Cable (CB-RCB-CTL002) Controller Side 200mm e-CON Connector 3-1473562-4 (Housing Color : OR) Mini DIN Connector Signal Signal 10.2.7 External Dimension (Leg Element Bottom Side) (Leg Element Top Side)

  • Page 300: Maintenance

    10.3 Maintenance 10.3.1 Consumed Parts These parts below have production life. Shown below is the reference. Item Life Specification Electrolytic capacitor 5 years 0 to 40°C Backup capacitor for When repeated to conduct for 12H in 40°C 5 years calendar feature environment and cut for 12H in 20°C environment Driving source cutoff 25,000 times...

  • Page 301: Replacement Of Fan Unit (Specified Only For Scon-Cal/Cgal)

    10.3.3 Replacement of Fan Unit (Specified only for SCON-CAL/CGAL) Perform the following procedures in order to replace the fan unit of SCON-CAL/CGAL. Make sure the power is turned OFF before start work. Also, leave it for more than ten minutes before start work after the power is shut off as there is a risk of getting an electric shock due to an electric charge charged in the built-in electrolytic capacitor.

  • Page 302: Example Of Basic Positioning Sequence (Pio Pattern 0 To 3)

    10.4 Example of Basic Positioning Sequence (PIO Pattern 0 to 3) This section shows an example in which a simple operation box directs SCON to move the actuator successively to three positions on an axis. 10.4.1 I/O Assignment Operation Box Operation Box Input Output...

  • Page 303: Ladder Sequence

    10.4.2 Ladder Sequence [1] Servo ON (Emergency Stop) Circuit It is presumed that the emergency stop release circuit installed in the operation box possesses the self-retaining circuit as shown in “2.1.3 [3] Emergency Stop Circuit”. When it comes to the emergency stop release condition, “Servo-on” signal from PLC to SCON turns ON.

  • Page 304: Pause Circuit

    [3] Pause Circuit Pause is provided by a single pushbutton. In a similar way as use of an alternate switch, push the button to make the actuator pause and push it again to release the pause of the actuator. Pushing the pushbutton leads the “pause command and pause lamp ON” state and pushing the pushbutton again brings “pause release command and pause lamp OFF”.

  • Page 305: Reset Circuit

    [4] Reset Circuit If the “Stop” button on the operation box is pushed during pause, the “Reset” signal sent from PLC to SCON is turned ON and the remaining moving distance is cancelled. In addition, this operation releases the pause. (It is because the pause is not required with no remaining moving distance.) (Interlock) Reset input is disabled because alarm...

  • Page 306: Home Return Circuit

    [5] Home Return Circuit Similar to the operation circuit, this is (Interlock) used to determine whether the controller Turns the “Home return” signal OFF at completion of home return. can be operated. It is set as it would not be able to home return again after the home return (Confirmation of ready status of controller) operation is complete unless “Home Return Complete”...

  • Page 307: Decode Circuit Of Positioning Complete Position No

    [6] Decode Circuit of Positioning Complete Position No. The decode circuit converts the binary data of positioning complete position No. sent from SCON to PLC into the corresponding bit data. This is the timer to prevent the code reading error since the scanning is held independently by PLC and RC controller.

  • Page 308: Position 1 Operation Circuit

    [8] Position 1 Operation Circuit The main circuit is designed to process and manage signals “start” → “moving” → “positioning complete” to move the actuator to position No.1. If 1 is not pulsed, 3 is reset Startup with 4 turned ON and 2 is turned ON again.

  • Page 309: Position 2 Operation Circuit

    [9] Position 2 Operation Circuit The main circuit is designed to process and manage signals “start” → “moving” → “positioning complete” to move the actuator to position No.2. This circuit indicates the same sequence as that of position No.1. Startup Auxiliary Position 2 AUX12 OUT1...

  • Page 310: Position 3 Operation Circuit

    [10] Position 3 Operation Circuit The main circuit is designed to process and manage signals “start” → “moving” → “positioning complete” to move the actuator to position No.3. This circuit indicates the same sequence as that of position No.1. Startup Auxiliary Position 3 AUX15 AUX16...

  • Page 311: Commanded Position No. Output Ready Circuit

    [11] Commanded Position No. Output Ready Circuit The ready circuit is designed to hold start command and output commanded position No. in the binary code. Interlock is taken so that position No. command may not be specified incorrectly. Position 1 Set AUX9 AUX12 AUX15...

