IAI SCON-CA First Step Manual

SCON-CA/CAL/CGAL
First Step Guide
Fifth Edition
Thank you for purchasing our product.
Make sure to read the Safety Guide and detailed Instruction Manual (DVD) included with the product in addition to
this First Step Guide to ensure correct use.
This Instruction Manual is original.
Warning : Operation of this equipment requires detailed installation and operation instructions which are
provided on the DVD Manual included in the box this device was packaged in. It should be retained
with this device at all times.
A hardcopy of the Manual can be requested by contacting your nearest IAI Sales Office listed at
the back cover of the Instruction Manual or on the First Step Guide.
• Using or copying all or part of this Instruction Manual without permission is prohibited.
• The company names, names of products and trademarks of each company shown in the sentences are registered
trademarks.
• EtherCAT® is a registered mark of Beckoff Automation GmbH.
• EtherNet/IP is a trademark used under the license of ODVA.
Product Check
This product is comprised of the following parts if it is of standard configuration.
If you find any fault in the contained model or any missing parts, contact us or our distributor.
1. Parts
No. Part Name Model
Refer to "How to read the model plate", "How to read the
1 Controller Main Body
model of the controller".
Accessories
2 System I/O Plug FMC1.5/4-ST-3.5 (Supplier : Phoenix Contact)
3 Power Supply Plug for Brake MC1.5/2-ST-3.5 (Supplier : Phoenix Contact)
4 AC Power Supply plug MSTB2.5/6-STF-5.08 (Supplier : Phoenix Contact)
5 Absolute Battery AB-5
6 Dummy plug DP-5
7 First Step Guide
8 Instruction Manual (DVD)
9 Safety Guide
2. Teaching Tool (to be purchased separately)
A teaching tool such as PC software is necessary when performing the setup for position setting, parameter setting, etc. that
can only be done on the teaching tool.
Please prepare either of the following teaching tools such as PC software.
No. Part Name
PC Software (RCS232C converter adapter + external equipment communication cable are included)
1
PC Software (USB converter adapter + USB cable + external equipment communication cable are included)
2
3 Touch Panel Teaching
4 Touch Panel Teaching (Dead-man Switch is included)
5 Touch Panel Teaching (Dead-man Switch + TP Adapter (RCB-LB-TG) are included)
6 Touch Panel Teaching TB-01
7 Touch Panel Teaching TB-01 (with dead-man switch attached on the left)
8 Touch Panel Teaching TB-01 (with dead-man switch attached on the right)
3. Instruction Manuals Related to this Product, which are Contained in the Instruction Manual (DVD).
No. Name
1 SCON-CA Controller Instruction Manual
2 EtherCAT® Instruction Manual
3 EtherNet/IP Instruction Manual
4 CC-Link (High Performance Type) Instruction Manual
5 DeviceNet (High Performance Type) Instruction Manual
6 PROFIBUS-DP (High Performance Type) Instruction Manual
7 CompoNet (High Performance Type) Instruction Manual
8 MECHATROLINK (High Performance Type) Instruction Manual
9 MECHATROLINKⅢ Instruction Manual
10 PROFINET-IO Instruction Manual
11 PC Software RCM-101-MW/ RCM-101-USB Instruction Manual
12 Touch Panel Teaching CON-PTA/PDA/PGA/PGAS Instruction Manual
13 Touch Panel Teaching TB-01 Position Controller Instruction Manual
4. How to Read the Model Plate
Model MODEL SCON-CA-60A-EC-2-1
Serial number
SERIAL No. 800056144 L11
5. How to Read the Model of the Controller
S C O N - C A - 2 0 I H A - N P - 3 - 1 - D N - * *
<Series>
<Type>
C : Standard Type CA : High Performance Type
CAL : Small Type CGAL : Small Global Type
< Actuator Characteristics >
[Motor Type] * For SCON- CAL/CGAL, 200W or Less
12 : 12W 200 : 200W
20 : 20W 200S : 200W (LSA)
30D : 30W (Excluding RS) 300S : 300W (LSA)
30R : 30W (for RS) 400 : 400W
60 : 60W 600 : 600W
100 : 100W 750 : 750W
100S : 100W (LSA) 750S : Equipped with loadcell
150 : 150W RCS2-RA
<I/O Type>
<Encoder Type> NP : NPN Specification (Sink Type) (Standard) ML : MECHATROLINK ⅠⅡ Connection 1,2 Type
I : Incremental A : Absolute G : Spurious Absolute (Note 1)
PN : PNP Specification (Source Type)
DV : DeviceNet Connection Type
<Option>