  • Page 312: Commanded Position No. Output Circuit

    [12] Commanded Position No. Output Circuit Depending on the result of the ready circuit, this circuit converts position No. to the binary code and outputs the data from PLC to SCON. [Position No.1] OUT8 AUX18 Command Position 1 Position 1 AUX20 Position 3 [Position No.3]...

  • Page 313: Other Display Circuits (Zone 1, Position Zone, And Manual Mode)

    [14] Other Display Circuits (Zone 1, Position Zone, and Manual Mode) OUT6 Zone 1 Display ZONE L ZONE1 IN10 OUT6 Position Zone Display PZONE L PZONE Position Zone IN 1 1 OUT7 Manual Mode Display RMDL RMDS Operation Mode [Reference] Programs and functions of PLC are expressed differently depending on manufacturers.

  • Page 314: List Of Specifications Of Connectable Actuators

    10.5 List of Specifications of Connectable Actuators 10.5.1 List of Specifications for Actuator Operation Conditions Specifications described in the specification list are limited to the information required to set operation conditions and parameters. For other detailed specifications, refer to brochures and Instruction Manuals of actuators.
  • Page 315 Maximum Minimum Maximum Rated Motor No. of Maximum Actuator Oriented Lead Acceleration/ Pressing Pressing Pressing Type Output Encoder Speed Series Direction Deceleration Speed Force Force Speed Pluses [mm] [mm/s] [mm/s] − − − − − − Horizontal/ − − − RGD4D 16384 Vertical...
  • Page 316 Maximum Minimum Maximum Rated Motor No. of Maximum Actuator Oriented Lead Acceleration/ Pressing Pressing Pressing Type Output Encoder Speed Series Direction Deceleration Speed Force Force Speed Pluses [mm] [mm/s] [mm/s] (at 50 to 250st) − − − 755 (at 300st) (at 50 to 250st) −...
  • Page 317 Maximum Minimum Maximum Rated Motor No. of Maximum Actuator Oriented Lead Acceleration/ Pressing Pressing Pressing Type Output Encoder Speed Series Direction Deceleration Speed Force Force Speed Pluses [mm] [mm/s] [mm/s] (at 50 to 250st) 0.15 − − − 505 (at 300st) (at 50 to 250st) −...
  • Page 318 Maximum Minimum Maximum Rated Motor No. of Maximum Actuator Oriented Lead Acceleration/ Pressing Pressing Pressing Type Output Encoder Speed Series Direction Deceleration Speed Force Force Speed Pluses [mm] [mm/s] [mm/s] − − − High Accel/Decel − − − Type : 1.0 SA4C Horizontal/ 16384...
  • Page 319 Maximum Minimum Maximum Rated Motor No. of Maximum Actuator Oriented Lead Acceleration/ Pressing Pressing Pressing Type Output Encoder Speed Series Direction Deceleration Speed Force Force Speed Pluses [mm] [mm/s] [mm/s] 1300 High Accel/Decel (at 50 to 500st) Horizontal − − −...
  • Page 320 Maximum Minimum Maximum Rated Motor No. of Maximum Actuator Oriented Lead Acceleration/ Pressing Pressing Pressing Type Output Encoder Speed Series Direction Deceleration Speed Force Force Speed Pluses [mm] [mm/s] [mm/s] (at 50 to 600st) − − − 640 (at 700st) 480 (at 800st) (at 50 to 650st) −...
  • Page 321 Maximum Minimum Maximum Rated Motor No. of Maximum Actuator Oriented Lead Acceleration/ Pressing Pressing Pressing Type Output Encoder Speed Series Direction Deceleration Speed Force Force Speed Pluses [mm] [mm/s] [mm/s] 1000 (at 50 to 600st) (at to 700st) − − −...
  • Page 322 Maximum Minimum Maximum Rated Motor No. of Maximum Actuator Oriented Lead Acceleration/ Pressing Pressing Pressing Type Output Encoder Speed Series Direction Deceleration Speed Force Force Speed Pluses [mm] [mm/s] [mm/s] (at 50 to 650st) (at to 700st) (at to 750st) (at to 800st) (at to 850st) −...
  • Page 323 Maximum Minimum Maximum Rated Motor No. of Maximum Actuator Oriented Lead Acceleration/ Pressing Pressing Pressing Type Output Encoder Speed Series Direction Deceleration Speed Force Force Speed Pluses [mm] [mm/s] [mm/s] 1800 (at 50 to 650st) 1610 (at to 700st) 1420 Horizontal −...
  • Page 324 Maximum Minimum Maximum Rated Motor No. of Maximum Actuator Oriented Lead Acceleration/ Pressing Pressing Pressing Type Output Encoder Speed Series Direction Deceleration Speed Force Force Speed Pluses [mm] [mm/s] [mm/s] 1800 (at 50 to 650st) 1610 (at to 700st) 1420 Horizontal −...
  • Page 325 Maximum Minimum Maximum Rated Motor No. of Maximum Actuator Oriented Lead Acceleration/ Pressing Pressing Pressing Type Output Encoder Speed Series Direction Deceleration Speed Force Force Speed Pluses [mm] [mm/s] [mm/s] (at 50 to 600st) (at to 650st) (at to 700st) (at to 750st) −...
  • Page 326 Maximum Minimum Maximum Rated Motor No. of Maximum Actuator Oriented Lead Acceleration/ Pressing Pressing Pressing Type Output Encoder Speed Series Direction Deceleration Speed Force Force Speed Pluses [mm] [mm/s] [mm/s] (at 50 to 600st) (at to 650st) (at to 700st) (at to 750st) −...
  • Page 327 Maximum Minimum Maximum Rated Motor No. of Maximum Actuator Oriented Lead Acceleration/ Pressing Pressing Pressing Type Output Encoder Speed Series Direction Deceleration Speed Force Force Speed Pluses [mm] [mm/s] [mm/s] (at 50 to 650st) (at to 700st) (at to 750st) (at to 800st) (at to 850st) −...
  • Page 328 Maximum Minimum Maximum Rated Motor No. of Maximum Actuator Oriented Lead Acceleration/ Pressing Pressing Pressing Type Output Encoder Speed Series Direction Deceleration Speed Force Force Speed Pluses [mm] [mm/s] [mm/s] 1800 (at 50 to 650st) 1510 (at to 700st) 1340 Horizontal −...
  • Page 329 Maximum Minimum Maximum Rated Motor No. of Maximum Actuator Oriented Lead Acceleration/ Pressing Pressing Pressing Type Output Encoder Speed Series Direction Deceleration Speed Force Force Speed Pluses [mm] [mm/s] [mm/s] 1800 (at 50 to 650st) 1510 (at to 700st) 1340 Horizontal −...
  • Page 330 Maximum Minimum Maximum Rated Motor No. of Maximum Actuator Oriented Lead Acceleration/ Pressing Pressing Pressing Type Output Encoder Speed Series Direction Deceleration Speed Force Force Speed Pluses [mm] [mm/s] [mm/s] 1200 (at 50 to 600st) 1105 (at to 650st) (at to 700st) (at to 750st) Horizontal/ −...
  • Page 331 Maximum Minimum Maximum Rated Motor No. of Maximum Actuator Oriented Lead Acceleration/ Pressing Pressing Pressing Type Output Encoder Speed Series Direction Deceleration Speed Force Force Speed Pluses [mm] [mm/s] [mm/s] 1200 (at 50 to 600st) 1105 (at to 650st) (at to 700st) (at to 750st) Horizontal/ −...
  • Page 332 Maximum Minimum Maximum Rated Motor No. of Maximum Actuator Oriented Lead Acceleration/ Pressing Pressing Pressing Type Output Encoder Speed Series Direction Deceleration Speed Force Force Speed Pluses [mm] [mm/s] [mm/s] Gear 16384 Ratio 500 deg/s − − − − − 1/18 Gear RT6R...
  • Page 333 Maximum Minimum Maximum Rated Motor No. of Maximum Actuator Oriented Lead Acceleration/ Pressing Pressing Pressing Type Output Encoder Speed Series Direction Deceleration Speed Force Force Speed Pluses [mm] [mm/s] [mm/s] Horizontal − − − Vertical − − − Horizontal − −...
  • Page 334 Maximum Minimum Maximum Rated Motor No. of Maximum Actuator Oriented Lead Acceleration/ Pressing Pressing Pressing Type Output Encoder Speed Series Direction Deceleration Speed Force Force Speed Pluses [mm] [mm/s] [mm/s] 1500 (at 100 to 700st) Horizontal − − − 1190 (at to 800st) (at to 900st) Vertical...