CC : CC-Link Connection Type
No Indication : Standard Type I : Index Absolute Type (DD) (Note 1)
PR : PROFIBUS-DP Connection Type
HA : High Acceleration/Deceleration Type
CN : CompoNet Connection Type
M : Multi-Rotation Absolute Type (DD) (Note 1)
List of Specifications
Item
Corresponding Motor Capacity
Power-supply Voltage
Rush Power-supply Voltage 100V AC
Current *1
Power-supply Voltage 200V AC
Load Capacity
Leak Current *2
Heat Generation
Power Supply Frequency
*3
PIO Power Supply
Power Supply for Electromagnetic Brake
(for actuator equipped with brake)
Transient Power Cutoff Durability
Motor Control System
Corresponding Encoder
Actuator Cable Length
Serial Communication Interface
External Interface PIO
(Each dedicated Specifications
controller)
Fieldbus
Specification
Cable Length PIO
RS485
Fieldbus
Reference
Data Setting and Input
Data Retention Memory
Operation Mode
Applicable Cable Size
2
0.5mm (AWG20) Number of Positions in Positioner
Mode
Applicable Cable Size
Pulse Train Input Pulse Frequency Differential System (Line Driver System) : MAX. 2.5Mpps
2
2.0mm (AWG14)
Control
Enclosed in Absolute Type
Mode
Enclosed in SCON-CGAL
(Dedicated
Command Pulse
for PIO
Multiplying Factor
Specifications)
(Electrical Gear : A/B)
Feedback Pulse
(Dedicated for PIO Specifications)
LED Display
(mounted on Front Panel)
Model
RCM-101-MW
RCM-101-USB
CON-PT
Electromagnetic Brake Compulsory Release
CON-PD
Switch (mounted on Front Panel)
CON-PG
Insulation Resistance
TB-01
Insulation Strength
TB-01D
Environment Surrounding air temperature
TB-01DR
Surrounding humidity
Surrounding environment
Manual No.
Surrounding storage temperature -20 to 70°C (non-condensing)
ME0243
Surrounding storage humidity
ME0273
Vibration Durability
ME0278
ME0254
Protection Class
ME0256
Mass
ME0258
Cooling Method
ME0220
ME0221
External Dimensions
ME0317
ME0333
*1 In-rush current will flow for approximately 20msec after the power is turned on (at 40°C).
ME0155
Note that the value of in-rush current differs depending on the impedance of the power supply line.
ME0295
*2 Leak current varies depending on the capacity of connected motor, cable length and the surrounding environment.
ME0324
Measure the leak current at the point where a ground fault circuit interrupter is to be installed when leakage protection
is conducted.
A ground fault circuit interrupter needs to be selected carefully considering the purposes of prevention of fire and
protection of human.
Use the harmonic type (for inverter) for the ground fault circuit interrupter.
MADE IN JAPAN
*3 It is not necessary to supply power to PIO when operating with using Fieldbus (EtherCAT®, EtherNet/IP,
PROFINET IO, DeviceNet, CC-Link, PROFIBUS-DP, CompoNet or MECHATROLINK), ROBONET, Gateway Unit or
SIO Converter without using PIO. In this case, set the parameter No. 74 (PIO Power Supply Monitor) to "1" (Invalid). It
will generate the error code No. 0CF (I/O 24V Power Supply Error) if the setting is not done.
<Identification for IAI use only>
* There is no identification in some cases.
< Type of Installation
(dedicated for SCON-CAL/CGAL)>
Not Specified : Screw Attachment Type
DN : DIN Rail Mounting Type
<Power-supply Voltage>
1 : Single-Phase 100V AC
2 : Single-Phase 200V AC
<I/O Cable Length>
0 : Equipped with no cable 2 : 2m
3 : 3m (Standard) 5 : 5m
(Note 1)
ML3 : MECHATROLINK Ⅲ Connection 3 (Motion) Type
EC : EtherCAT Connection Type
EP : EtherNet/IP Connection Type
PRT : PROFINET IO Connection Type
(Note 1) Specified only for SCON-CA
Basic Specifications
SCON-C/CA
SCON-CAL/CGAL
Less than 400W 400W or more
12W to 399W 400W to 750W 12W to 200W
Single-Phase 100 to 115V AC Single-Phase 100 to 115V AC
Single-Phase 200 to 230V AC
Single-Phase 200 to 230V AC Single-Phase 200 to 230V AC
(Power fluctuation within ±10%)
(Power fluctuation within ±10%) (Power fluctuation within ±10%)
20A (Controller side), 30A (Controller side),
70A (Drive side) 20A (Controller side), 80A (Drive side)
80A (Drive side)
Refer to Power Capacity and Heat Generation
3.0mA Primary side when noise filter is connected to power supply line
Refer to Power Capacity and Heat Generation
50/60Hz
24V DC±10%
24V DC±10% 1A (MAX.)