  • Page 335 Maximum Minimum Maximum Rated Motor No. of Maximum Actuator Oriented Lead Acceleration/ Pressing Pressing Pressing Type Output Encoder Speed Series Direction Deceleration Speed Force Force Speed Pluses [mm] [mm/s] [mm/s] 1000 (at 100 to 800st) Horizontal − − − (at to 900st) (at to 1000st) (at to 1100st) Vertical...
  • Page 336 Maximum Minimum Maximum Rated Motor No. of Maximum Actuator Oriented Lead Acceleration/ Pressing Pressing Pressing Type Output Encoder Speed Series Direction Deceleration Speed Force Force Speed Pluses [mm] [mm/s] [mm/s] 1000 (at 1000 to 1400st) 950 (at 1500st) 830 (at 1600st) 740 (at 1700st) 650 (at 1800st) Horizontal...
  • Page 337 Maximum Minimum Maximum Rated Motor No. of Maximum Actuator Oriented Lead Acceleration/ Pressing Pressing Pressing Type Output Encoder Speed Series Direction Deceleration Speed Force Force Speed Pluses [mm] [mm/s] [mm/s] 1000 (at 1000 to 1400st) 950 (at 1500st) 830 (at 1600st) 740 (at 1700st) 650 (at 1800st) Horizontal...
  • Page 338 Maximum Minimum Maximum Rated Motor No. of Maximum Actuator Oriented Lead Acceleration/ Pressing Pressing Pressing Type Output Encoder Speed Series Direction Deceleration Speed Force Force Speed Pluses [mm] [mm/s] [mm/s] 2000 (at 100 to 800st) Horizontal − − − 1670 (at 900st) 1390 (at 1000st) 1170 (at 1100st) Vertical...
  • Page 339 Maximum Minimum Maximum Rated Motor No. of Maximum Actuator Oriented Lead Acceleration/ Pressing Pressing Pressing Type Output Encoder Speed Series Direction Deceleration Speed Force Force Speed Pluses [mm] [mm/s] [mm/s] 2000 (at 900 to 1300st) 1965 (at 1400st) 1725 (at 1500st) 1530 (at 1600st) 1365 (at 1700st) 1225 (at 1800st)
  • Page 340 Maximum Minimum Maximum Rated Motor No. of Maximum Actuator Oriented Lead Acceleration/ Pressing Pressing Pressing Type Output Encoder Speed Series Direction Deceleration Speed Force Force Speed Pluses [mm] [mm/s] [mm/s] Horizontal − − − (at 100 to 500st) Vertical − −...
  • Page 341 Maximum Minimum Maximum Rated Motor No. of Maximum Actuator Oriented Lead Acceleration/ Pressing Pressing Pressing Type Output Encoder Speed Series Direction Deceleration Speed Force Force Speed Pluses [mm] [mm/s] [mm/s] 1000 (at 800 to 1300st) 16384 Horizontal 950 (at 1400st) −...
  • Page 342 Maximum Minimum Maximum Rated Motor No. of Maximum Actuator Oriented Lead Acceleration/ Pressing Pressing Pressing Type Output Encoder Speed Series Direction Deceleration Speed Force Force Speed Pluses [mm] [mm/s] [mm/s] (at 100 to 600st) Horizontal (at to 700st) − − −...
  • Page 343 Maximum Minimum Maximum Rated Motor No. of Maximum Actuator Oriented Lead Acceleration/ Pressing Pressing Pressing Type Output Encoder Speed Series Direction Deceleration Speed Force Force Speed Pluses [mm] [mm/s] [mm/s] (at 100 to 700st) Horizontal (at to 800st) − − −...
  • Page 344 Maximum Minimum Maximum Rated Motor No. of Maximum Actuator Oriented Lead Acceleration/ Pressing Pressing Pressing Type Output Encoder Speed Series Direction Deceleration Speed Force Force Speed Pluses [mm] [mm/s] [mm/s] (at 120 to 670st) Horizontal (at to 770st) − − −...
  • Page 345 Maximum Minimum Maximum Rated Motor No. of Maximum Actuator Oriented Lead Acceleration/ Pressing Pressing Pressing Type Output Encoder Speed Series Direction Deceleration Speed Force Force Speed Pluses [mm] [mm/s] [mm/s] 1200 (at 800 to 1100st) 1100 (at to 1200st) 1000 (at to 1300st) (at to 1400st) (at to 1500st)