(supplied from external equipment)
20ms (50Hz), 16ms (60Hz)
Sine Wave PWM Vector Current Control
Incremental Serial Encoder, Absolute Serial Encoder, Incremental Serial Encoder,
ABZ (UVW) Parallel Encoder Absolute Serial Encoder,
MAX. 20m
RS485 : 1CH ... based on Modbus Protocol RTU/ASCII
Speed : 9.6 to 230.4Kbps
Control available with serial communication in the modes other than the pulse train
Signal I/O dedicated for 24V DC (selected from NPN/PNP) ... Input 16 ports max.,
output 16 ports max.
EtherCAT, EtherNET/IP, PROFINET IO
MAX. 10m
Total cable length 100m or less.
Refer to each Fieldbus specification
PC Software, Touch Panel Teaching, Teaching Pendant
Saves position data and parameters to non-volatile memory
(There is no limitation in number of writing)
Positioner Mode/Direct Mode
Standard 64 points, maximum 512 points (PIO Type), 768 points (only for SCON-CA Fieldbus Type)
(Note) Number of positions differs depending on the selection in PIO pattern and fieldbus operation mode.
Open Collector Type :
200Kpps max. (under condition AK-04 is used)
1/50 < A/B < 50/1
Setting Range of A and B (set to parameter) : 1 to 4096
Differential System (Line Driver System) : MAX. 2.5Mpps
Open Collector Type :
500Kpps max. (under condition JM-08 is used)
PWR (green) : Controller in normal condition, PWR (green) : Controller in
SV (green) : Servo ON, normal condition / SV
ALM (orange) : Alarm generated, (green) : Servo ON / ALM
EMG (red) : Emergency Stop (orange) : Alarm generated /
EMG (red) : Emergency
Stop / WRG (orange) :
Warning generated
Switching NOM (standard)/BK RLS (compulsory release)
500V DC 10MΩ or more
1,500V AC for 1 min. (Note) Withstand voltage of force control loadcell is 50V DC
0 to 40°C
85%RH or less (non-condensing)
[Refer to Installation Environment]
85% or less (non-condensing)
XYZ Each direction 10 to 57Hz Pulsating amplitude 0.035mm (continuous) 0.075mm (intermittent)
57 to 150Hz 4.9m/s 2 (continuous) 9.8m/s 2 (intermittent)
IP20 or equivalent
Approx. 900g Approx. 1200g Approx. 560g
Natural air-cooling Forced Air Cooling Forced Air Cooling
58W × 194H × 121D [mm] 72W × 194H × 121D [mm] 49W × 158H × 116D [mm]
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
Motor Power Peek Max. Control Power Rated Power
Actuator Motor Type Capacity Motor Power Capacity Capacity
[VA] Capacity [VA] [VA] [VA]
12 41 123 89
20 26 78 74
30D (Excluding RS) 46 138 94
30R (for RS) 138 414 186
60 138 414 186
60 (RCS3-CTZ5) 197 591 245
100 234 702 282
100S (LSA) 283 851 331
150 328 984 376
48
200 421 1263 469
200S
486 1458 534
(LSA excluding LSA-N15H)
200S (LSA-N15H) 773 2319 821
300S (LSA) 662 1986 710
400 920 2760 968
400 (RCS3-CT8) 1230 3690 1278
600 1164 2328 1212
750 3042
1521 1569
750S 4563
RS : Rotary Shaft LSA : Linear Actuator
Selection of Circuit Interrupter
• 3 times of the rated current flows to the controller during the acceleration/deceleration. Select an interrupter that does not trip
with this value of current. If a trip occurs, select an interrupter that possesses the rated current of one grade higher. [Refer to
the operation characteristics curves in the product catalog.]
• Select an interrupter that does not trip with the in-rush current. [Refer to the operation characteristics curves in the product
catalog.]
• Consider the current that enables to cutoff the current even when a short circuit current is flown for the rated cutoff current.
Rated Interrupting Current > Short Circuit Current = Primary Power Capacity / Power Voltage
Consider margin for the rated current on the circuit breaker.
Rated Current for Circuit Interrupter > (Rated Motor Power Capacity [VA] + Control Power Capacity [VA]) /
AC Input Voltage × Safety Margin (reference 1.2 to 1.4 times)
External Dimensions
Shown below are the dimensions for EtherCAT® type. The dimensions for EtherNet/IP and PROFINET IO should
also be the same.
SCON-CA
Less than 400W 400W or more
In Absolute Battery Attachment In Absolute Battery Attachment
(Absolute Encoder Type) (Absolute Encoder Type)
SCON-CAL/CGAL
DIN Rail
(8.5)
122.6
49
4
* There is no DIN rail part on the type with screw attachment.
Peek Max. Heat
Power Capacity Generation
[VA] [W]
171 30
126 30
186 31
462 33
462 33
639 32
750 35
899 36
1032 37
1311 38
1506 38
2367 56
2034 40
2808 45
3738 47
2376 56
3090
58
4611
Side View (Common)
φ4.5
4.5
(6) 22.5
For DIN Rail
Mounting Type For Screw-fixed Type