  • Page 346 Maximum Minimum Maximum Rated Motor No. of Maximum Actuator Oriented Lead Acceleration/ Pressing Pressing Pressing Type Output Encoder Speed Series Direction Deceleration Speed Force Force Speed Pluses [mm] [mm/s] [mm/s] (at 100 to 800st) Horizontal (at to 900st) (at to 1000st) −...
  • Page 347 Maximum Minimum Maximum Rated Motor No. of Maximum Actuator Oriented Lead Acceleration/ Pressing Pressing Pressing Type Output Encoder Speed Series Direction Deceleration Speed Force Force Speed Pluses [mm] [mm/s] [mm/s] (at 120 to 770st) Horizontal (at to 870st) (at to 970st) −...
  • Page 348 Maximum Minimum Maximum Rated Motor No. of Maximum Actuator Oriented Lead Acceleration/ Pressing Pressing Pressing Type Output Encoder Speed Series Direction Deceleration Speed Force Force Speed Pluses [mm] [mm/s] [mm/s] 1200 (at 1000 to 1200st) 1150 (at to 1300st) 1000 (at to 1400st) (at to 1500st) (at to 1600st)
  • Page 349 Maximum Minimum Maximum Rated Motor No. of Maximum Actuator Oriented Lead Acceleration/ Pressing Pressing Pressing Type Output Encoder Speed Series Direction Deceleration Speed Force Force Speed Pluses [mm] [mm/s] [mm/s] 1080 (at 50 to 100st) 1250 (at to 900st) Horizontal 1160 (at to 1000st) (at to 1100st)
  • Page 350 Maximum Minimum Maximum Rated Motor No. of Maximum Actuator Oriented Lead Acceleration/ Pressing Pressing Pressing Type Output Encoder Speed Series Direction Deceleration Speed Force Force Speed Pluses [mm] [mm/s] [mm/s] − − − (at to 500st) Horizontal − − − (at to 550st) −...
  • Page 351 Maximum Minimum Maximum Rated Motor No. of Maximum Actuator Oriented Lead Acceleration/ Pressing Pressing Pressing Type Output Encoder Speed Series Direction Deceleration Speed Force Force Speed Pluses [mm] [mm/s] [mm/s] − − − (at to 600st) − − − (at to 650st) Horizontal −...
  • Page 352 Maximum Minimum Maximum Rated Motor No. of Maximum Actuator Oriented Lead Acceleration/ Pressing Pressing Pressing Type Output Encoder Speed Series Direction Deceleration Speed Force Force Speed Pluses [mm] [mm/s] [mm/s] 1200 − − − (at to 600st) 1085 − − −...
  • Page 353 Maximum Minimum Maximum Rated Motor No. of Maximum Actuator Oriented Lead Acceleration/ Pressing Pressing Pressing Type Output Encoder Speed Series Direction Deceleration Speed Force Force Speed Pluses [mm] [mm/s] [mm/s] 1200 − − − (at to 1100st) 1100 − − −...
  • Page 354 Maximum Minimum Maximum Rated Motor No. of Maximum Actuator Oriented Lead Acceleration/ Pressing Pressing Pressing Type Output Encoder Speed Series Direction Deceleration Speed Force Force Speed Pluses [mm] [mm/s] [mm/s] − − − (at to 650st) − − − (at to 700st) −...
  • Page 355 Maximum Minimum Maximum Rated Motor No. of Maximum Actuator Oriented Lead Acceleration/ Pressing Pressing Pressing Type Output Encoder Speed Series Direction Deceleration Speed Force Force Speed Pluses [mm] [mm/s] [mm/s] 1800 − − − (at to 800st) 1700 − − −...
  • Page 356 Maximum Minimum Maximum Rated Motor No. of Maximum Actuator Oriented Lead Acceleration/ Pressing Pressing Pressing Type Output Encoder Speed Series Direction Deceleration Speed Force Force Speed Pluses [mm] [mm/s] [mm/s] SXMS-A 16384 − − − Horizontal SXMS-I 2400 − − −...
  • Page 357 Maximum Minimum Maximum Rated Motor No. of Maximum Actuator Oriented Lead Acceleration/ Pressing Pressing Pressing Type Output Encoder Speed Series Direction Deceleration Speed Force Force Speed Pluses [mm] [mm/s] [mm/s] S6SS − − − Horizontal 48000 2500 S6SM − − −...

  • Page 358: Specifications And Limitations In Pressing Operation Of Rcs2-Ra13R

    10.5.2 Specifications and Limitations in Pressing Operation of RCS2-RA13R (Dedicated for SCON-CA) [1] Pressing Force and Current-Limiting Value Caution: • The relation between pressing force and current limit value is shown with reference values at the rating pressing speed (set at shipment).

  • Page 359: Limitation In Operation

    [2] Limitation in Operation Make sure to follow the three conditions stated below for the operation of this product. Condition 1. The pressing time is less than the specified time. Condition 2. 1 cycle of the continuous operation thrust is less than the rated thrust of Ultra-High Thrust Actuator.
  • Page 360 Figure out the continuous operation thrust F in 1 cycle using the following formula. The thrust necessary for rated speed movement and standby are not needed if it is the horizontally oriented installation. × t × t × t × t ×...
  • Page 361 [When triangle pattern] = Vt/a Vt : Arrival speed (m/s) a : Command acceleration (m/s □a Triangle Pattern Velocity mm/s Positioning finish time Acceleration Deceleration Time zone zone Positioning time (3) t is the rated speed movement time. Figure out from the rated speed movement distance. □f = Lc/V Lc : Rated speed movement distance (m)
  • Page 362 (Example) Operational Conditions • Used model : Ultra-High Thrust Actuator lead 1.25 type • Installation posture : Vertical • Velocity : 62mm/s • Acceleration : 0.098m/s (0.01G, deceleration value should be the same) • Movement distance : 50mm • Load weight : 100kg •...
  • Page 363 2) Calculation of Continuous Operation Thrust Figure out the continuous operation thrust F by following the formula. First, check the operation pattern of t to find out that Arrival speed (Vmax) = 0.05 × 0.098 → 0.07m/s and, therefore it is greater than the set speed 62mm/s (0.06m/s), thus the pattern is the trapezoid type.

  • Page 365: Warranty

    Chapter 11 Warranty 11.1 Warranty Period One of the following periods, whichever is shorter: • 18 months after shipment from our factory • 12 months after delivery to a specified location 11.2 Scope of the Warranty Our products are covered by warranty when all of the following conditions are met. Faulty products covered by warranty will be replaced or repaired free of charge: (1) The breakdown or problem in question pertains to our product as delivered by us or our authorized dealer.

  • Page 366: Conditions Of Conformance With Applicable Standards/Regulations, Etc., And Applications

    11.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications (1) If our product is combined with another product or any system, device, etc., used by the customer, the customer must first check the applicable standards, regulations and/or rules. The customer is also responsible for confirming that such combination with our product conforms to the applicable standards, etc.

  • Page 367: Change History

    • Applicable to PROFINAT IO 2014.12 8B Edition • Colophon Change made in address of Chicago Office 2015.02 8C Edition • Pg. 199 Correction made to model cord of absolute battery with holder for SCON-CA • Pg. 269 SCON-CA added in Safety Category Application...
  • Page 368 Revision Date Revision Description 2015.06 8D Edition • 1.1.2 Correction made to applicable teaching pendants • 1.1.3, Chapter 4 Description added regarding MECHATROLINK-III • 1.1.5 Information deleted regarding models not applicable from how to read model code • 1.2.1 Information deleted regarding models not applicable from and correction made in in-rush current value in specifications list •...
  • Page 370 825, PhairojKijja Tower 12th Floor, Bangna-Trad RD., Bangna, Bangna, Bangkok 10260, Thailand TEL +66-2-361-4458 FAX +66-2-361-4456 The information contained in this document is subject to change without notice for purposes of product improvement. Copyright © 2016. Dec. IAI Corporation. All rights reserved. 16.12.000...

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